{
    "0": {
        "acceleration": [
            -0.0036550741642713547,
            -0.0016768486239016056,
            -0.5827435851097107
        ],
        "angular_velocity": [
            -0.02895757555961609,
            -0.028519602492451668,
            4.903091030428186e-05
        ],
        "forward_vector": [
            0.002451722975820303,
            0.9999935626983643,
            -0.002627488924190402
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451980486512184,
            9.480804874328896e-05
        ],
        "location": [
            -1567.13916015625,
            5734.72119140625,
            376.1632385253906
        ],
        "rotation": [
            -0.005432120058685541,
            -0.1505441963672638,
            89.85952758789062
        ],
        "velocity": [
            -0.0003567958192434162,
            0.0006666979170404375,
            0.20548298954963684
        ],
        "speed": 0.0007561675536649523,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0008585607283748686,
        "expert_target_speed": 1.4035660039941142,
        "target_point": [
            51.000641761309176,
            0.0006269001680703767
        ],
        "target_point_next": [
            63.23847157233826,
            0.0007716255332537447
        ]
    },
    "5": {
        "acceleration": [
            0.006771661341190338,
            -0.0016612332547083497,
            -0.37638723850250244
        ],
        "angular_velocity": [
            -0.020877445116639137,
            0.011501883156597614,
            -5.150161814526655e-05
        ],
        "forward_vector": [
            0.002451364416629076,
            0.9999932646751404,
            -0.0027430022601038218
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451467327773571,
            3.4088268876075745e-05
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.1955261230469
        ],
        "rotation": [
            -0.0019531211582943797,
            -0.1571626514196396,
            89.85955047607422
        ],
        "velocity": [
            0.00010639130778145045,
            0.0002722045173868537,
            0.0722586140036583
        ],
        "speed": 0.0002922574373001605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000553131103516,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.102294921875,
                5749.7216796875,
                376.1707458496094
            ],
            "velocity": [
                -0.00031441054306924343,
                -0.0009738574735820293,
                -0.3633379340171814
            ],
            "speed_kmh": 1.3080217506086118,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3626184463500977,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.1354064941406
                    },
                    "rotation": {
                        "roll": 0.0015290329465642571,
                        "pitch": 0.13833864033222198,
                        "yaw": -90.14044952392578
                    }
                },
                "velocity": {
                    "x": -0.0001738209102768451,
                    "y": 0.00020760518964380026,
                    "z": -2.3626184463500977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3627863824367523,
                "transform": {
                    "location": {
                        "x": -1567.2125244140625,
                        "y": 5704.7216796875,
                        "z": 376.2962341308594
                    },
                    "rotation": {
                        "roll": 0.0002646109205670655,
                        "pitch": -0.1685485690832138,
                        "yaw": 89.85957336425781
                    }
                },
                "velocity": {
                    "x": -0.00018908049969468266,
                    "y": -0.0010315709514543414,
                    "z": -0.36278486251831055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345817267894745,
                "transform": {
                    "location": {
                        "x": -1567.17578125,
                        "y": 5719.7216796875,
                        "z": 376.2617492675781
                    },
                    "rotation": {
                        "roll": 0.0003272567701060325,
                        "pitch": -0.16388355195522308,
                        "yaw": 89.8595962524414
                    }
                },
                "velocity": {
                    "x": -5.1032420742558315e-05,
                    "y": -0.0011821655789390206,
                    "z": -0.43458011746406555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.363339364528656,
                "transform": {
                    "location": {
                        "x": -1567.102294921875,
                        "y": 5749.7216796875,
                        "z": 376.1707458496094
                    },
                    "rotation": {
                        "roll": -3.0509172574966215e-05,
                        "pitch": -0.1517326384782791,
                        "yaw": 89.85955810546875
                    }
                },
                "velocity": {
                    "x": -0.00031441054306924343,
                    "y": -0.0009738574735820293,
                    "z": -0.3633379340171814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3569200336933136,
                "transform": {
                    "location": {
                        "x": -1567.0655517578125,
                        "y": 5764.7216796875,
                        "z": 376.1335144042969
                    },
                    "rotation": {
                        "roll": -0.0001220700069097802,
                        "pitch": -0.14560596644878387,
                        "yaw": 89.85956573486328
                    }
                },
                "velocity": {
                    "x": 2.6110594262718223e-05,
                    "y": -0.0008913470664992929,
                    "z": -0.35691893100738525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0011863965773954988,
        "expert_target_speed": 1.0781653903338362,
        "target_point": [
            51.00064146032833,
            0.0007489701095153567
        ],
        "target_point_next": [
            63.238471271357426,
            0.0008936954746987247
        ]
    },
    "10": {
        "acceleration": [
            0.007224816828966141,
            -0.00047971043386496603,
            -0.11518027633428574
        ],
        "angular_velocity": [
            -0.011181347072124481,
            0.013164510019123554,
            -5.788805356132798e-05
        ],
        "forward_vector": [
            0.002451483393087983,
            0.9999931454658508,
            -0.0027852021157741547
        ],
        "right_vector": [
            -0.9999970197677612,
            0.0024515092372894287,
            5.8589498621586245e-06
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.20538330078125
        ],
        "rotation": [
            -0.00033569440711289644,
            -0.1595805287361145,
            89.85954284667969
        ],
        "velocity": [
            0.00010399721213616431,
            9.510254312772304e-05,
            0.0193990096449852
        ],
        "speed": 0.0001409252065510453,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000592231750488,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.102294921875,
                5749.7216796875,
                376.1630859375
            ],
            "velocity": [
                -0.0001301787851843983,
                0.00013042835053056479,
                0.044313330203294754
            ],
            "speed_kmh": 0.1595293680970044,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0953480452299118,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 375.99176025390625
                    },
                    "rotation": {
                        "roll": 0.0044987876899540424,
                        "pitch": 0.14576305449008942,
                        "yaw": -90.13994598388672
                    }
                },
                "velocity": {
                    "x": -4.2942883737850934e-05,
                    "y": 0.00022903918579686433,
                    "z": 0.09534776210784912
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044460996985435486,
                "transform": {
                    "location": {
                        "x": -1567.2125244140625,
                        "y": 5704.7216796875,
                        "z": 376.28857421875
                    },
                    "rotation": {
                        "roll": 0.00042923656292259693,
                        "pitch": -0.16870565712451935,
                        "yaw": 89.85957336425781
                    }
                },
                "velocity": {
                    "x": 0.0002072636561933905,
                    "y": 0.00013134817709214985,
                    "z": 0.044460318982601166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027183759957551956,
                "transform": {
                    "location": {
                        "x": -1567.17578125,
                        "y": 5719.7216796875,
                        "z": 376.2376403808594
                    },
                    "rotation": {
                        "roll": 0.0002494563232176006,
                        "pitch": -0.16488075256347656,
                        "yaw": 89.85958862304688
                    }
                },
                "velocity": {
                    "x": -0.00012207658437546343,
                    "y": 9.191512799588963e-05,
                    "z": 0.027183331549167633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044313713908195496,
                "transform": {
                    "location": {
                        "x": -1567.102294921875,
                        "y": 5749.7216796875,
                        "z": 376.1630859375
                    },
                    "rotation": {
                        "roll": -0.00039672598359175026,
                        "pitch": -0.15154822170734406,
                        "yaw": 89.85956573486328
                    }
                },
                "velocity": {
                    "x": -0.0001301787851843983,
                    "y": 0.00013042835053056479,
                    "z": 0.044313330203294754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04360334947705269,
                "transform": {
                    "location": {
                        "x": -1567.0655517578125,
                        "y": 5764.7216796875,
                        "z": 376.12603759765625
                    },
                    "rotation": {
                        "roll": -0.0001831016707001254,
                        "pitch": -0.1458723396062851,
                        "yaw": 89.85956573486328
                    }
                },
                "velocity": {
                    "x": -4.859646287513897e-05,
                    "y": 0.00010141007078345865,
                    "z": 0.04360320419073105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0011554419761523604,
        "expert_target_speed": 1.0258640665937822,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "15": {
        "acceleration": [
            0.00016474274161737412,
            -0.0008669845410622656,
            -0.012309076264500618
        ],
        "angular_velocity": [
            -0.0006339892279356718,
            -0.007426077965646982,
            -1.572590736031998e-05
        ],
        "forward_vector": [
            0.002451602602377534,
            0.999993085861206,
            -0.0027973614633083344
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451658248901367,
            1.6511532521690242e-05
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.2077941894531
        ],
        "rotation": [
            -0.000946044921875,
            -0.16027721762657166,
            89.85953521728516
        ],
        "velocity": [
            -3.640905924839899e-05,
            2.1267569536576048e-05,
            0.004986856132745743
        ],
        "speed": 4.2165496669036465e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.085539817810059,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1031494140625,
                5749.806640625,
                376.1697082519531
            ],
            "velocity": [
                -0.009026236832141876,
                1.0993374586105347,
                0.010038566775619984
            ],
            "speed_kmh": 3.9579132398365826,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.916608452796936,
                "transform": {
                    "location": {
                        "x": -1564.2333984375,
                        "y": 5797.88623046875,
                        "z": 376.0246887207031
                    },
                    "rotation": {
                        "roll": -0.00479121645912528,
                        "pitch": 0.35604408383369446,
                        "yaw": -90.11381530761719
                    }
                },
                "velocity": {
                    "x": 0.011579851619899273,
                    "y": -0.9097972512245178,
                    "z": 0.11093232780694962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1098984479904175,
                "transform": {
                    "location": {
                        "x": -1567.213134765625,
                        "y": 5704.80712890625,
                        "z": 376.2951965332031
                    },
                    "rotation": {
                        "roll": -0.004180908203125,
                        "pitch": -0.027409547939896584,
                        "yaw": 89.86419677734375
                    }
                },
                "velocity": {
                    "x": -0.00834142230451107,
                    "y": 1.1098326444625854,
                    "z": 0.008741912432014942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9478432536125183,
                "transform": {
                    "location": {
                        "x": -1567.17626953125,
                        "y": 5719.791015625,
                        "z": 376.2442932128906
                    },
                    "rotation": {
                        "roll": -0.008972168900072575,
                        "pitch": 0.05686815083026886,
                        "yaw": 89.88316345214844
                    }
                },
                "velocity": {
                    "x": -0.008364688605070114,
                    "y": 0.9475839138031006,
                    "z": 0.02053356170654297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0994203090667725,
                "transform": {
                    "location": {
                        "x": -1567.1031494140625,
                        "y": 5749.806640625,
                        "z": 376.1697082519531
                    },
                    "rotation": {
                        "roll": -0.004272460006177425,
                        "pitch": -0.011993811465799809,
                        "yaw": 89.93571472167969
                    }
                },
                "velocity": {
                    "x": -0.009026236832141876,
                    "y": 1.0993374586105347,
                    "z": 0.010038566775619984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2143231630325317,
                "transform": {
                    "location": {
                        "x": -1567.0665283203125,
                        "y": 5764.83544921875,
                        "z": 376.13238525390625
                    },
                    "rotation": {
                        "roll": -0.0078125,
                        "pitch": 0.05085758492350578,
                        "yaw": 89.89981842041016
                    }
                },
                "velocity": {
                    "x": -0.009601692669093609,
                    "y": 1.2142540216445923,
                    "z": 0.008705978281795979
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006057811551727355,
        "expert_target_speed": 1.017622324098889,
        "target_point": [
            51.00064146032833,
            0.0007489701095153567
        ],
        "target_point_next": [
            63.238471271357426,
            0.0008936954746987247
        ]
    },
    "20": {
        "acceleration": [
            -0.002790238708257675,
            -0.0008875254425220191,
            -0.003094826824963093
        ],
        "angular_velocity": [
            0.004874306730926037,
            -0.02966521680355072,
            4.532676757662557e-05
        ],
        "forward_vector": [
            0.0024518410209566355,
            0.999993085861206,
            -0.002810712903738022
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451849402859807,
            -4.140892713166977e-07
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.2082824707031
        ],
        "rotation": [
            2.372566086705774e-05,
            -0.1610421985387802,
            89.8595199584961
        ],
        "velocity": [
            -0.00010704872693168,
            -4.939679001836339e-06,
            0.001976465107873082
        ],
        "speed": 0.00010716263512220373,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.516194343566895,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1068115234375,
                5750.2373046875,
                376.1699523925781
            ],
            "velocity": [
                -0.01919541321694851,
                2.311185598373413,
                -0.0035721969325095415
            ],
            "speed_kmh": 8.32056505449731,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8329155445098877,
                "transform": {
                    "location": {
                        "x": -1564.22998046875,
                        "y": 5797.525390625,
                        "z": 376.04156494140625
                    },
                    "rotation": {
                        "roll": -0.016571030020713806,
                        "pitch": 0.5261021256446838,
                        "yaw": -89.9552230834961
                    }
                },
                "velocity": {
                    "x": 0.020811080932617188,
                    "y": -1.832368016242981,
                    "z": 0.03967142105102539
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.356170892715454,
                "transform": {
                    "location": {
                        "x": -1567.216796875,
                        "y": 5705.25244140625,
                        "z": 376.29534912109375
                    },
                    "rotation": {
                        "roll": -0.006500245071947575,
                        "pitch": 0.022703547030687332,
                        "yaw": 90.07200622558594
                    }
                },
                "velocity": {
                    "x": -0.019137423485517502,
                    "y": 2.356088161468506,
                    "z": -0.004944352898746729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.874308466911316,
                "transform": {
                    "location": {
                        "x": -1567.1793212890625,
                        "y": 5720.1630859375,
                        "z": 376.24615478515625
                    },
                    "rotation": {
                        "roll": -0.016143806278705597,
                        "pitch": 0.23375637829303741,
                        "yaw": 90.02994537353516
                    }
                },
                "velocity": {
                    "x": -0.018886500969529152,
                    "y": 1.8742120265960693,
                    "z": 0.0022588158026337624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3112680912017822,
                "transform": {
                    "location": {
                        "x": -1567.1068115234375,
                        "y": 5750.2373046875,
                        "z": 376.1699523925781
                    },
                    "rotation": {
                        "roll": -0.004394532181322575,
                        "pitch": 0.03062656708061695,
                        "yaw": 90.11045837402344
                    }
                },
                "velocity": {
                    "x": -0.01919541321694851,
                    "y": 2.311185598373413,
                    "z": -0.0035721969325095415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6990602016448975,
                "transform": {
                    "location": {
                        "x": -1567.07080078125,
                        "y": 5765.33544921875,
                        "z": 376.1324462890625
                    },
                    "rotation": {
                        "roll": -0.01168823055922985,
                        "pitch": 0.142901211977005,
                        "yaw": 90.10417938232422
                    }
                },
                "velocity": {
                    "x": -0.024361474439501762,
                    "y": 2.6989471912384033,
                    "z": -0.004017944447696209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0008384951506741345,
        "expert_target_speed": 1.0318545428571457,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "25": {
        "acceleration": [
            -0.0011219943407922983,
            0.0004944014945067465,
            0.009096011519432068
        ],
        "angular_velocity": [
            -0.0038178570102900267,
            -0.016460249200463295,
            1.1482742593216244e-05
        ],
        "forward_vector": [
            0.0024518410209566355,
            0.999993085861206,
            -0.0028117855545133352
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451853593811393,
            1.0652001947164536e-06
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.20843505859375
        ],
        "rotation": [
            -6.103171472204849e-05,
            -0.16110366582870483,
            89.8595199584961
        ],
        "velocity": [
            -5.44292270205915e-05,
            2.2389422156265937e-05,
            0.0016481908969581127
        ],
        "speed": 5.885428598284563e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.26764678955078,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1138916015625,
                5750.98876953125,
                376.16827392578125
            ],
            "velocity": [
                -0.03555241599678993,
                3.7156829833984375,
                -0.009724349714815617
            ],
            "speed_kmh": 13.377116844525572,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9945414066314697,
                "transform": {
                    "location": {
                        "x": -1564.2235107421875,
                        "y": 5796.9248046875,
                        "z": 376.0475158691406
                    },
                    "rotation": {
                        "roll": -0.018615731969475746,
                        "pitch": 0.5977712869644165,
                        "yaw": -89.74349975585938
                    }
                },
                "velocity": {
                    "x": 0.037237074226140976,
                    "y": -2.994266986846924,
                    "z": 0.01605064421892166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.661437511444092,
                "transform": {
                    "location": {
                        "x": -1567.2237548828125,
                        "y": 5705.99609375,
                        "z": 376.2933654785156
                    },
                    "rotation": {
                        "roll": -0.006195067428052425,
                        "pitch": 0.03611120954155922,
                        "yaw": 90.29570007324219
                    }
                },
                "velocity": {
                    "x": -0.035367321223020554,
                    "y": 3.6612536907196045,
                    "z": -0.009713420644402504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0014452934265137,
                "transform": {
                    "location": {
                        "x": -1567.1849365234375,
                        "y": 5720.7666015625,
                        "z": 376.2452392578125
                    },
                    "rotation": {
                        "roll": -0.016906756907701492,
                        "pitch": 0.28643763065338135,
                        "yaw": 90.21461486816406
                    }
                },
                "velocity": {
                    "x": -0.03226971626281738,
                    "y": 3.001265287399292,
                    "z": -0.0062691401690244675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7158658504486084,
                "transform": {
                    "location": {
                        "x": -1567.1138916015625,
                        "y": 5750.98876953125,
                        "z": 376.16827392578125
                    },
                    "rotation": {
                        "roll": -0.005554200615733862,
                        "pitch": 0.06320656836032867,
                        "yaw": 90.29857635498047
                    }
                },
                "velocity": {
                    "x": -0.03555241599678993,
                    "y": 3.7156829833984375,
                    "z": -0.009724349714815617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.252057075500488,
                "transform": {
                    "location": {
                        "x": -1567.079345703125,
                        "y": 5766.21630859375,
                        "z": 376.13043212890625
                    },
                    "rotation": {
                        "roll": -0.011444086208939552,
                        "pitch": 0.1722368746995926,
                        "yaw": 90.3210678100586
                    }
                },
                "velocity": {
                    "x": -0.04299656301736832,
                    "y": 4.251827716827393,
                    "z": -0.010153512470424175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0013216589577496052,
        "expert_target_speed": 1.055350408776293,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "30": {
        "acceleration": [
            0.0002699723991099745,
            -1.491680450271815e-05,
            0.0016991235315799713
        ],
        "angular_velocity": [
            -0.0026291212998330593,
            -0.004444171208888292,
            -2.5477123926975764e-05
        ],
        "forward_vector": [
            0.0024518410209566355,
            0.999993085861206,
            -0.0028117855545133352
        ],
        "right_vector": [
            -0.9999970197677612,
            0.002451853593811393,
            1.0652001947164536e-06
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.20843505859375
        ],
        "rotation": [
            -6.103171472204849e-05,
            -0.16110366582870483,
            89.8595199584961
        ],
        "velocity": [
            -9.806121852307115e-06,
            1.7569287592777982e-05,
            0.0013050076086074114
        ],
        "speed": 2.012063349648906e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.386289596557617,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1246337890625,
                5752.107421875,
                376.16546630859375
            ],
            "velocity": [
                -0.03192439302802086,
                5.142225742340088,
                -0.006884431466460228
            ],
            "speed_kmh": 18.512386011289212,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.396296501159668,
                "transform": {
                    "location": {
                        "x": -1564.2159423828125,
                        "y": 5795.98876953125,
                        "z": 376.0505065917969
                    },
                    "rotation": {
                        "roll": 0.009833086282014847,
                        "pitch": 0.7135908007621765,
                        "yaw": -89.65371704101562
                    }
                },
                "velocity": {
                    "x": 0.027098216116428375,
                    "y": -4.396193504333496,
                    "z": 0.013068255968391895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.096105575561523,
                "transform": {
                    "location": {
                        "x": -1567.2344970703125,
                        "y": 5707.1025390625,
                        "z": 376.29022216796875
                    },
                    "rotation": {
                        "roll": 0.0034180625807493925,
                        "pitch": 0.055659208446741104,
                        "yaw": 90.44905853271484
                    }
                },
                "velocity": {
                    "x": -0.031727515161037445,
                    "y": 5.096002101898193,
                    "z": -0.0068181417882442474
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.410489082336426,
                "transform": {
                    "location": {
                        "x": -1567.1944580078125,
                        "y": 5721.70556640625,
                        "z": 376.24237060546875
                    },
                    "rotation": {
                        "roll": -0.017517095431685448,
                        "pitch": 0.4106719195842743,
                        "yaw": 90.41325378417969
                    }
                },
                "velocity": {
                    "x": -0.051161669194698334,
                    "y": 4.410177707672119,
                    "z": -0.011353463865816593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.142329216003418,
                "transform": {
                    "location": {
                        "x": -1567.1246337890625,
                        "y": 5752.107421875,
                        "z": 376.16546630859375
                    },
                    "rotation": {
                        "roll": 0.003773902775719762,
                        "pitch": 0.07464713603258133,
                        "yaw": 90.44977569580078
                    }
                },
                "velocity": {
                    "x": -0.03192439302802086,
                    "y": 5.142225742340088,
                    "z": -0.006884431466460228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.468803882598877,
                "transform": {
                    "location": {
                        "x": -1567.090087890625,
                        "y": 5767.4580078125,
                        "z": 376.1277160644531
                    },
                    "rotation": {
                        "roll": 0.008526821620762348,
                        "pitch": 0.1351557821035385,
                        "yaw": 90.4444351196289
                    }
                },
                "velocity": {
                    "x": -0.03166934847831726,
                    "y": 5.468697547912598,
                    "z": -0.012715177610516548
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0008238604641519487,
        "expert_target_speed": 1.0815901183746597,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "35": {
        "acceleration": [
            0.0010277043329551816,
            0.0005407314747571945,
            0.005834536626935005
        ],
        "angular_velocity": [
            -0.008005548268556595,
            0.014615570195019245,
            -7.722975715296343e-05
        ],
        "forward_vector": [
            0.0024518410209566355,
            0.999993085861206,
            -0.0028117855545133352
        ],
        "right_vector": [
            -0.9999970197677612,
            0.0024518489371985197,
            -5.96744882841449e-07
        ],
        "location": [
            -1567.1390380859375,
            5734.72119140625,
            376.20849609375
        ],
        "rotation": [
            3.419109634705819e-05,
            -0.16110366582870483,
            89.8595199584961
        ],
        "velocity": [
            4.965797415934503e-05,
            3.235809344914742e-05,
            0.0003233260358683765
        ],
        "speed": 5.9270233754169856e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.758848190307617,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.133056640625,
                5753.47998046875,
                376.1618347167969
            ],
            "velocity": [
                -0.035014744848012924,
                5.619173049926758,
                -0.01394837349653244
            ],
            "speed_kmh": 20.22947803464936,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.347906589508057,
                "transform": {
                    "location": {
                        "x": -1564.2083740234375,
                        "y": 5794.7333984375,
                        "z": 376.0542907714844
                    },
                    "rotation": {
                        "roll": 0.005697594489902258,
                        "pitch": 0.670191764831543,
                        "yaw": -89.65328216552734
                    }
                },
                "velocity": {
                    "x": 0.03225945308804512,
                    "y": -5.347789764404297,
                    "z": 0.01445954293012619
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5252885818481445,
                "transform": {
                    "location": {
                        "x": -1567.2421875,
                        "y": 5708.45166015625,
                        "z": 376.2864074707031
                    },
                    "rotation": {
                        "roll": 0.002465132623910904,
                        "pitch": -0.06177222728729248,
                        "yaw": 90.36202239990234
                    }
                },
                "velocity": {
                    "x": -0.031151289120316505,
                    "y": 5.525173187255859,
                    "z": -0.017420148476958275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7603847980499268,
                "transform": {
                    "location": {
                        "x": -1567.203125,
                        "y": 5722.89794921875,
                        "z": 376.24041748046875
                    },
                    "rotation": {
                        "roll": 0.012245433405041695,
                        "pitch": 0.09745996445417404,
                        "yaw": 90.39749145507812
                    }
                },
                "velocity": {
                    "x": -0.021038111299276352,
                    "y": 3.760305404663086,
                    "z": -0.012432737275958061
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.619299411773682,
                "transform": {
                    "location": {
                        "x": -1567.133056640625,
                        "y": 5753.47998046875,
                        "z": 376.1618347167969
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": -0.037566039711236954,
                        "yaw": 90.47819519042969
                    }
                },
                "velocity": {
                    "x": -0.035014744848012924,
                    "y": 5.619173049926758,
                    "z": -0.01394837349653244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.582977294921875,
                "transform": {
                    "location": {
                        "x": -1567.097900390625,
                        "y": 5768.83544921875,
                        "z": 376.12408447265625
                    },
                    "rotation": {
                        "roll": 0.0031180621590465307,
                        "pitch": -0.049805738031864166,
                        "yaw": 90.3587875366211
                    }
                },
                "velocity": {
                    "x": -0.0308370441198349,
                    "y": 5.5828752517700195,
                    "z": -0.013737735338509083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0008922520792111754,
        "expert_target_speed": 1.1031608440863705,
        "target_point": [
            51.000641463461456,
            -0.0004912989385483374
        ],
        "target_point_next": [
            63.23847127439136,
            -0.000644181624851331
        ]
    },
    "40": {
        "acceleration": [
            0.012972219847142696,
            3.7859511375427246,
            -0.007020570337772369
        ],
        "angular_velocity": [
            0.6802403330802917,
            0.08145616203546524,
            0.6234778761863708
        ],
        "forward_vector": [
            0.0022998542990535498,
            0.999995231628418,
            0.0020592198707163334
        ],
        "right_vector": [
            -0.9999973773956299,
            0.002299866871908307,
            -3.778142627197667e-06
        ],
        "location": [
            -1567.138427734375,
            5734.87744140625,
            376.20703125
        ],
        "rotation": [
            0.0002164720935979858,
            0.11798468232154846,
            89.86822509765625
        ],
        "velocity": [
            0.003922679461538792,
            1.1094388961791992,
            -0.0023366736713796854
        ],
        "speed": 1.109445830930685,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.16802978515625,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.142822265625,
                5755.04541015625,
                376.1578369140625
            ],
            "velocity": [
                -0.0432090237736702,
                7.350980281829834,
                -0.018831558525562286
            ],
            "speed_kmh": 26.46407301333889,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.108883380889893,
                "transform": {
                    "location": {
                        "x": -1564.2003173828125,
                        "y": 5793.3583984375,
                        "z": 376.0581970214844
                    },
                    "rotation": {
                        "roll": 0.0035264897160232067,
                        "pitch": 0.5072234869003296,
                        "yaw": -89.6580581665039
                    }
                },
                "velocity": {
                    "x": 0.036349937319755554,
                    "y": -6.108758926391602,
                    "z": 0.01412622444331646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.9764604568481445,
                "transform": {
                    "location": {
                        "x": -1567.25048828125,
                        "y": 5709.9833984375,
                        "z": 376.2819519042969
                    },
                    "rotation": {
                        "roll": 0.0013199596432968974,
                        "pitch": 0.05475762486457825,
                        "yaw": 90.32276153564453
                    }
                },
                "velocity": {
                    "x": -0.036484647542238235,
                    "y": 6.976334095001221,
                    "z": -0.020776785910129547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5616238713264465,
                "transform": {
                    "location": {
                        "x": -1567.2044677734375,
                        "y": 5723.15380859375,
                        "z": 376.2443542480469
                    },
                    "rotation": {
                        "roll": 0.0002960038254968822,
                        "pitch": -1.1965670585632324,
                        "yaw": 90.38431549072266
                    }
                },
                "velocity": {
                    "x": -0.0030001625418663025,
                    "y": 0.5616137385368347,
                    "z": -0.001531572313979268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.351131439208984,
                "transform": {
                    "location": {
                        "x": -1567.142822265625,
                        "y": 5755.04541015625,
                        "z": 376.1578369140625
                    },
                    "rotation": {
                        "roll": 0.0006769368192180991,
                        "pitch": 0.10332709550857544,
                        "yaw": 90.41744232177734
                    }
                },
                "velocity": {
                    "x": -0.0432090237736702,
                    "y": 7.350980281829834,
                    "z": -0.018831558525562286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.870965003967285,
                "transform": {
                    "location": {
                        "x": -1567.1060791015625,
                        "y": 5770.46435546875,
                        "z": 376.1200256347656
                    },
                    "rotation": {
                        "roll": 0.0017736227018758655,
                        "pitch": 0.07218826562166214,
                        "yaw": 90.2838363647461
                    }
                },
                "velocity": {
                    "x": -0.033139243721961975,
                    "y": 6.870863914489746,
                    "z": -0.017102336511015892
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007408827659673989,
        "expert_target_speed": 2.226153149181471,
        "target_point": [
            50.84438981850307,
            -0.007947909653742119
        ],
        "target_point_next": [
            63.08221946651528,
            -0.009950630611962857
        ]
    },
    "45": {
        "acceleration": [
            0.008086608722805977,
            2.3025131225585938,
            -0.00822276808321476
        ],
        "angular_velocity": [
            -0.08000875264406204,
            -0.05306972190737724,
            -0.7595048546791077
        ],
        "forward_vector": [
            0.0025964437518268824,
            0.9999938011169434,
            0.0023716664873063564
        ],
        "right_vector": [
            -0.9999966025352478,
            0.0025964861270040274,
            -1.4800228200329002e-05
        ],
        "location": [
            -1567.137451171875,
            5735.234375,
            376.2060546875
        ],
        "rotation": [
            0.0008479930111207068,
            0.13588660955429077,
            89.85123443603516
        ],
        "velocity": [
            0.005746039561927319,
            1.7113903760910034,
            -0.004000034183263779
        ],
        "speed": 1.711400022305584,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.725656509399414,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1529541015625,
                5756.9599609375,
                376.1526794433594
            ],
            "velocity": [
                -0.03847154974937439,
                7.535301208496094,
                -0.020134329795837402
            ],
            "speed_kmh": 27.127534735276686,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.686080455780029,
                "transform": {
                    "location": {
                        "x": -1564.18994140625,
                        "y": 5791.62158203125,
                        "z": 376.0614318847656
                    },
                    "rotation": {
                        "roll": 0.0030991360545158386,
                        "pitch": 0.7394499182701111,
                        "yaw": -89.66519165039062
                    }
                },
                "velocity": {
                    "x": 0.045878227800130844,
                    "y": -7.685922145843506,
                    "z": 0.018103227019309998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.566603660583496,
                "transform": {
                    "location": {
                        "x": -1567.258544921875,
                        "y": 5711.56591796875,
                        "z": 376.27667236328125
                    },
                    "rotation": {
                        "roll": -0.0015869197668507695,
                        "pitch": -0.37927356362342834,
                        "yaw": 90.48065948486328
                    }
                },
                "velocity": {
                    "x": -0.020625198259949684,
                    "y": 4.566511631011963,
                    "z": -0.02040547877550125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.740642786026001,
                "transform": {
                    "location": {
                        "x": -1567.2060546875,
                        "y": 5723.47119140625,
                        "z": 376.23980712890625
                    },
                    "rotation": {
                        "roll": 0.002164271427318454,
                        "pitch": -0.21679702401161194,
                        "yaw": 90.3973388671875
                    }
                },
                "velocity": {
                    "x": -0.009401729330420494,
                    "y": 1.7406142950057983,
                    "z": -0.0032389829866588116
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.535426139831543,
                "transform": {
                    "location": {
                        "x": -1567.1529541015625,
                        "y": 5756.9599609375,
                        "z": 376.1526794433594
                    },
                    "rotation": {
                        "roll": 0.00209244666621089,
                        "pitch": -0.05963438004255295,
                        "yaw": 90.326904296875
                    }
                },
                "velocity": {
                    "x": -0.03847154974937439,
                    "y": 7.535301208496094,
                    "z": -0.020134329795837402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.8977837562561035,
                "transform": {
                    "location": {
                        "x": -1567.1134033203125,
                        "y": 5772.05810546875,
                        "z": 376.115966796875
                    },
                    "rotation": {
                        "roll": 0.006390669383108616,
                        "pitch": -0.23473992943763733,
                        "yaw": 90.23246002197266
                    }
                },
                "velocity": {
                    "x": -0.018468491733074188,
                    "y": 5.897733211517334,
                    "z": -0.01610279083251953
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001426120288670063,
        "expert_target_speed": 2.837556428353881,
        "target_point": [
            50.48745503580259,
            0.007028943850492464
        ],
        "target_point_next": [
            62.725284744526995,
            0.008617943578757281
        ]
    },
    "50": {
        "acceleration": [
            -0.004274230450391769,
            2.65836238861084,
            0.015086932107806206
        ],
        "angular_velocity": [
            0.0020224829204380512,
            0.08276055753231049,
            0.6783141493797302
        ],
        "forward_vector": [
            0.0010660402476787567,
            0.9999951720237732,
            0.0029165702871978283
        ],
        "right_vector": [
            -0.9999994039535522,
            0.0010657698148861527,
            9.427533223060891e-05
        ],
        "location": [
            -1567.1357421875,
            5735.7705078125,
            376.2044372558594
        ],
        "rotation": [
            -0.0054016015492379665,
            0.16710740327835083,
            89.93891906738281
        ],
        "velocity": [
            0.005341249518096447,
            2.498845100402832,
            -0.005471029318869114
        ],
        "speed": 2.498850808822658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.919513702392578,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1578369140625,
                5758.68994140625,
                376.14788818359375
            ],
            "velocity": [
                -0.012445852160453796,
                6.057554244995117,
                -0.016227921470999718
            ],
            "speed_kmh": 21.807319562877417,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.41667366027832,
                "transform": {
                    "location": {
                        "x": -1564.183349609375,
                        "y": 5789.55908203125,
                        "z": 376.0667419433594
                    },
                    "rotation": {
                        "roll": 0.025349577888846397,
                        "pitch": 0.6218681931495667,
                        "yaw": -89.82794189453125
                    }
                },
                "velocity": {
                    "x": 0.017062650993466377,
                    "y": -8.416631698608398,
                    "z": 0.0202494990080595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4877201020717621,
                "transform": {
                    "location": {
                        "x": -1567.2601318359375,
                        "y": 5711.93212890625,
                        "z": 376.2748718261719
                    },
                    "rotation": {
                        "roll": -0.00970462430268526,
                        "pitch": -0.7450233101844788,
                        "yaw": 90.57437133789062
                    }
                },
                "velocity": {
                    "x": -0.004001214634627104,
                    "y": 0.4877031743526459,
                    "z": 0.0007121467497199774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1580657958984375,
                "transform": {
                    "location": {
                        "x": -1567.208984375,
                        "y": 5723.9931640625,
                        "z": 376.23760986328125
                    },
                    "rotation": {
                        "roll": 0.0005216089775785804,
                        "pitch": 0.004965547472238541,
                        "yaw": 90.37239837646484
                    }
                },
                "velocity": {
                    "x": -0.010886572301387787,
                    "y": 2.1580300331115723,
                    "z": -0.005924415308982134
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.057588577270508,
                "transform": {
                    "location": {
                        "x": -1567.1578369140625,
                        "y": 5758.68994140625,
                        "z": 376.14788818359375
                    },
                    "rotation": {
                        "roll": 0.006446969695389271,
                        "pitch": -0.2938210666179657,
                        "yaw": 90.09473419189453
                    }
                },
                "velocity": {
                    "x": -0.012445852160453796,
                    "y": 6.057554244995117,
                    "z": -0.016227921470999718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.056831359863281,
                "transform": {
                    "location": {
                        "x": -1567.1162109375,
                        "y": 5773.373046875,
                        "z": 376.1125793457031
                    },
                    "rotation": {
                        "roll": 0.005984689109027386,
                        "pitch": -0.3014230728149414,
                        "yaw": 90.17047882080078
                    }
                },
                "velocity": {
                    "x": -0.008290708065032959,
                    "y": 5.056815147399902,
                    "z": -0.009762267582118511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004640029277652502,
        "expert_target_speed": 3.616823750433604,
        "target_point": [
            49.95127498461527,
            -0.06716387032634262
        ],
        "target_point_next": [
            62.18909344661574,
            -0.08383107699192761
        ]
    },
    "55": {
        "acceleration": [
            0.010896790772676468,
            3.5054922103881836,
            -0.0180780328810215
        ],
        "angular_velocity": [
            0.16376635432243347,
            -0.042079199105501175,
            -0.651316225528717
        ],
        "forward_vector": [
            0.0012605885276570916,
            0.999994695186615,
            0.0030155135318636894
        ],
        "right_vector": [
            -0.9999992251396179,
            0.0012604480143636465,
            4.84695156046655e-05
        ],
        "location": [
            -1567.134521484375,
            5736.48974609375,
            376.2025451660156
        ],
        "rotation": [
            -0.0027771112509071827,
            0.172776460647583,
            89.92777252197266
        ],
        "velocity": [
            0.006453538313508034,
            3.255706787109375,
            -0.008833741769194603
        ],
        "speed": 3.255713183280556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.858972549438477,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1591796875,
                5759.3486328125,
                376.14508056640625
            ],
            "velocity": [
                0.00037019714363850653,
                -0.0009952109539881349,
                5.9093265008414164e-05
            ],
            "speed_kmh": 0.0038285162733842555,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.830513000488281,
                "transform": {
                    "location": {
                        "x": -1564.1796875,
                        "y": 5787.5361328125,
                        "z": 376.07330322265625
                    },
                    "rotation": {
                        "roll": 0.016209682449698448,
                        "pitch": 0.16040697693824768,
                        "yaw": -89.90985107421875
                    }
                },
                "velocity": {
                    "x": 0.010293969884514809,
                    "y": -7.83048152923584,
                    "z": 0.019655141979455948
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7565858364105225,
                "transform": {
                    "location": {
                        "x": -1567.2608642578125,
                        "y": 5712.2509765625,
                        "z": 376.27484130859375
                    },
                    "rotation": {
                        "roll": 0.00014399478095583618,
                        "pitch": -0.153412863612175,
                        "yaw": 90.41009521484375
                    }
                },
                "velocity": {
                    "x": -0.004451350774616003,
                    "y": 1.7565757036209106,
                    "z": -0.003975172061473131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7395364046096802,
                "transform": {
                    "location": {
                        "x": -1567.2103271484375,
                        "y": 5724.2080078125,
                        "z": 376.239013671875
                    },
                    "rotation": {
                        "roll": -0.0039367577992379665,
                        "pitch": -0.5289298295974731,
                        "yaw": 90.34677124023438
                    }
                },
                "velocity": {
                    "x": -0.004517782479524612,
                    "y": 0.7395201921463013,
                    "z": -0.0018896579276770353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010634767822921276,
                "transform": {
                    "location": {
                        "x": -1567.1591796875,
                        "y": 5759.3486328125,
                        "z": 376.14508056640625
                    },
                    "rotation": {
                        "roll": -5.336784170140163e-08,
                        "pitch": -0.9272732734680176,
                        "yaw": 90.16273498535156
                    }
                },
                "velocity": {
                    "x": 0.00037019714363850653,
                    "y": -0.0009952109539881349,
                    "z": 5.9093265008414164e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.380136489868164,
                "transform": {
                    "location": {
                        "x": -1567.1182861328125,
                        "y": 5774.68359375,
                        "z": 376.10955810546875
                    },
                    "rotation": {
                        "roll": 0.002884921617805958,
                        "pitch": -0.12799090147018433,
                        "yaw": 90.09015655517578
                    }
                },
                "velocity": {
                    "x": -0.006274189800024033,
                    "y": 5.380115032196045,
                    "z": -0.013833179138600826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.001805713283829391,
        "expert_target_speed": 4.320962212008531,
        "target_point": [
            49.2320481621907,
            -0.05688043990199161
        ],
        "target_point_next": [
            61.46986971334803,
            -0.07109967641096512
        ]
    },
    "60": {
        "acceleration": [
            0.018783975392580032,
            3.7009716033935547,
            -0.000729002058506012
        ],
        "angular_velocity": [
            0.1669435203075409,
            0.008198090828955173,
            -0.09264423698186874
        ],
        "forward_vector": [
            0.001715839491225779,
            0.9999901056289673,
            0.004096019081771374
        ],
        "right_vector": [
            -0.9999985098838806,
            0.0017159460112452507,
            -2.248585042252671e-05
        ],
        "location": [
            -1567.1324462890625,
            5737.4287109375,
            376.19964599609375
        ],
        "rotation": [
            0.0012883552117273211,
            0.2346852868795395,
            89.90168762207031
        ],
        "velocity": [
            0.010516658425331116,
            4.210261344909668,
            -0.010219888761639595
        ],
        "speed": 4.21027447947815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.04744529724121,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1590576171875,
                5759.47607421875,
                376.1456604003906
            ],
            "velocity": [
                0.0004772343090735376,
                1.0205154418945312,
                -0.0021042251028120518
            ],
            "speed_kmh": 3.673863802277832,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042250633239746,
                "transform": {
                    "location": {
                        "x": -1564.1781005859375,
                        "y": 5785.5712890625,
                        "z": 376.07806396484375
                    },
                    "rotation": {
                        "roll": 0.01691688969731331,
                        "pitch": 0.1677699238061905,
                        "yaw": -89.95718383789062
                    }
                },
                "velocity": {
                    "x": -0.001149049960076809,
                    "y": -8.042229652404785,
                    "z": 0.0181878749281168
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5449954271316528,
                "transform": {
                    "location": {
                        "x": -1567.26171875,
                        "y": 5712.763671875,
                        "z": 376.27337646484375
                    },
                    "rotation": {
                        "roll": 0.0001782192848622799,
                        "pitch": -0.16199158132076263,
                        "yaw": 90.15673065185547
                    }
                },
                "velocity": {
                    "x": -0.005141452886164188,
                    "y": 1.5449787378311157,
                    "z": -0.005022697150707245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6109040975570679,
                "transform": {
                    "location": {
                        "x": -1567.2117919921875,
                        "y": 5724.52001953125,
                        "z": 376.23626708984375
                    },
                    "rotation": {
                        "roll": -0.0009155290899798274,
                        "pitch": -0.04367222636938095,
                        "yaw": 90.3222427368164
                    }
                },
                "velocity": {
                    "x": -0.008068657480180264,
                    "y": 1.6108794212341309,
                    "z": -0.003828773507848382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0205177068710327,
                "transform": {
                    "location": {
                        "x": -1567.1590576171875,
                        "y": 5759.47607421875,
                        "z": 376.1456604003906
                    },
                    "rotation": {
                        "roll": 0.0011196554405614734,
                        "pitch": -0.2582426071166992,
                        "yaw": 90.13050842285156
                    }
                },
                "velocity": {
                    "x": 0.0004772343090735376,
                    "y": 1.0205154418945312,
                    "z": -0.0021042251028120518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.442807197570801,
                "transform": {
                    "location": {
                        "x": -1567.1199951171875,
                        "y": 5776.10546875,
                        "z": 376.1060791015625
                    },
                    "rotation": {
                        "roll": 0.0008172618690878153,
                        "pitch": 0.012137245386838913,
                        "yaw": 90.0534439086914
                    }
                },
                "velocity": {
                    "x": -0.005642187315970659,
                    "y": 6.442787170410156,
                    "z": -0.015172290615737438
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00157065293751657,
        "expert_target_speed": 5.214789581575633,
        "target_point": [
            48.29309994986629,
            -0.03672088326833535
        ],
        "target_point_next": [
            60.53092620586415,
            -0.046050013305458076
        ]
    },
    "65": {
        "acceleration": [
            0.021539591252803802,
            3.437175750732422,
            0.08208770304918289
        ],
        "angular_velocity": [
            -0.01707814261317253,
            -0.03587915748357773,
            -0.1567884236574173
        ],
        "forward_vector": [
            0.002346925437450409,
            0.9999882578849792,
            0.0042365663684904575
        ],
        "right_vector": [
            -0.9999972581863403,
            0.0023472830653190613,
            -7.940734940348193e-05
        ],
        "location": [
            -1567.129150390625,
            5738.59619140625,
            376.1966247558594
        ],
        "rotation": [
            0.004549746867269278,
            0.24273808300495148,
            89.86553192138672
        ],
        "velocity": [
            0.01560971699655056,
            5.085849285125732,
            -0.009437455795705318
        ],
        "speed": 5.085873240091483,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.289146423339844,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1593017578125,
                5759.88525390625,
                376.14501953125
            ],
            "velocity": [
                -0.002072563162073493,
                2.15374493598938,
                -0.005276603624224663
            ],
            "speed_kmh": 7.7535086290165705,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.107680320739746,
                "transform": {
                    "location": {
                        "x": -1564.1788330078125,
                        "y": 5783.53369140625,
                        "z": 376.0828552246094
                    },
                    "rotation": {
                        "roll": 0.0135961240157485,
                        "pitch": 0.19558928906917572,
                        "yaw": -90.02874755859375
                    }
                },
                "velocity": {
                    "x": -0.006591616664081812,
                    "y": -8.107658386230469,
                    "z": 0.017722176387906075
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8774799108505249,
                "transform": {
                    "location": {
                        "x": -1567.261962890625,
                        "y": 5712.87841796875,
                        "z": 376.27294921875
                    },
                    "rotation": {
                        "roll": 0.000511540740262717,
                        "pitch": -0.21569736301898956,
                        "yaw": 90.16320037841797
                    }
                },
                "velocity": {
                    "x": -9.133893036050722e-05,
                    "y": 0.8774750828742981,
                    "z": -0.0028990076389163733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.593048572540283,
                "transform": {
                    "location": {
                        "x": -1567.21435546875,
                        "y": 5725.03759765625,
                        "z": 376.2341003417969
                    },
                    "rotation": {
                        "roll": -0.0011291465489193797,
                        "pitch": 0.1571899652481079,
                        "yaw": 90.31148529052734
                    }
                },
                "velocity": {
                    "x": -0.013180285692214966,
                    "y": 2.5930066108703613,
                    "z": -0.006647405680269003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.153752326965332,
                "transform": {
                    "location": {
                        "x": -1567.1593017578125,
                        "y": 5759.88525390625,
                        "z": 376.14501953125
                    },
                    "rotation": {
                        "roll": 6.750148895662278e-05,
                        "pitch": -0.03619316965341568,
                        "yaw": 90.12670135498047
                    }
                },
                "velocity": {
                    "x": -0.002072563162073493,
                    "y": 2.15374493598938,
                    "z": -0.005276603624224663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.801485538482666,
                "transform": {
                    "location": {
                        "x": -1567.12060546875,
                        "y": 5777.85546875,
                        "z": 376.10186767578125
                    },
                    "rotation": {
                        "roll": 0.004587685689330101,
                        "pitch": -0.0464521124958992,
                        "yaw": 90.01105499267578
                    }
                },
                "velocity": {
                    "x": 0.0015145952347666025,
                    "y": 6.801462650299072,
                    "z": -0.017432259395718575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0004726875340566039,
        "expert_target_speed": 6.00931703838953,
        "target_point": [
            47.125628631660426,
            -0.004760225590362904
        ],
        "target_point_next": [
            59.363458366581696,
            -0.006132717739717852
        ]
    },
    "70": {
        "acceleration": [
            0.029469653964042664,
            -0.15180587768554688,
            -0.0063001736998558044
        ],
        "angular_velocity": [
            -0.9577199220657349,
            0.07385803014039993,
            3.2526187896728516
        ],
        "forward_vector": [
            0.004004423040896654,
            0.999991774559021,
            0.0005650519160553813
        ],
        "right_vector": [
            -0.9999919533729553,
            0.004004521761089563,
            -0.00017288015806116164
        ],
        "location": [
            -1567.1246337890625,
            5739.89404296875,
            376.1939697265625
        ],
        "rotation": [
            0.00990530475974083,
            0.032375093549489975,
            89.77056121826172
        ],
        "velocity": [
            0.023400625213980675,
            5.161201000213623,
            -0.013978834263980389
        ],
        "speed": 5.161254048568672,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.673433303833008,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1597900390625,
                5760.5673828125,
                376.1432800292969
            ],
            "velocity": [
                -0.0018247831612825394,
                3.3360838890075684,
                -0.007324619218707085
            ],
            "speed_kmh": 12.009932744154517,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.93768835067749,
                "transform": {
                    "location": {
                        "x": -1564.1807861328125,
                        "y": 5781.53662109375,
                        "z": 376.08795166015625
                    },
                    "rotation": {
                        "roll": 0.006088813301175833,
                        "pitch": 0.10472728312015533,
                        "yaw": -90.04718017578125
                    }
                },
                "velocity": {
                    "x": -0.006580321583896875,
                    "y": -7.93766450881958,
                    "z": 0.018183879554271698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7357527017593384,
                "transform": {
                    "location": {
                        "x": -1567.2628173828125,
                        "y": 5713.21240234375,
                        "z": 376.272216796875
                    },
                    "rotation": {
                        "roll": -0.00045776303159072995,
                        "pitch": -0.06610256433486938,
                        "yaw": 90.18419647216797
                    }
                },
                "velocity": {
                    "x": -0.0030196181032806635,
                    "y": 1.7357449531555176,
                    "z": -0.004230003338307142
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.006683349609375,
                "transform": {
                    "location": {
                        "x": -1567.21875,
                        "y": 5725.8681640625,
                        "z": 376.2310485839844
                    },
                    "rotation": {
                        "roll": -0.00024411741469521075,
                        "pitch": 0.3612896800041199,
                        "yaw": 90.29955291748047
                    }
                },
                "velocity": {
                    "x": -0.019196806475520134,
                    "y": 4.006623268127441,
                    "z": -0.010643158107995987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.336092233657837,
                "transform": {
                    "location": {
                        "x": -1567.1597900390625,
                        "y": 5760.5673828125,
                        "z": 376.1432800292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.025087283924221992,
                        "yaw": 90.06723022460938
                    }
                },
                "velocity": {
                    "x": -0.0018247831612825394,
                    "y": 3.3360838890075684,
                    "z": -0.007324619218707085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.609235763549805,
                "transform": {
                    "location": {
                        "x": -1567.11962890625,
                        "y": 5779.41552734375,
                        "z": 376.0979309082031
                    },
                    "rotation": {
                        "roll": 0.0023667877539992332,
                        "pitch": -0.3069486916065216,
                        "yaw": 89.92242431640625
                    }
                },
                "velocity": {
                    "x": 0.0043594567105174065,
                    "y": 5.609218120574951,
                    "z": -0.013377932831645012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0069654048420488834,
        "expert_target_speed": 6.077313802287912,
        "target_point": [
            45.82771271501591,
            0.07256683293062556
        ],
        "target_point_next": [
            58.065527959631964,
            0.091449187143745
        ]
    },
    "75": {
        "acceleration": [
            -0.3110238015651703,
            9.422492980957031,
            -0.02102566882967949
        ],
        "angular_velocity": [
            2.6056151390075684,
            0.25545045733451843,
            -0.9247201681137085
        ],
        "forward_vector": [
            0.0038076078053563833,
            0.9999918937683105,
            0.0012758965604007244
        ],
        "right_vector": [
            -0.9999927282333374,
            0.0038075274787843227,
            6.55137628200464e-05
        ],
        "location": [
            -1567.118408203125,
            5741.2265625,
            376.1900939941406
        ],
        "rotation": [
            -0.003753665601834655,
            0.07310350984334946,
            89.7818374633789
        ],
        "velocity": [
            0.015038586221635342,
            5.993066787719727,
            -0.015147018246352673
        ],
        "speed": 5.993085656082749,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.374614715576172,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1602783203125,
                5761.60107421875,
                376.1406555175781
            ],
            "velocity": [
                -0.002127652522176504,
                4.820533275604248,
                -0.010552434250712395
            ],
            "speed_kmh": 17.35396306231181,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.071982383728027,
                "transform": {
                    "location": {
                        "x": -1564.183349609375,
                        "y": 5779.53466796875,
                        "z": 376.0925598144531
                    },
                    "rotation": {
                        "roll": 0.008202110417187214,
                        "pitch": 0.16525641083717346,
                        "yaw": -90.083251953125
                    }
                },
                "velocity": {
                    "x": -0.014210604131221771,
                    "y": -8.071949005126953,
                    "z": 0.01834770105779171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2987112998962402,
                "transform": {
                    "location": {
                        "x": -1567.263671875,
                        "y": 5713.75634765625,
                        "z": 376.2706604003906
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.06878682971000671,
                        "yaw": 90.16051483154297
                    }
                },
                "velocity": {
                    "x": -0.0037737705279141665,
                    "y": 2.298699378967285,
                    "z": -0.00634531956166029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.317800045013428,
                "transform": {
                    "location": {
                        "x": -1567.2237548828125,
                        "y": 5727.041015625,
                        "z": 376.2277526855469
                    },
                    "rotation": {
                        "roll": 0.011203545145690441,
                        "pitch": 0.4199336767196655,
                        "yaw": 90.26368713378906
                    }
                },
                "velocity": {
                    "x": -0.010673237964510918,
                    "y": 5.317775726318359,
                    "z": -0.011984424665570259
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.820545196533203,
                "transform": {
                    "location": {
                        "x": -1567.1602783203125,
                        "y": 5761.60107421875,
                        "z": 376.1406555175781
                    },
                    "rotation": {
                        "roll": 0.00019226930453442037,
                        "pitch": 0.07352698594331741,
                        "yaw": 90.04598236083984
                    }
                },
                "velocity": {
                    "x": -0.002127652522176504,
                    "y": 4.820533275604248,
                    "z": -0.010552434250712395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.0213236808776855,
                "transform": {
                    "location": {
                        "x": -1567.1185302734375,
                        "y": 5780.705078125,
                        "z": 376.0947265625
                    },
                    "rotation": {
                        "roll": 0.0007910432759672403,
                        "pitch": -0.26931434869766235,
                        "yaw": 89.94207000732422
                    }
                },
                "velocity": {
                    "x": 0.003408190794289112,
                    "y": 5.021312236785889,
                    "z": -0.010096779093146324
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0070673138834536076,
        "expert_target_speed": 6.814469713356841,
        "target_point": [
            44.495192673100284,
            0.06461914888342565
        ],
        "target_point_next": [
            56.73301143037628,
            0.08106812215600837
        ]
    },
    "80": {
        "acceleration": [
            -0.23607376217842102,
            1.4694976806640625,
            0.0087810680270195
        ],
        "angular_velocity": [
            -0.5399560332298279,
            0.2586310803890228,
            4.492796421051025
        ],
        "forward_vector": [
            -0.0008118543773889542,
            0.9999940991401672,
            0.0033370191231369972
        ],
        "right_vector": [
            -0.9999992847442627,
            -0.0008146259933710098,
            0.0008293038117699325
        ],
        "location": [
            -1567.119140625,
            5742.83447265625,
            376.1853332519531
        ],
        "rotation": [
            -0.047515880316495895,
            0.191197469830513,
            90.04651641845703
        ],
        "velocity": [
            -0.03145616874098778,
            6.6825079917907715,
            -0.017452916130423546
        ],
        "speed": 6.682582027248105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.105077743530273,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1593017578125,
                5762.939453125,
                376.1374816894531
            ],
            "velocity": [
                0.00696491589769721,
                5.708188533782959,
                -0.01453601848334074
            ],
            "speed_kmh": 20.549560647725556,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031402587890625,
                "transform": {
                    "location": {
                        "x": -1564.1868896484375,
                        "y": 5777.5185546875,
                        "z": 376.0975341796875
                    },
                    "rotation": {
                        "roll": 0.004988482221961021,
                        "pitch": 0.1447112113237381,
                        "yaw": -90.09927368164062
                    }
                },
                "velocity": {
                    "x": -0.015153788961470127,
                    "y": -8.031367301940918,
                    "z": 0.018601102754473686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3758574426174164,
                "transform": {
                    "location": {
                        "x": -1567.26416015625,
                        "y": 5713.986328125,
                        "z": 376.2695617675781
                    },
                    "rotation": {
                        "roll": -0.0025939971674233675,
                        "pitch": -0.38876068592071533,
                        "yaw": 90.26167297363281
                    }
                },
                "velocity": {
                    "x": -6.734026101185009e-05,
                    "y": 0.3758503496646881,
                    "z": -0.0023088741581887007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.365794658660889,
                "transform": {
                    "location": {
                        "x": -1567.2265625,
                        "y": 5728.37744140625,
                        "z": 376.2252197265625
                    },
                    "rotation": {
                        "roll": 0.01034036185592413,
                        "pitch": 0.11111351102590561,
                        "yaw": 90.15140533447266
                    }
                },
                "velocity": {
                    "x": -0.007728888653218746,
                    "y": 5.365771293640137,
                    "z": -0.01386086456477642
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.708211421966553,
                "transform": {
                    "location": {
                        "x": -1567.1593017578125,
                        "y": 5762.939453125,
                        "z": 376.1374816894531
                    },
                    "rotation": {
                        "roll": 0.004062354564666748,
                        "pitch": 0.006113018840551376,
                        "yaw": 89.85130310058594
                    }
                },
                "velocity": {
                    "x": 0.00696491589769721,
                    "y": 5.708188533782959,
                    "z": -0.01453601848334074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.425789833068848,
                "transform": {
                    "location": {
                        "x": -1567.1168212890625,
                        "y": 5782.03857421875,
                        "z": 376.0916748046875
                    },
                    "rotation": {
                        "roll": 0.0014050009194761515,
                        "pitch": -0.11993811279535294,
                        "yaw": 89.92381286621094
                    }
                },
                "velocity": {
                    "x": 0.008345936425030231,
                    "y": 5.425765037536621,
                    "z": -0.01399585697799921
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012627017684280872,
        "expert_target_speed": 7.386571099709878,
        "target_point": [
            42.88710276747233,
            -0.14138492594320823
        ],
        "target_point_next": [
            55.124865952188,
            -0.18176734136342756
        ]
    },
    "85": {
        "acceleration": [
            -0.04085160791873932,
            -0.5170345306396484,
            -0.009685605764389038
        ],
        "angular_velocity": [
            -0.8401511907577515,
            -0.15314780175685883,
            -2.031916379928589
        ],
        "forward_vector": [
            -0.006561037618666887,
            0.9999784827232361,
            5.6505199609091505e-05
        ],
        "right_vector": [
            -0.9999781250953674,
            -0.006561083719134331,
            0.0008602007292211056
        ],
        "location": [
            -1567.1312255859375,
            5744.5205078125,
            376.1815185546875
        ],
        "rotation": [
            -0.049285877496004105,
            0.0032375094015151262,
            90.37592315673828
        ],
        "velocity": [
            -0.06437522917985916,
            6.739627361297607,
            -0.01811731792986393
        ],
        "speed": 6.73993480230212,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.919506072998047,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1558837890625,
                5764.43994140625,
                376.1336669921875
            ],
            "velocity": [
                0.015786953270435333,
                6.829061508178711,
                -0.017832526937127113
            ],
            "speed_kmh": 24.584770938322897,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997900009155273,
                "transform": {
                    "location": {
                        "x": -1564.1905517578125,
                        "y": 5775.51904296875,
                        "z": 376.1024475097656
                    },
                    "rotation": {
                        "roll": 0.0012914029648527503,
                        "pitch": 0.13490305840969086,
                        "yaw": -90.10604095458984
                    }
                },
                "velocity": {
                    "x": -0.01489235833287239,
                    "y": -7.997864246368408,
                    "z": 0.018775958567857742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4299129247665405,
                "transform": {
                    "location": {
                        "x": -1567.2645263671875,
                        "y": 5714.21875,
                        "z": 376.2692565917969
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.09207094460725784,
                        "yaw": 90.25529479980469
                    }
                },
                "velocity": {
                    "x": -0.0033098228741437197,
                    "y": 1.4299050569534302,
                    "z": -0.003404435934498906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.628363609313965,
                "transform": {
                    "location": {
                        "x": -1567.228759765625,
                        "y": 5729.96630859375,
                        "z": 376.22027587890625
                    },
                    "rotation": {
                        "roll": 0.006665107794106007,
                        "pitch": 0.26378190517425537,
                        "yaw": 90.09223175048828
                    }
                },
                "velocity": {
                    "x": -0.0075361221097409725,
                    "y": 6.628335475921631,
                    "z": -0.01783105731010437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.829102993011475,
                "transform": {
                    "location": {
                        "x": -1567.1558837890625,
                        "y": 5764.43994140625,
                        "z": 376.1336669921875
                    },
                    "rotation": {
                        "roll": 0.0027049670461565256,
                        "pitch": 0.03374796360731125,
                        "yaw": 89.78948211669922
                    }
                },
                "velocity": {
                    "x": 0.015786953270435333,
                    "y": 6.829061508178711,
                    "z": -0.017832526937127113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.680825710296631,
                "transform": {
                    "location": {
                        "x": -1567.114501953125,
                        "y": 5783.38916015625,
                        "z": 376.08831787109375
                    },
                    "rotation": {
                        "roll": 4.140164310229011e-05,
                        "pitch": -0.21572467684745789,
                        "yaw": 89.7752456665039
                    }
                },
                "velocity": {
                    "x": 0.005259559024125338,
                    "y": 4.680785655975342,
                    "z": -0.0186864472925663
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04143644869327545,
        "expert_target_speed": 7.452943990498571,
        "target_point": [
            41.1995130365239,
            -0.3878431857648067
        ],
        "target_point_next": [
            53.43684467813523,
            -0.49826418863969235
        ]
    },
    "90": {
        "acceleration": [
            -0.07131144404411316,
            -1.8762493133544922,
            0.003479570150375366
        ],
        "angular_velocity": [
            -0.6893689036369324,
            -0.03266401216387749,
            3.9721121788024902
        ],
        "forward_vector": [
            -0.01078010629862547,
            0.999936044216156,
            -0.0034167696721851826
        ],
        "right_vector": [
            -0.9999416470527649,
            -0.010777879506349564,
            0.0006695144693367183
        ],
        "location": [
            -1567.1484375,
            5746.16259765625,
            376.1778869628906
        ],
        "rotation": [
            -0.038360580801963806,
            -0.1957668662071228,
            90.61766815185547
        ],
        "velocity": [
            -0.081068255007267,
            6.373973846435547,
            -0.017678432166576385
        ],
        "speed": 6.374489364412987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.207090377807617,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1524658203125,
                5766.36962890625,
                376.1288146972656
            ],
            "velocity": [
                0.011654178611934185,
                8.217379570007324,
                -0.021223830059170723
            ],
            "speed_kmh": 29.582694873162954,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.05688762664795,
                "transform": {
                    "location": {
                        "x": -1564.1944580078125,
                        "y": 5773.509765625,
                        "z": 376.1072692871094
                    },
                    "rotation": {
                        "roll": 0.002125383820384741,
                        "pitch": 0.15642498433589935,
                        "yaw": -90.11742401123047
                    }
                },
                "velocity": {
                    "x": -0.016514213755726814,
                    "y": -8.056844711303711,
                    "z": 0.02025989443063736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4250874519348145,
                "transform": {
                    "location": {
                        "x": -1567.2652587890625,
                        "y": 5714.705078125,
                        "z": 376.2679748535156
                    },
                    "rotation": {
                        "roll": 0.0009103095508180559,
                        "pitch": -0.022580605000257492,
                        "yaw": 90.14899444580078
                    }
                },
                "velocity": {
                    "x": -0.0036753378808498383,
                    "y": 2.425076961517334,
                    "z": -0.006133871152997017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.60204553604126,
                "transform": {
                    "location": {
                        "x": -1567.23046875,
                        "y": 5731.59130859375,
                        "z": 376.216796875
                    },
                    "rotation": {
                        "roll": 0.0045694573782384396,
                        "pitch": -0.01565479300916195,
                        "yaw": 90.06273651123047
                    }
                },
                "velocity": {
                    "x": -0.005191759206354618,
                    "y": 6.602019309997559,
                    "z": -0.01789684221148491
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.217415809631348,
                "transform": {
                    "location": {
                        "x": -1567.1524658203125,
                        "y": 5766.36962890625,
                        "z": 376.1288146972656
                    },
                    "rotation": {
                        "roll": -0.0025634770281612873,
                        "pitch": 0.06948351114988327,
                        "yaw": 89.90260314941406
                    }
                },
                "velocity": {
                    "x": 0.011654178611934185,
                    "y": 8.217379570007324,
                    "z": -0.021223830059170723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.090270519256592,
                "transform": {
                    "location": {
                        "x": -1567.1119384765625,
                        "y": 5784.560546875,
                        "z": 376.0854187011719
                    },
                    "rotation": {
                        "roll": 0.002370361238718033,
                        "pitch": -0.12451434135437012,
                        "yaw": 89.78177642822266
                    }
                },
                "velocity": {
                    "x": 0.012985873967409134,
                    "y": 5.0902509689331055,
                    "z": -0.00547168729826808
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07273387908935547,
        "expert_target_speed": 7.184183057436108,
        "target_point": [
            39.55533714433384,
            -0.5606583235364458
        ],
        "target_point_next": [
            51.792096047038285,
            -0.7225535419375354
        ]
    },
    "95": {
        "acceleration": [
            -0.03865361213684082,
            -2.017049789428711,
            -0.0009746477007865906
        ],
        "angular_velocity": [
            -0.2996295690536499,
            -0.026283740997314453,
            -2.6223409175872803
        ],
        "forward_vector": [
            -0.01342002023011446,
            0.9998948574066162,
            -0.005490871146321297
        ],
        "right_vector": [
            -0.9999098181724548,
            -0.013417028822004795,
            0.0005810930160805583
        ],
        "location": [
            -1567.169677734375,
            5747.68994140625,
            376.17425537109375
        ],
        "rotation": [
            -0.0332946851849556,
            -0.31460532546043396,
            90.7689437866211
        ],
        "velocity": [
            -0.09337136894464493,
            5.873882293701172,
            -0.01720990054309368
        ],
        "speed": 5.8746243635482545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.718822479248047,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.149658203125,
                5768.40869140625,
                376.1234436035156
            ],
            "velocity": [
                0.011002308689057827,
                7.784653663635254,
                -0.021012015640735626
            ],
            "speed_kmh": 28.024883265230283,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007787704467773,
                "transform": {
                    "location": {
                        "x": -1564.19873046875,
                        "y": 5771.50244140625,
                        "z": 376.1123046875
                    },
                    "rotation": {
                        "roll": 0.002417147159576416,
                        "pitch": 0.1415351778268814,
                        "yaw": -90.12371826171875
                    }
                },
                "velocity": {
                    "x": -0.018943939357995987,
                    "y": -8.007736206054688,
                    "z": 0.021541623398661613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7860140800476074,
                "transform": {
                    "location": {
                        "x": -1567.2662353515625,
                        "y": 5715.4765625,
                        "z": 376.26580810546875
                    },
                    "rotation": {
                        "roll": 0.0007652064086869359,
                        "pitch": 0.03272343426942825,
                        "yaw": 90.10826873779297
                    }
                },
                "velocity": {
                    "x": -0.00452629616484046,
                    "y": 3.785997152328491,
                    "z": -0.010379933752119541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.728759765625,
                "transform": {
                    "location": {
                        "x": -1567.23046875,
                        "y": 5733.2978515625,
                        "z": 376.2122497558594
                    },
                    "rotation": {
                        "roll": 0.009081095457077026,
                        "pitch": -0.055481623858213425,
                        "yaw": 90.00430297851562
                    }
                },
                "velocity": {
                    "x": 0.004000069107860327,
                    "y": 6.728734970092773,
                    "z": -0.017897652462124825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.784689903259277,
                "transform": {
                    "location": {
                        "x": -1567.149658203125,
                        "y": 5768.40869140625,
                        "z": 376.1234436035156
                    },
                    "rotation": {
                        "roll": -0.00149536260869354,
                        "pitch": -0.14596113562583923,
                        "yaw": 89.91934967041016
                    }
                },
                "velocity": {
                    "x": 0.011002308689057827,
                    "y": 7.784653663635254,
                    "z": -0.021012015640735626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.049217700958252,
                "transform": {
                    "location": {
                        "x": -1567.1094970703125,
                        "y": 5785.638671875,
                        "z": 376.0826721191406
                    },
                    "rotation": {
                        "roll": 0.0030795212369412184,
                        "pitch": -0.2923867106437683,
                        "yaw": 89.68399047851562
                    }
                },
                "velocity": {
                    "x": 0.011471167206764221,
                    "y": 4.049189567565918,
                    "z": -0.009798793122172356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10005425661802292,
        "expert_target_speed": 6.752362897860849,
        "target_point": [
            38.026224099578265,
            -0.666048888833228
        ],
        "target_point_next": [
            50.26251184361614,
            -0.8603186748689864
        ]
    },
    "100": {
        "acceleration": [
            0.18817469477653503,
            -5.253467559814453,
            0.032140929251909256
        ],
        "angular_velocity": [
            -1.2059531211853027,
            -0.16981962323188782,
            2.9450185298919678
        ],
        "forward_vector": [
            -0.01569102704524994,
            0.9998533129692078,
            -0.0068629439920187
        ],
        "right_vector": [
            -0.999876856803894,
            -0.015690719708800316,
            9.853438677964732e-05
        ],
        "location": [
            -1567.1910400390625,
            5749.1005859375,
            376.170654296875
        ],
        "rotation": [
            -0.0056457375176250935,
            -0.39322081208229065,
            90.89908599853516
        ],
        "velocity": [
            -0.07208698987960815,
            5.176114559173584,
            -0.013331117108464241
        ],
        "speed": 5.176616507314275,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.094348907470703,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1468505859375,
                5770.19482421875,
                376.1187438964844
            ],
            "velocity": [
                0.009460500441491604,
                6.349303245544434,
                -0.01629498414695263
            ],
            "speed_kmh": 22.857592332520415,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035400390625,
                "transform": {
                    "location": {
                        "x": -1564.20361328125,
                        "y": 5769.49755859375,
                        "z": 376.1173095703125
                    },
                    "rotation": {
                        "roll": 0.002438572235405445,
                        "pitch": 0.14834487438201904,
                        "yaw": -90.13320922851562
                    }
                },
                "velocity": {
                    "x": -0.01991312764585018,
                    "y": -8.035346031188965,
                    "z": 0.021664904430508614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.202662944793701,
                "transform": {
                    "location": {
                        "x": -1567.267333984375,
                        "y": 5716.611328125,
                        "z": 376.2628173828125
                    },
                    "rotation": {
                        "roll": 4.907533002551645e-05,
                        "pitch": 0.05649932101368904,
                        "yaw": 90.08370971679688
                    }
                },
                "velocity": {
                    "x": -0.0059851668775081635,
                    "y": 5.20265007019043,
                    "z": -0.009879969991743565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.540494441986084,
                "transform": {
                    "location": {
                        "x": -1567.2296142578125,
                        "y": 5734.58544921875,
                        "z": 376.2125244140625
                    },
                    "rotation": {
                        "roll": 0.0033653881400823593,
                        "pitch": -1.140259027481079,
                        "yaw": 89.96727752685547
                    }
                },
                "velocity": {
                    "x": 0.0018753560725599527,
                    "y": 2.5404744148254395,
                    "z": -0.009881820529699326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.349331378936768,
                "transform": {
                    "location": {
                        "x": -1567.1468505859375,
                        "y": 5770.19482421875,
                        "z": 376.1187438964844
                    },
                    "rotation": {
                        "roll": -0.0006713956245221198,
                        "pitch": -0.30383411049842834,
                        "yaw": 89.91108703613281
                    }
                },
                "velocity": {
                    "x": 0.009460500441491604,
                    "y": 6.349303245544434,
                    "z": -0.01629498414695263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.979494094848633,
                "transform": {
                    "location": {
                        "x": -1567.106689453125,
                        "y": 5786.79736328125,
                        "z": 376.0799865722656
                    },
                    "rotation": {
                        "roll": -0.0014038081280887127,
                        "pitch": -0.022034188732504845,
                        "yaw": 89.78315734863281
                    }
                },
                "velocity": {
                    "x": 0.01178987231105566,
                    "y": 4.979470252990723,
                    "z": -0.00999334268271923
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12864017486572266,
        "expert_target_speed": 6.127745303627957,
        "target_point": [
            36.61380635673044,
            -0.7516789271656191
        ],
        "target_point_next": [
            48.849621056840405,
            -0.9737535300149655
        ]
    },
    "105": {
        "acceleration": [
            0.12962746620178223,
            -2.5910377502441406,
            0.019040312618017197
        ],
        "angular_velocity": [
            0.10849492996931076,
            0.005873220507055521,
            -0.8822556138038635
        ],
        "forward_vector": [
            -0.012501269578933716,
            0.9998800754547119,
            -0.009142031893134117
        ],
        "right_vector": [
            -0.9999217391014099,
            -0.01250528171658516,
            -0.00038181847776286304
        ],
        "location": [
            -1567.203857421875,
            5750.26220703125,
            376.1677551269531
        ],
        "rotation": [
            0.021877501159906387,
            -0.523807168006897,
            90.71631622314453
        ],
        "velocity": [
            -0.031181132420897484,
            4.2563276290893555,
            -0.011179313063621521
        ],
        "speed": 4.256441841393873,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.940088272094727,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1451416015625,
                5771.2021484375,
                376.1153564453125
            ],
            "velocity": [
                0.003562790108844638,
                2.0434136390686035,
                -0.005219039972871542
            ],
            "speed_kmh": 7.356324275689194,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023929595947266,
                "transform": {
                    "location": {
                        "x": -1564.2083740234375,
                        "y": 5767.4892578125,
                        "z": 376.1223449707031
                    },
                    "rotation": {
                        "roll": 0.0007238757680170238,
                        "pitch": 0.15048271417617798,
                        "yaw": -90.13607788085938
                    }
                },
                "velocity": {
                    "x": -0.019062621518969536,
                    "y": -8.023879051208496,
                    "z": 0.021149959415197372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.527245044708252,
                "transform": {
                    "location": {
                        "x": -1567.2674560546875,
                        "y": 5717.966796875,
                        "z": 376.2589111328125
                    },
                    "rotation": {
                        "roll": 0.001975279999896884,
                        "pitch": -0.06804917007684708,
                        "yaw": 90.0103759765625
                    }
                },
                "velocity": {
                    "x": 0.001763075590133667,
                    "y": 5.527219295501709,
                    "z": -0.016781682148575783
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6802834272384644,
                "transform": {
                    "location": {
                        "x": -1567.22998046875,
                        "y": 5734.73486328125,
                        "z": 376.2127685546875
                    },
                    "rotation": {
                        "roll": -0.001251128618605435,
                        "pitch": -1.3558334112167358,
                        "yaw": 89.93741607666016
                    }
                },
                "velocity": {
                    "x": 0.0007224564906209707,
                    "y": 0.6802788376808167,
                    "z": -0.0023889446165412664
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0434234142303467,
                "transform": {
                    "location": {
                        "x": -1567.1451416015625,
                        "y": 5771.2021484375,
                        "z": 376.1153564453125
                    },
                    "rotation": {
                        "roll": 2.8790669603040442e-05,
                        "pitch": -0.7534517645835876,
                        "yaw": 89.88352966308594
                    }
                },
                "velocity": {
                    "x": 0.003562790108844638,
                    "y": 2.0434136390686035,
                    "z": -0.005219039972871542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.181591033935547,
                "transform": {
                    "location": {
                        "x": -1567.103759765625,
                        "y": 5787.9296875,
                        "z": 376.0773010253906
                    },
                    "rotation": {
                        "roll": -0.0006408554036170244,
                        "pitch": -0.22521863877773285,
                        "yaw": 89.82763671875
                    }
                },
                "velocity": {
                    "x": 0.009964591823518276,
                    "y": 4.181567192077637,
                    "z": -0.009984569624066353
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13424603641033173,
        "expert_target_speed": 5.24804879213032,
        "target_point": [
            35.454331768387924,
            -0.6329228205053178
        ],
        "target_point_next": [
            47.6907939016016,
            -0.8158790094836273
        ]
    },
    "110": {
        "acceleration": [
            0.12239527702331543,
            -1.7679929733276367,
            0.009943973273038864
        ],
        "angular_velocity": [
            0.35832569003105164,
            0.015010694041848183,
            -1.656027913093567
        ],
        "forward_vector": [
            -0.007930481806397438,
            0.99993896484375,
            -0.007691545411944389
        ],
        "right_vector": [
            -0.9999683499336243,
            -0.007934884168207645,
            -0.0005420185625553131
        ],
        "location": [
            -1567.2086181640625,
            5751.259765625,
            376.16497802734375
        ],
        "rotation": [
            0.031056294217705727,
            -0.44069743156433105,
            90.45439910888672
        ],
        "velocity": [
            -0.0007659051334485412,
            3.76149582862854,
            -0.009412230923771858
        ],
        "speed": 3.761495906604257,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.60514259338379,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1439208984375,
                5771.86474609375,
                376.1145324707031
            ],
            "velocity": [
                0.006532289087772369,
                3.3356401920318604,
                -0.007304887752979994
            ],
            "speed_kmh": 12.008356512719743,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029622077941895,
                "transform": {
                    "location": {
                        "x": -1564.2132568359375,
                        "y": 5765.48291015625,
                        "z": 376.1274108886719
                    },
                    "rotation": {
                        "roll": 0.0002467413723934442,
                        "pitch": 0.1470676213502884,
                        "yaw": -90.13628387451172
                    }
                },
                "velocity": {
                    "x": -0.019114991649985313,
                    "y": -8.029570579528809,
                    "z": 0.02156675234436989
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.420905113220215,
                "transform": {
                    "location": {
                        "x": -1567.2664794921875,
                        "y": 5719.54541015625,
                        "z": 376.2544860839844
                    },
                    "rotation": {
                        "roll": 0.0013541036751121283,
                        "pitch": 0.10045158863067627,
                        "yaw": 89.97621154785156
                    }
                },
                "velocity": {
                    "x": 0.005805714521557093,
                    "y": 7.420875072479248,
                    "z": -0.02043752186000347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5737090110778809,
                "transform": {
                    "location": {
                        "x": -1567.2296142578125,
                        "y": 5735.04150390625,
                        "z": 376.20806884765625
                    },
                    "rotation": {
                        "roll": -0.003112796926870942,
                        "pitch": -0.308656245470047,
                        "yaw": 89.87769317626953
                    }
                },
                "velocity": {
                    "x": 0.002321499167010188,
                    "y": 1.5737048387527466,
                    "z": -0.0027024936862289906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3356544971466064,
                "transform": {
                    "location": {
                        "x": -1567.1439208984375,
                        "y": 5771.86474609375,
                        "z": 376.1145324707031
                    },
                    "rotation": {
                        "roll": 0.0007376567227765918,
                        "pitch": -0.16384939849376678,
                        "yaw": 89.88729858398438
                    }
                },
                "velocity": {
                    "x": 0.006532289087772369,
                    "y": 3.3356401920318604,
                    "z": -0.007304887752979994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.127514839172363,
                "transform": {
                    "location": {
                        "x": -1567.1016845703125,
                        "y": 5788.97900390625,
                        "z": 376.0747985839844
                    },
                    "rotation": {
                        "roll": 0.00018470942450221628,
                        "pitch": -0.1734936237335205,
                        "yaw": 89.85160064697266
                    }
                },
                "velocity": {
                    "x": 0.0095039838925004,
                    "y": 4.127493858337402,
                    "z": -0.009110068902373314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1294093281030655,
        "expert_target_speed": 4.79110672883962,
        "target_point": [
            34.45928565254812,
            -0.46798992941089856
        ],
        "target_point_next": [
            46.69645520621468,
            -0.5951112080150094
        ]
    },
    "115": {
        "acceleration": [
            0.023041367530822754,
            -0.5653238296508789,
            0.012195967137813568
        ],
        "angular_velocity": [
            0.4581763744354248,
            0.028368612751364708,
            -0.4824169874191284
        ],
        "forward_vector": [
            -0.0029320584144443274,
            0.999977707862854,
            -0.0059969061985611916
        ],
        "right_vector": [
            -0.9999955892562866,
            -0.002935066819190979,
            -0.0004929126589559019
        ],
        "location": [
            -1567.2071533203125,
            5752.15869140625,
            376.1623229980469
        ],
        "rotation": [
            0.0282423235476017,
            -0.34359946846961975,
            90.16799926757812
        ],
        "velocity": [
            0.01742357388138771,
            3.4877161979675293,
            -0.009283408522605896
        ],
        "speed": 3.4877597191452105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.741863250732422,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.141845703125,
                5772.900390625,
                376.1122131347656
            ],
            "velocity": [
                0.009266145527362823,
                4.82457160949707,
                -0.010783357545733452
            ],
            "speed_kmh": 17.368533211303074,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022195816040039,
                "transform": {
                    "location": {
                        "x": -1564.2181396484375,
                        "y": 5763.4765625,
                        "z": 376.1324462890625
                    },
                    "rotation": {
                        "roll": -0.00024414008657913655,
                        "pitch": 0.15160970389842987,
                        "yaw": -90.13951873779297
                    }
                },
                "velocity": {
                    "x": -0.019591698423027992,
                    "y": -8.022144317626953,
                    "z": 0.021097727119922638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.514683246612549,
                "transform": {
                    "location": {
                        "x": -1567.2642822265625,
                        "y": 5721.47998046875,
                        "z": 376.2488098144531
                    },
                    "rotation": {
                        "roll": 0.0034207471180707216,
                        "pitch": -0.0765664130449295,
                        "yaw": 89.79288482666016
                    }
                },
                "velocity": {
                    "x": 0.008842953480780125,
                    "y": 7.5146484375,
                    "z": -0.02125556394457817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6572673320770264,
                "transform": {
                    "location": {
                        "x": -1567.228759765625,
                        "y": 5735.5703125,
                        "z": 376.2052001953125
                    },
                    "rotation": {
                        "roll": -0.0025634828489273787,
                        "pitch": 0.10195422917604446,
                        "yaw": 89.90495300292969
                    }
                },
                "velocity": {
                    "x": 0.0027217953465878963,
                    "y": 2.6572585105895996,
                    "z": -0.006247758865356445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.824592590332031,
                "transform": {
                    "location": {
                        "x": -1567.141845703125,
                        "y": 5772.900390625,
                        "z": 376.1122131347656
                    },
                    "rotation": {
                        "roll": -0.00039672802085988224,
                        "pitch": 0.03919162228703499,
                        "yaw": 89.89141082763672
                    }
                },
                "velocity": {
                    "x": 0.009266145527362823,
                    "y": 4.82457160949707,
                    "z": -0.010783357545733452
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.846597194671631,
                "transform": {
                    "location": {
                        "x": -1567.099853515625,
                        "y": 5789.9599609375,
                        "z": 376.07244873046875
                    },
                    "rotation": {
                        "roll": -0.0002746631798800081,
                        "pitch": -0.19202393293380737,
                        "yaw": 89.86463165283203
                    }
                },
                "velocity": {
                    "x": 0.007657776121050119,
                    "y": 3.8465793132781982,
                    "z": -0.008966999128460884
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11903201788663864,
        "expert_target_speed": 4.544206311054298,
        "target_point": [
            33.562278452675656,
            -0.29144626629203146
        ],
        "target_point_next": [
            45.79993092046396,
            -0.35732936194512177
        ]
    },
    "120": {
        "acceleration": [
            0.04731427878141403,
            0.5840110778808594,
            -0.01414623111486435
        ],
        "angular_velocity": [
            0.5035034418106079,
            0.005612564273178577,
            -1.3524410724639893
        ],
        "forward_vector": [
            0.0009920087177306414,
            0.9999923706054688,
            -0.0037801172584295273
        ],
        "right_vector": [
            -0.999999463558197,
            0.0009908780921250582,
            -0.0003009471984114498
        ],
        "location": [
            -1567.203125,
            5753.0322265625,
            376.1595764160156
        ],
        "rotation": [
            0.017243128269910812,
            -0.21658529341220856,
            89.94316101074219
        ],
        "velocity": [
            0.02441633678972721,
            3.535881996154785,
            -0.009916247799992561
        ],
        "speed": 3.535966296252522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.19546890258789,
        "front_vehicle_info": {
            "id": 4447,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1567.1390380859375,
                5774.2275390625,
                376.1092529296875
            ],
            "velocity": [
                0.013723345473408699,
                5.463516712188721,
                -0.013002099469304085
            ],
            "speed_kmh": 19.668777906855446,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034127235412598,
                "transform": {
                    "location": {
                        "x": -1564.22314453125,
                        "y": 5761.46923828125,
                        "z": 376.1375732421875
                    },
                    "rotation": {
                        "roll": 6.612766446778551e-05,
                        "pitch": 0.15147992968559265,
                        "yaw": -90.13963317871094
                    }
                },
                "velocity": {
                    "x": -0.019561655819416046,
                    "y": -8.034074783325195,
                    "z": 0.021480044350028038
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6746649742126465,
                "transform": {
                    "location": {
                        "x": -1567.2618408203125,
                        "y": 5723.18115234375,
                        "z": 376.2437438964844
                    },
                    "rotation": {
                        "roll": 0.0034429568331688643,
                        "pitch": -0.3423495590686798,
                        "yaw": 89.64714050292969
                    }
                },
                "velocity": {
                    "x": 0.0077917007729411125,
                    "y": 5.674635410308838,
                    "z": -0.01646849513053894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.086762428283691,
                "transform": {
                    "location": {
                        "x": -1567.2274169921875,
                        "y": 5736.42236328125,
                        "z": 376.2020263671875
                    },
                    "rotation": {
                        "roll": -0.0005798433558084071,
                        "pitch": 0.352717787027359,
                        "yaw": 89.91159057617188
                    }
                },
                "velocity": {
                    "x": 0.006305126938968897,
                    "y": 4.086743354797363,
                    "z": -0.010794448666274548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4447,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.463549613952637,
                "transform": {
                    "location": {
                        "x": -1567.1390380859375,
                        "y": 5774.2275390625,
                        "z": 376.1092529296875
                    },
                    "rotation": {
                        "roll": 0.0026384410448372364,
                        "pitch": -0.024718454107642174,
                        "yaw": 89.8205337524414
                    }
                },
                "velocity": {
                    "x": 0.013723345473408699,
                    "y": 5.463516712188721,
                    "z": -0.013002099469304085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4446,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.61411452293396,
                "transform": {
                    "location": {
                        "x": -1567.0977783203125,
                        "y": 5790.90869140625,
                        "z": 376.0701904296875
                    },
                    "rotation": {
                        "roll": -0.00012207027612021193,
                        "pitch": -0.1888410598039627,
                        "yaw": 89.873291015625
                    }
                },
                "velocity": {
                    "x": 0.007185169495642185,
                    "y": 3.6140964031219482,
                    "z": -0.008901452645659447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10795196890830994,
        "expert_target_speed": 4.599950164974576,
        "target_point": [
            32.68963145164647,
            -0.15522573294282202
        ],
        "target_point_next": [
            44.92744896060225,
            -0.17257860455480567
        ]
    },
    "125": {
        "acceleration": [
            0.0869346410036087,
            0.915989875793457,
            -0.003123488277196884
        ],
        "angular_velocity": [
            0.29901790618896484,
            -0.055427033454179764,
            -0.4593280553817749
        ],
        "forward_vector": [
            0.004587223287671804,
            0.9999873638153076,
            -0.002044199500232935
        ],
        "right_vector": [
            -0.99998939037323,
            0.004586457274854183,
            -0.00037937951856292784
        ],
        "location": [
            -1567.19580078125,
            5753.9423828125,
            376.15679931640625
        ],
        "rotation": [
            0.021736890077590942,
            -0.11712408065795898,
            89.73716735839844
        ],
        "velocity": [
            0.040689416229724884,
            3.740135908126831,
            -0.009840602986514568
        ],
        "speed": 3.740357234256219,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1501.1829833984375,
                        "y": 5780.16552734375,
                        "z": 375.84136962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0697648525238037,
                "transform": {
                    "location": {
                        "x": -1570.794677734375,
                        "y": 5810.53662109375,
                        "z": 376.13909912109375
                    },
                    "rotation": {
                        "roll": -0.0005188008071854711,
                        "pitch": 0.2893882691860199,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": -0.004701764322817326,
                    "y": 0.0023586219176650047,
                    "z": -1.0697519779205322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1519.8154296875,
                        "y": 5788.294921875,
                        "z": 375.8533935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26986759901046753,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01809024810791,
                "transform": {
                    "location": {
                        "x": -1564.2279052734375,
                        "y": 5759.46337890625,
                        "z": 376.1427307128906
                    },
                    "rotation": {
                        "roll": -0.0007324268808588386,
                        "pitch": 0.1510564535856247,
                        "yaw": -90.14189147949219
                    }
                },
                "velocity": {
                    "x": -0.0198355745524168,
                    "y": -8.018036842346191,
                    "z": 0.021177157759666443
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003734919475391507,
                "transform": {
                    "location": {
                        "x": -1567.2608642578125,
                        "y": 5723.73095703125,
                        "z": 376.2411193847656
                    },
                    "rotation": {
                        "roll": 0.012360921129584312,
                        "pitch": -0.9182369112968445,
                        "yaw": 89.60436248779297
                    }
                },
                "velocity": {
                    "x": 7.725598698016256e-05,
                    "y": -0.00371492188423872,
                    "z": 0.00037816850817762315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.335315227508545,
                "transform": {
                    "location": {
                        "x": -1567.2259521484375,
                        "y": 5737.6142578125,
                        "z": 376.19879150390625
                    },
                    "rotation": {
                        "roll": 0.0019720816053450108,
                        "pitch": 0.41306933760643005,
                        "yaw": 89.90676879882812
                    }
                },
                "velocity": {
                    "x": 0.009618140757083893,
                    "y": 5.335290431976318,
                    "z": -0.0131381219252944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09862478077411652,
        "expert_target_speed": 4.890301117218966,
        "target_point": [
            31.77979605305114,
            -0.03619907826236879
        ],
        "target_point_next": [
            44.01759819262666,
            -0.010174142937179942
        ]
    },
    "130": {
        "acceleration": [
            0.0871691107749939,
            1.3090181350708008,
            -0.024226941168308258
        ],
        "angular_velocity": [
            0.22961299121379852,
            -0.05993325263261795,
            -1.3097918033599854
        ],
        "forward_vector": [
            0.008839800953865051,
            0.9999604225158691,
            -0.001005053287371993
        ],
        "right_vector": [
            -0.9999607801437378,
            0.008839352056384087,
            -0.00045048928586766124
        ],
        "location": [
            -1567.183837890625,
            5754.91357421875,
            376.1540222167969
        ],
        "rotation": [
            0.025811148807406425,
            -0.05758532136678696,
            89.4935073852539
        ],
        "velocity": [
            0.060783080756664276,
            4.02590799331665,
            -0.010299100540578365
        ],
        "speed": 4.026366818057834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.4383850097656
                    },
                    "rotation": {
                        "roll": 6.6701253409462424e-09,
                        "pitch": 0.13735510408878326,
                        "yaw": -90.14047241210938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.562239646911621,
                "transform": {
                    "location": {
                        "x": -1503.279541015625,
                        "y": 5781.0791015625,
                        "z": 375.7233581542969
                    },
                    "rotation": {
                        "roll": -0.00018310925224795938,
                        "pitch": 0.23138630390167236,
                        "yaw": 156.42880249023438
                    }
                },
                "velocity": {
                    "x": -6.910632133483887,
                    "y": 3.011967658996582,
                    "z": -0.5989015698432922
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.013787586241960526,
                "transform": {
                    "location": {
                        "x": -1570.794921875,
                        "y": 5810.53662109375,
                        "z": 376.078125
                    },
                    "rotation": {
                        "roll": 0.0009512227261438966,
                        "pitch": 0.29001665115356445,
                        "yaw": 156.4286651611328
                    }
                },
                "velocity": {
                    "x": 0.00010489240230526775,
                    "y": 3.266887506470084e-05,
                    "z": 0.013787148520350456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.06111923232674599,
                "transform": {
                    "location": {
                        "x": -1519.8157958984375,
                        "y": 5788.294921875,
                        "z": 375.75030517578125
                    },
                    "rotation": {
                        "roll": 0.00014307534729596227,
                        "pitch": 0.2674155533313751,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.00031455105636268854,
                    "y": -1.816663825593423e-05,
                    "z": 0.06111842021346092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036298751831055,
                "transform": {
                    "location": {
                        "x": -1564.2327880859375,
                        "y": 5757.4560546875,
                        "z": 376.14788818359375
                    },
                    "rotation": {
                        "roll": -0.000274669291684404,
                        "pitch": 0.15488819777965546,
                        "yaw": -90.1413803100586
                    }
                },
                "velocity": {
                    "x": -0.019888902083039284,
                    "y": -8.036245346069336,
                    "z": 0.021632203832268715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5371283292770386,
                "transform": {
                    "location": {
                        "x": -1567.260009765625,
                        "y": 5723.9697265625,
                        "z": 376.2414245605469
                    },
                    "rotation": {
                        "roll": 0.0012498986907303333,
                        "pitch": -0.1991819590330124,
                        "yaw": 89.63813781738281
                    }
                },
                "velocity": {
                    "x": 0.005254060495644808,
                    "y": 1.537116527557373,
                    "z": -0.0029603384900838137
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027265384793281555,
                "transform": {
                    "location": {
                        "x": -1567.2274169921875,
                        "y": 5738.33154296875,
                        "z": 376.20269775390625
                    },
                    "rotation": {
                        "roll": 0.01391720212996006,
                        "pitch": -1.2387640476226807,
                        "yaw": 89.66254425048828
                    }
                },
                "velocity": {
                    "x": -0.003026006044819951,
                    "y": 0.02708076499402523,
                    "z": -0.0009362968849018216
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07811618596315384,
        "expert_target_speed": 5.163328793089406,
        "target_point": [
            30.808402410726675,
            0.10264232083553126
        ],
        "target_point_next": [
            43.04598243125404,
            0.18083276684519325
        ]
    },
    "135": {
        "acceleration": [
            0.04504173994064331,
            1.698455810546875,
            -0.0002702884376049042
        ],
        "angular_velocity": [
            0.19564637541770935,
            0.026234552264213562,
            -0.659268856048584
        ],
        "forward_vector": [
            0.01274964027106762,
            0.9999186992645264,
            -9.799002873478457e-05
        ],
        "right_vector": [
            -0.9999186396598816,
            0.012749601155519485,
            -0.00038636449608020484
        ],
        "location": [
            -1567.16748046875,
            5755.9697265625,
            376.1510314941406
        ],
        "rotation": [
            0.022137055173516273,
            -0.005614415276795626,
            89.26947784423828
        ],
        "velocity": [
            0.07631027698516846,
            4.421563148498535,
            -0.010164489969611168
        ],
        "speed": 4.422221606221678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.257169246673584,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 376.052734375
                    },
                    "rotation": {
                        "roll": 0.003445060458034277,
                        "pitch": 0.14202694594860077,
                        "yaw": -90.14015197753906
                    }
                },
                "velocity": {
                    "x": 0.00017502099217381328,
                    "y": -0.002790280617773533,
                    "z": -1.2571661472320557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013487226096913218,
                "transform": {
                    "location": {
                        "x": -1503.997802734375,
                        "y": 5781.3916015625,
                        "z": 375.681640625
                    },
                    "rotation": {
                        "roll": -9.15540149435401e-05,
                        "pitch": 0.0992836207151413,
                        "yaw": 156.427001953125
                    }
                },
                "velocity": {
                    "x": -0.000110250708530657,
                    "y": 6.675750046269968e-05,
                    "z": -0.001342550152912736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23443008959293365,
                "transform": {
                    "location": {
                        "x": -1570.798583984375,
                        "y": 5810.53857421875,
                        "z": 376.0830383300781
                    },
                    "rotation": {
                        "roll": 0.0015788957243785262,
                        "pitch": 0.2994832992553711,
                        "yaw": 156.42881774902344
                    }
                },
                "velocity": {
                    "x": -0.21458463370800018,
                    "y": 0.09339920431375504,
                    "z": 0.013692645356059074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.047705840319395065,
                "transform": {
                    "location": {
                        "x": -1519.8157958984375,
                        "y": 5788.294921875,
                        "z": 375.77001953125
                    },
                    "rotation": {
                        "roll": 0.00018053172971121967,
                        "pitch": 0.2677024304866791,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": 0.00022577960044145584,
                    "y": -7.141641981434077e-05,
                    "z": 0.04770525172352791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01754093170166,
                "transform": {
                    "location": {
                        "x": -1564.23779296875,
                        "y": 5755.44921875,
                        "z": 376.153076171875
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": 0.1532694399356842,
                        "yaw": -90.14147186279297
                    }
                },
                "velocity": {
                    "x": -0.019809914752840996,
                    "y": -8.017488479614258,
                    "z": 0.021261481568217278
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3368899822235107,
                "transform": {
                    "location": {
                        "x": -1567.2584228515625,
                        "y": 5724.47802734375,
                        "z": 376.24029541015625
                    },
                    "rotation": {
                        "roll": 0.00011976849054917693,
                        "pitch": -0.06283091008663177,
                        "yaw": 89.6567153930664
                    }
                },
                "velocity": {
                    "x": 0.00840282253921032,
                    "y": 2.3368680477142334,
                    "z": -0.005662326700985432
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.66277277469635,
                "transform": {
                    "location": {
                        "x": -1567.2266845703125,
                        "y": 5738.6015625,
                        "z": 376.1989440917969
                    },
                    "rotation": {
                        "roll": 0.0100726168602705,
                        "pitch": -0.46313461661338806,
                        "yaw": 89.68423461914062
                    }
                },
                "velocity": {
                    "x": 0.005198738072067499,
                    "y": 1.662761926651001,
                    "z": -0.0029993627686053514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.052472710609436035,
        "expert_target_speed": 5.537242540733831,
        "target_point": [
            29.751490828285235,
            0.22594869218554822
        ],
        "target_point_next": [
            41.988671752527296,
            0.3519706427492901
        ]
    },
    "140": {
        "acceleration": [
            -0.11826008558273315,
            1.7771053314208984,
            -0.01243438571691513
        ],
        "angular_velocity": [
            0.09189784526824951,
            0.11717702448368073,
            0.09230291843414307
        ],
        "forward_vector": [
            0.014607698656618595,
            0.9998931884765625,
            0.0005000829114578664
        ],
        "right_vector": [
            -0.999893307685852,
            0.01460770983248949,
            -1.7865633708424866e-05
        ],
        "location": [
            -1567.148681640625,
            5757.13232421875,
            376.14801025390625
        ],
        "rotation": [
            0.0010236254893243313,
            0.02865264192223549,
            89.16300964355469
        ],
        "velocity": [
            0.07042334228754044,
            4.8629326820373535,
            -0.012026366777718067
        ],
        "speed": 4.863442578787782,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.14010277390480042,
                "transform": {
                    "location": {
                        "x": -1564.2340087890625,
                        "y": 5797.9521484375,
                        "z": 375.998046875
                    },
                    "rotation": {
                        "roll": 0.004622992128133774,
                        "pitch": 0.14564011991024017,
                        "yaw": -90.13994598388672
                    }
                },
                "velocity": {
                    "x": -0.00013708480400964618,
                    "y": 0.00032801099587231874,
                    "z": 0.1401023268699646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.01514011062681675,
                "transform": {
                    "location": {
                        "x": -1503.9984130859375,
                        "y": 5781.392578125,
                        "z": 375.6851501464844
                    },
                    "rotation": {
                        "roll": -0.000396730873035267,
                        "pitch": 0.22236362099647522,
                        "yaw": 156.427001953125
                    }
                },
                "velocity": {
                    "x": 0.0001320147857768461,
                    "y": -7.187226583482698e-05,
                    "z": 0.015139364637434483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.477091670036316,
                "transform": {
                    "location": {
                        "x": -1571.02587890625,
                        "y": 5810.63720703125,
                        "z": 376.08502197265625
                    },
                    "rotation": {
                        "roll": 2.5206925784004852e-05,
                        "pitch": 0.3935896158218384,
                        "yaw": 156.4078369140625
                    }
                },
                "velocity": {
                    "x": -1.3539202213287354,
                    "y": 0.590423583984375,
                    "z": 0.009979009628295898
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.158359169960022,
                "transform": {
                    "location": {
                        "x": -1519.8609619140625,
                        "y": 5788.314453125,
                        "z": 375.7754211425781
                    },
                    "rotation": {
                        "roll": 0.0005380137008614838,
                        "pitch": 0.18847906589508057,
                        "yaw": 156.40145874023438
                    }
                },
                "velocity": {
                    "x": -1.0621232986450195,
                    "y": 0.4621956944465637,
                    "z": 0.0080731101334095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035235404968262,
                "transform": {
                    "location": {
                        "x": -1564.24267578125,
                        "y": 5753.44384765625,
                        "z": 376.1583557128906
                    },
                    "rotation": {
                        "roll": 0.0002592613163869828,
                        "pitch": 0.15548241138458252,
                        "yaw": -90.14501190185547
                    }
                },
                "velocity": {
                    "x": -0.02035806141793728,
                    "y": -8.03518009185791,
                    "z": 0.021702194586396217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007366091012954712,
                "transform": {
                    "location": {
                        "x": -1567.2568359375,
                        "y": 5724.8154296875,
                        "z": 376.2388610839844
                    },
                    "rotation": {
                        "roll": 0.004264955874532461,
                        "pitch": -0.44775301218032837,
                        "yaw": 89.54006958007812
                    }
                },
                "velocity": {
                    "x": -3.4947435779031366e-05,
                    "y": 0.0006230096332728863,
                    "z": -0.0003914468688890338
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.569108009338379,
                "transform": {
                    "location": {
                        "x": -1567.22509765625,
                        "y": 5739.14111328125,
                        "z": 376.19573974609375
                    },
                    "rotation": {
                        "roll": 0.002212334657087922,
                        "pitch": 0.034792982041835785,
                        "yaw": 89.73489379882812
                    }
                },
                "velocity": {
                    "x": 0.006684429012238979,
                    "y": 2.569091796875,
                    "z": -0.006198911461979151
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0374702550470829,
        "expert_target_speed": 5.947669275761797,
        "target_point": [
            28.58827313040735,
            0.2828682141803839
        ],
        "target_point_next": [
            40.825199670676824,
            0.4315536294245679
        ]
    },
    "145": {
        "acceleration": [
            -0.03586761653423309,
            -0.5955410003662109,
            -0.11138619482517242
        ],
        "angular_velocity": [
            -0.5092087388038635,
            -0.02402380108833313,
            0.3203028440475464
        ],
        "forward_vector": [
            0.013252063654363155,
            0.9999120831489563,
            -0.00045227998634800315
        ],
        "right_vector": [
            -0.9999122023582458,
            0.013252154923975468,
            0.0001981391542358324
        ],
        "location": [
            -1567.1328125,
            5758.38818359375,
            376.1452331542969
        ],
        "rotation": [
            -0.0113525390625,
            -0.02591373585164547,
            89.24069213867188
        ],
        "velocity": [
            0.05924681946635246,
            5.023616790771484,
            -0.01819736883044243
        ],
        "speed": 5.023966146993635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1011022329330444,
                "transform": {
                    "location": {
                        "x": -1564.23291015625,
                        "y": 5797.83447265625,
                        "z": 376.0294189453125
                    },
                    "rotation": {
                        "roll": -0.008117667399346828,
                        "pitch": 0.42972132563591003,
                        "yaw": -90.09746551513672
                    }
                },
                "velocity": {
                    "x": 0.012683472596108913,
                    "y": -1.0971122980117798,
                    "z": 0.09278995543718338
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.15509995818138123,
                "transform": {
                    "location": {
                        "x": -1504.000732421875,
                        "y": 5781.3935546875,
                        "z": 375.686279296875
                    },
                    "rotation": {
                        "roll": -0.0010376018472015858,
                        "pitch": 0.2531404495239258,
                        "yaw": 156.42678833007812
                    }
                },
                "velocity": {
                    "x": -0.1421496421098709,
                    "y": 0.06201567128300667,
                    "z": 0.001879520365037024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5080602169036865,
                "transform": {
                    "location": {
                        "x": -1571.4794921875,
                        "y": 5810.8349609375,
                        "z": 376.0876770019531
                    },
                    "rotation": {
                        "roll": 0.0009119256865233183,
                        "pitch": 0.3991698920726776,
                        "yaw": 156.4084014892578
                    }
                },
                "velocity": {
                    "x": -2.2983651161193848,
                    "y": 1.0038560628890991,
                    "z": 0.012500113807618618
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9142935276031494,
                "transform": {
                    "location": {
                        "x": -1520.383056640625,
                        "y": 5788.54248046875,
                        "z": 375.77880859375
                    },
                    "rotation": {
                        "roll": -3.0517443519784138e-05,
                        "pitch": 0.09182506054639816,
                        "yaw": 156.39361572265625
                    }
                },
                "velocity": {
                    "x": -2.6705245971679688,
                    "y": 1.1667366027832031,
                    "z": 0.01147039420902729
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019807815551758,
                "transform": {
                    "location": {
                        "x": -1564.2474365234375,
                        "y": 5751.4365234375,
                        "z": 376.16363525390625
                    },
                    "rotation": {
                        "roll": 0.00016749366477597505,
                        "pitch": 0.15658891201019287,
                        "yaw": -90.145263671875
                    }
                },
                "velocity": {
                    "x": -0.020334387198090553,
                    "y": -8.019753456115723,
                    "z": 0.02164587937295437
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.113258719444275,
                "transform": {
                    "location": {
                        "x": -1567.2562255859375,
                        "y": 5724.978515625,
                        "z": 376.23876953125
                    },
                    "rotation": {
                        "roll": -0.0012512151151895523,
                        "pitch": -0.12927497923374176,
                        "yaw": 89.54302215576172
                    }
                },
                "velocity": {
                    "x": 0.0042318860068917274,
                    "y": 1.1132473945617676,
                    "z": -0.0027074909303337336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.684461832046509,
                "transform": {
                    "location": {
                        "x": -1567.22314453125,
                        "y": 5739.81298828125,
                        "z": 376.1940612792969
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.007602000143378973,
                        "yaw": 89.78072357177734
                    }
                },
                "velocity": {
                    "x": 0.006202171090990305,
                    "y": 2.6844475269317627,
                    "z": -0.006163854617625475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.029114559292793274,
        "expert_target_speed": 6.094653127550437,
        "target_point": [
            27.332670179056297,
            0.2434275075030744
        ],
        "target_point_next": [
            39.56978663047475,
            0.3755617539409374
        ]
    },
    "150": {
        "acceleration": [
            -0.08194983005523682,
            -0.8583259582519531,
            0.007138252258300781
        ],
        "angular_velocity": [
            -0.2169390618801117,
            0.08667898923158646,
            3.9282891750335693
        ],
        "forward_vector": [
            0.011172491125762463,
            0.9999372959136963,
            -0.0007436274900101125
        ],
        "right_vector": [
            -0.9999375939369202,
            0.011172662489116192,
            0.0002258359600091353
        ],
        "location": [
            -1567.118408203125,
            5759.67431640625,
            376.14190673828125
        ],
        "rotation": [
            -0.01293945126235485,
            -0.042606718838214874,
            89.35984802246094
        ],
        "velocity": [
            0.0528658889234066,
            5.249898433685303,
            -0.01354126911610365
        ],
        "speed": 5.25016460372654,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.022130250930786,
                "transform": {
                    "location": {
                        "x": -1564.2288818359375,
                        "y": 5797.42822265625,
                        "z": 376.04327392578125
                    },
                    "rotation": {
                        "roll": -0.017150847241282463,
                        "pitch": 0.5264163017272949,
                        "yaw": -89.91693878173828
                    }
                },
                "velocity": {
                    "x": 0.0240256879478693,
                    "y": -2.0217361450195312,
                    "z": 0.031874094158411026
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4069042205810547,
                "transform": {
                    "location": {
                        "x": -1504.2095947265625,
                        "y": 5781.484375,
                        "z": 375.6872863769531
                    },
                    "rotation": {
                        "roll": -0.0007019070326350629,
                        "pitch": 0.27965524792671204,
                        "yaw": 156.37301635742188
                    }
                },
                "velocity": {
                    "x": -1.2890608310699463,
                    "y": 0.5636159777641296,
                    "z": 0.0062124538235366344
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8695855140686035,
                "transform": {
                    "location": {
                        "x": -1572.211181640625,
                        "y": 5811.15478515625,
                        "z": 376.091552734375
                    },
                    "rotation": {
                        "roll": -0.0005493185017257929,
                        "pitch": 0.42723512649536133,
                        "yaw": 156.41241455078125
                    }
                },
                "velocity": {
                    "x": -3.546997547149658,
                    "y": 1.546664834022522,
                    "z": 0.018123168498277664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.015747547149658,
                "transform": {
                    "location": {
                        "x": -1521.179931640625,
                        "y": 5788.8896484375,
                        "z": 375.78228759765625
                    },
                    "rotation": {
                        "roll": -0.0007934584864415228,
                        "pitch": 0.1482560783624649,
                        "yaw": 156.40557861328125
                    }
                },
                "velocity": {
                    "x": -3.6799070835113525,
                    "y": 1.6075392961502075,
                    "z": 0.018144940957427025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034326553344727,
                "transform": {
                    "location": {
                        "x": -1564.2523193359375,
                        "y": 5749.4306640625,
                        "z": 376.1689453125
                    },
                    "rotation": {
                        "roll": 0.0013339195866137743,
                        "pitch": 0.15660256147384644,
                        "yaw": -90.1431884765625
                    }
                },
                "velocity": {
                    "x": -0.02122197113931179,
                    "y": -8.034269332885742,
                    "z": 0.021823177114129066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.094991445541382,
                "transform": {
                    "location": {
                        "x": -1567.2550048828125,
                        "y": 5725.38916015625,
                        "z": 376.23785400390625
                    },
                    "rotation": {
                        "roll": -0.0008544907323084772,
                        "pitch": -0.030428491532802582,
                        "yaw": 89.63005065917969
                    }
                },
                "velocity": {
                    "x": 0.006664742715656757,
                    "y": 2.094973564147949,
                    "z": -0.005515832919627428
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.083064556121826,
                "transform": {
                    "location": {
                        "x": -1567.220947265625,
                        "y": 5740.50537109375,
                        "z": 376.1922912597656
                    },
                    "rotation": {
                        "roll": -0.0012207046383991838,
                        "pitch": -0.02807890623807907,
                        "yaw": 89.81444549560547
                    }
                },
                "velocity": {
                    "x": 0.006365383043885231,
                    "y": 3.0830483436584473,
                    "z": -0.007732496131211519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.020623501390218735,
        "expert_target_speed": 6.3000859819455535,
        "target_point": [
            26.046902791020678,
            0.1867672934212896
        ],
        "target_point_next": [
            38.28426697019155,
            0.2935214549484765
        ]
    },
    "155": {
        "acceleration": [
            -0.023925751447677612,
            0.003452301025390625,
            -0.013243481516838074
        ],
        "angular_velocity": [
            -0.1257622390985489,
            -0.07240144908428192,
            -3.054518938064575
        ],
        "forward_vector": [
            0.010237679816782475,
            0.9999446868896484,
            -0.002411720808595419
        ],
        "right_vector": [
            -0.9999476075172424,
            0.01023820973932743,
            0.000207193530513905
        ],
        "location": [
            -1567.106201171875,
            5760.96337890625,
            376.1388854980469
        ],
        "rotation": [
            -0.01187134999781847,
            -0.13818155229091644,
            89.41341400146484
        ],
        "velocity": [
            0.043615732342004776,
            5.129335880279541,
            -0.014188956469297409
        ],
        "speed": 5.129521313420076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2754483222961426,
                "transform": {
                    "location": {
                        "x": -1564.2216796875,
                        "y": 5796.7666015625,
                        "z": 376.0481872558594
                    },
                    "rotation": {
                        "roll": -0.017150847241282463,
                        "pitch": 0.6239309310913086,
                        "yaw": -89.69828796386719
                    }
                },
                "velocity": {
                    "x": 0.04124798998236656,
                    "y": -3.2751545906066895,
                    "z": 0.014937419444322586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1764209270477295,
                "transform": {
                    "location": {
                        "x": -1504.6240234375,
                        "y": 5781.66552734375,
                        "z": 375.689208984375
                    },
                    "rotation": {
                        "roll": -0.0002441454562358558,
                        "pitch": 0.2781594395637512,
                        "yaw": 156.40821838378906
                    }
                },
                "velocity": {
                    "x": -1.9945287704467773,
                    "y": 0.8709586262702942,
                    "z": 0.009716863743960857
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.16570520401001,
                "transform": {
                    "location": {
                        "x": -1573.2528076171875,
                        "y": 5811.609375,
                        "z": 376.0972595214844
                    },
                    "rotation": {
                        "roll": 3.0976851121522486e-05,
                        "pitch": 0.4316132962703705,
                        "yaw": 156.414794921875
                    }
                },
                "velocity": {
                    "x": -4.734106063842773,
                    "y": 2.066823959350586,
                    "z": 0.03145264461636543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.10828971862793,
                "transform": {
                    "location": {
                        "x": -1522.2322998046875,
                        "y": 5789.35009765625,
                        "z": 375.7877197265625
                    },
                    "rotation": {
                        "roll": 0.0003728003357537091,
                        "pitch": 0.15973079204559326,
                        "yaw": 156.40740966796875
                    }
                },
                "velocity": {
                    "x": -4.681272983551025,
                    "y": 2.0443859100341797,
                    "z": 0.028148116543889046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019271850585938,
                "transform": {
                    "location": {
                        "x": -1564.2572021484375,
                        "y": 5747.4248046875,
                        "z": 376.17425537109375
                    },
                    "rotation": {
                        "roll": 0.0004086122498847544,
                        "pitch": 0.1570192128419876,
                        "yaw": -90.1454086303711
                    }
                },
                "velocity": {
                    "x": -0.02036045491695404,
                    "y": -8.019218444824219,
                    "z": 0.02103203721344471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.461811065673828,
                "transform": {
                    "location": {
                        "x": -1567.2530517578125,
                        "y": 5726.0703125,
                        "z": 376.2359924316406
                    },
                    "rotation": {
                        "roll": -0.0020446782000362873,
                        "pitch": 0.034792982041835785,
                        "yaw": 89.7244644165039
                    }
                },
                "velocity": {
                    "x": 0.009078148752450943,
                    "y": 3.4617838859558105,
                    "z": -0.01028567273169756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.671271800994873,
                "transform": {
                    "location": {
                        "x": -1567.2188720703125,
                        "y": 5741.392578125,
                        "z": 376.189453125
                    },
                    "rotation": {
                        "roll": -0.0010376032441854477,
                        "pitch": 0.09434539824724197,
                        "yaw": 89.84593963623047
                    }
                },
                "velocity": {
                    "x": 0.007135920226573944,
                    "y": 3.671252727508545,
                    "z": -0.009474172256886959
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01488544326275587,
        "expert_target_speed": 6.189345275155594,
        "target_point": [
            24.75794705654172,
            0.1612735400839473
        ],
        "target_point_next": [
            36.99540625431211,
            0.25651474735592866
        ]
    },
    "160": {
        "acceleration": [
            -0.0014246255159378052,
            3.6844348907470703,
            -0.014646146446466446
        ],
        "angular_velocity": [
            1.2035681009292603,
            -0.00040934441494755447,
            -0.1551353633403778
        ],
        "forward_vector": [
            0.008876740001142025,
            0.9999583959579468,
            -0.0021011813078075647
        ],
        "right_vector": [
            -0.9999606013298035,
            0.008877105079591274,
            0.00016458290338050574
        ],
        "location": [
            -1567.095947265625,
            5762.2568359375,
            376.135498046875
        ],
        "rotation": [
            -0.009429926984012127,
            -0.12038891017436981,
            89.49139404296875
        ],
        "velocity": [
            0.038684383034706116,
            5.360138893127441,
            -0.014106445014476776
        ],
        "speed": 5.360278484846496,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.64329528808594,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1650.416259765625,
                        "y": 5845.02099609375,
                        "z": 376.6129150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2077333629131317,
                        "yaw": 170.0116729736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.344482421875,
                        "y": 5837.0302734375,
                        "z": 376.5185852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.655477523803711,
                "transform": {
                    "location": {
                        "x": -1564.214599609375,
                        "y": 5795.76123046875,
                        "z": 376.0511169433594
                    },
                    "rotation": {
                        "roll": 0.009507015347480774,
                        "pitch": 0.7209196090698242,
                        "yaw": -89.65369415283203
                    }
                },
                "velocity": {
                    "x": 0.02816394716501236,
                    "y": -4.655372142791748,
                    "z": 0.013666353188455105
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9820985794067383,
                "transform": {
                    "location": {
                        "x": -1505.2216796875,
                        "y": 5781.9267578125,
                        "z": 375.6922302246094
                    },
                    "rotation": {
                        "roll": -0.0013427681988105178,
                        "pitch": 0.2766977846622467,
                        "yaw": 156.4104461669922
                    }
                },
                "velocity": {
                    "x": -2.7328202724456787,
                    "y": 1.1934888362884521,
                    "z": 0.013779830187559128
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.508008003234863,
                "transform": {
                    "location": {
                        "x": -1574.470947265625,
                        "y": 5812.1396484375,
                        "z": 376.10479736328125
                    },
                    "rotation": {
                        "roll": -0.00042724175727926195,
                        "pitch": 0.35253337025642395,
                        "yaw": 156.3168487548828
                    }
                },
                "velocity": {
                    "x": -5.048196315765381,
                    "y": 2.2029998302459717,
                    "z": 0.025694893673062325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.469057559967041,
                "transform": {
                    "location": {
                        "x": -1523.445556640625,
                        "y": 5789.87939453125,
                        "z": 375.7937316894531
                    },
                    "rotation": {
                        "roll": 0.00025356592959724367,
                        "pitch": 0.21836113929748535,
                        "yaw": 156.4414825439453
                    }
                },
                "velocity": {
                    "x": -5.013174533843994,
                    "y": 2.1858677864074707,
                    "z": 0.025615986436605453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034209251403809,
                "transform": {
                    "location": {
                        "x": -1564.26220703125,
                        "y": 5745.41845703125,
                        "z": 376.1795959472656
                    },
                    "rotation": {
                        "roll": 0.00013942577061243355,
                        "pitch": 0.15921853482723236,
                        "yaw": -90.1454086303711
                    }
                },
                "velocity": {
                    "x": -0.02043331414461136,
                    "y": -8.034154891967773,
                    "z": 0.021253280341625214
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.938784599304199,
                "transform": {
                    "location": {
                        "x": -1567.2508544921875,
                        "y": 5727.134765625,
                        "z": 376.2330627441406
                    },
                    "rotation": {
                        "roll": -0.0019226062577217817,
                        "pitch": 0.06858192384243011,
                        "yaw": 89.81609344482422
                    }
                },
                "velocity": {
                    "x": 0.011835753917694092,
                    "y": 4.93874979019165,
                    "z": -0.014307260513305664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3575375080108643,
                "transform": {
                    "location": {
                        "x": -1567.216796875,
                        "y": 5742.23291015625,
                        "z": 376.1881408691406
                    },
                    "rotation": {
                        "roll": 0.0017302791820839047,
                        "pitch": -0.1615886092185974,
                        "yaw": 89.85800170898438
                    }
                },
                "velocity": {
                    "x": 0.008386632427573204,
                    "y": 3.357512950897217,
                    "z": -0.009717053733766079
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.009609026834368706,
        "expert_target_speed": 6.397540692602087,
        "target_point": [
            23.464647205646283,
            0.12622535477246108
        ],
        "target_point_next": [
            35.702225115180205,
            0.20474549706144185
        ]
    },
    "165": {
        "acceleration": [
            -0.023103803396224976,
            2.5336456298828125,
            -0.021104030311107635
        ],
        "angular_velocity": [
            0.008984913118183613,
            -0.044681280851364136,
            -2.601177215576172
        ],
        "forward_vector": [
            0.008409189060330391,
            0.9999588131904602,
            0.0034199883230030537
        ],
        "right_vector": [
            -0.9999646544456482,
            0.00840887613594532,
            0.00010599300003377721
        ],
        "location": [
            -1567.083984375,
            5763.80224609375,
            376.13043212890625
        ],
        "rotation": [
            -0.006072986871004105,
            0.19595128297805786,
            89.51818084716797
        ],
        "velocity": [
            0.0476926788687706,
            6.56687068939209,
            -0.017021197825670242
        ],
        "speed": 6.56704387398277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.32246398925781,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1651.566162109375,
                        "y": 5845.08349609375,
                        "z": 376.4478454589844
                    },
                    "rotation": {
                        "roll": 6.5138229012051685e-12,
                        "pitch": 0.21826551854610443,
                        "yaw": 179.96401977539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3529052734375,
                        "y": 5834.947265625,
                        "z": 376.50579833984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.368607521057129,
                "transform": {
                    "location": {
                        "x": -1564.206787109375,
                        "y": 5794.46630859375,
                        "z": 376.0552673339844
                    },
                    "rotation": {
                        "roll": 0.00578182190656662,
                        "pitch": 0.5908181667327881,
                        "yaw": -89.65619659423828
                    }
                },
                "velocity": {
                    "x": 0.03124992363154888,
                    "y": -5.368500709533691,
                    "z": 0.012939777225255966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6930015087127686,
                "transform": {
                    "location": {
                        "x": -1505.988037109375,
                        "y": 5782.26123046875,
                        "z": 375.6960144042969
                    },
                    "rotation": {
                        "roll": -0.0006103451596572995,
                        "pitch": 0.27617186307907104,
                        "yaw": 156.40614318847656
                    }
                },
                "velocity": {
                    "x": -3.384216785430908,
                    "y": 1.4782084226608276,
                    "z": 0.015364226885139942
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.929228782653809,
                "transform": {
                    "location": {
                        "x": -1575.8131103515625,
                        "y": 5812.7265625,
                        "z": 376.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0016479614423587918,
                        "pitch": 0.4234170615673065,
                        "yaw": 156.41944885253906
                    }
                },
                "velocity": {
                    "x": -6.351323127746582,
                    "y": 2.770143985748291,
                    "z": 0.034725990146398544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.208177089691162,
                "transform": {
                    "location": {
                        "x": -1524.7730712890625,
                        "y": 5790.4580078125,
                        "z": 375.8005065917969
                    },
                    "rotation": {
                        "roll": 0.0008989604539237916,
                        "pitch": 0.22446732223033905,
                        "yaw": 156.4313507080078
                    }
                },
                "velocity": {
                    "x": -5.69109582901001,
                    "y": 2.480332136154175,
                    "z": 0.029063967987895012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019265174865723,
                "transform": {
                    "location": {
                        "x": -1564.2669677734375,
                        "y": 5743.4130859375,
                        "z": 376.18499755859375
                    },
                    "rotation": {
                        "roll": -9.155423322226852e-05,
                        "pitch": 0.1589316576719284,
                        "yaw": -90.14533233642578
                    }
                },
                "velocity": {
                    "x": -0.020328737795352936,
                    "y": -8.019209861755371,
                    "z": 0.021774310618638992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.504891872406006,
                "transform": {
                    "location": {
                        "x": -1567.248046875,
                        "y": 5728.470703125,
                        "z": 376.2295227050781
                    },
                    "rotation": {
                        "roll": -0.00189209112431854,
                        "pitch": -0.039949774742126465,
                        "yaw": 89.89000701904297
                    }
                },
                "velocity": {
                    "x": 0.011526578105986118,
                    "y": 5.50485897064209,
                    "z": -0.015095720067620277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.463191032409668,
                "transform": {
                    "location": {
                        "x": -1567.2144775390625,
                        "y": 5743.21044921875,
                        "z": 376.1843566894531
                    },
                    "rotation": {
                        "roll": 0.0012173238210380077,
                        "pitch": 0.11971955001354218,
                        "yaw": 89.8626937866211
                    }
                },
                "velocity": {
                    "x": 0.010744635947048664,
                    "y": 4.463164806365967,
                    "z": -0.010812635533511639
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0029154964722692966,
        "expert_target_speed": 7.438769920603493,
        "target_point": [
            21.91924693777896,
            0.11434699312743062
        ],
        "target_point_next": [
            34.15685983899342,
            0.18720977297591607
        ]
    },
    "170": {
        "acceleration": [
            0.02457752823829651,
            2.0532894134521484,
            0.017832070589065552
        ],
        "angular_velocity": [
            -0.21892644464969635,
            0.022466251626610756,
            2.865811586380005
        ],
        "forward_vector": [
            0.007148138713091612,
            0.999971330165863,
            0.002499696798622608
        ],
        "right_vector": [
            -0.9999744296073914,
            0.007148067932575941,
            3.728421506821178e-05
        ],
        "location": [
            -1567.0716552734375,
            5765.515625,
            376.1262512207031
        ],
        "rotation": [
            -0.0021362348925322294,
            0.14322222769260406,
            89.59043884277344
        ],
        "velocity": [
            0.05146394297480583,
            7.105653762817383,
            -0.01747203804552555
        ],
        "speed": 7.105840128687624,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.86762237548828,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1652.3785400390625,
                        "y": 5845.01416015625,
                        "z": 376.4379577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25809234380722046,
                        "yaw": -175.09066772460938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.36181640625,
                        "y": 5832.86376953125,
                        "z": 376.4930725097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.430929660797119,
                "transform": {
                    "location": {
                        "x": -1564.1983642578125,
                        "y": 5793.04150390625,
                        "z": 376.0587463378906
                    },
                    "rotation": {
                        "roll": 0.0029544204007834196,
                        "pitch": 0.5777041912078857,
                        "yaw": -89.65894317626953
                    }
                },
                "velocity": {
                    "x": 0.03831152990460396,
                    "y": -6.43079948425293,
                    "z": 0.014414958655834198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.418265342712402,
                "transform": {
                    "location": {
                        "x": -1506.92041015625,
                        "y": 5782.66845703125,
                        "z": 375.70062255859375
                    },
                    "rotation": {
                        "roll": -0.000915529381018132,
                        "pitch": 0.27569374442100525,
                        "yaw": 156.40554809570312
                    }
                },
                "velocity": {
                    "x": -4.0488104820251465,
                    "y": 1.7685648202896118,
                    "z": 0.01952756755053997
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.598224639892578,
                "transform": {
                    "location": {
                        "x": -1577.6356201171875,
                        "y": 5813.5224609375,
                        "z": 376.1209411621094
                    },
                    "rotation": {
                        "roll": -0.000396731193177402,
                        "pitch": 0.4691315293312073,
                        "yaw": 156.4292449951172
                    }
                },
                "velocity": {
                    "x": -7.880817890167236,
                    "y": 3.438084363937378,
                    "z": 0.04192327335476875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.826264381408691,
                "transform": {
                    "location": {
                        "x": -1526.4283447265625,
                        "y": 5791.17919921875,
                        "z": 375.80999755859375
                    },
                    "rotation": {
                        "roll": -0.0002746556419879198,
                        "pitch": 0.12872856855392456,
                        "yaw": 156.4456329345703
                    }
                },
                "velocity": {
                    "x": -7.173678874969482,
                    "y": 3.128469467163086,
                    "z": 0.03770114853978157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034211158752441,
                "transform": {
                    "location": {
                        "x": -1564.2718505859375,
                        "y": 5741.4072265625,
                        "z": 376.1904296875
                    },
                    "rotation": {
                        "roll": 0.00027254829183220863,
                        "pitch": 0.16085094213485718,
                        "yaw": -90.14531707763672
                    }
                },
                "velocity": {
                    "x": -0.020390750840306282,
                    "y": -8.034156799316406,
                    "z": 0.021440181881189346
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.982056140899658,
                "transform": {
                    "location": {
                        "x": -1567.2451171875,
                        "y": 5729.9619140625,
                        "z": 376.2254333496094
                    },
                    "rotation": {
                        "roll": -0.0006408676272258162,
                        "pitch": 0.06942886859178543,
                        "yaw": 89.89549255371094
                    }
                },
                "velocity": {
                    "x": 0.011891270987689495,
                    "y": 6.982021331787109,
                    "z": -0.018560437485575676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.55121374130249,
                "transform": {
                    "location": {
                        "x": -1567.211669921875,
                        "y": 5744.3681640625,
                        "z": 376.1816711425781
                    },
                    "rotation": {
                        "roll": 0.0007133096223697066,
                        "pitch": 0.03677373751997948,
                        "yaw": 89.86602020263672
                    }
                },
                "velocity": {
                    "x": 0.010605907067656517,
                    "y": 4.551182270050049,
                    "z": -0.013230103999376297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004118787590414286,
        "expert_target_speed": 7.876894308263515,
        "target_point": [
            20.205950770356782,
            0.08671355403997477
        ],
        "target_point_next": [
            32.44364604062685,
            0.14409801768162606
        ]
    },
    "175": {
        "acceleration": [
            0.1315581053495407,
            1.9487762451171875,
            -0.008093230426311493
        ],
        "angular_velocity": [
            -0.11748547852039337,
            -0.14094993472099304,
            -3.0340473651885986
        ],
        "forward_vector": [
            0.007868390530347824,
            0.9999674558639526,
            0.0017993439687415957
        ],
        "right_vector": [
            -0.9999690651893616,
            0.007868657819926739,
            -0.0001412341807736084
        ],
        "location": [
            -1567.0577392578125,
            5767.35595703125,
            376.1217041015625
        ],
        "rotation": [
            0.00809213612228632,
            0.10309486836194992,
            89.5491714477539
        ],
        "velocity": [
            0.06466545909643173,
            7.600401401519775,
            -0.01788923144340515
        ],
        "speed": 7.600676488696511,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.31779479980469,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1653.9366455078125,
                        "y": 5844.5830078125,
                        "z": 376.4484558105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.37749770283699036,
                        "yaw": -160.37811279296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3760986328125,
                        "y": 5829.3916015625,
                        "z": 376.49560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.993652820587158,
                "transform": {
                    "location": {
                        "x": -1564.188232421875,
                        "y": 5791.228515625,
                        "z": 376.0623474121094
                    },
                    "rotation": {
                        "roll": 0.015630053356289864,
                        "pitch": 0.7613338232040405,
                        "yaw": -89.6866455078125
                    }
                },
                "velocity": {
                    "x": 0.028926586732268333,
                    "y": -7.993578910827637,
                    "z": 0.01855216920375824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.201861381530762,
                "transform": {
                    "location": {
                        "x": -1508.02392578125,
                        "y": 5783.150390625,
                        "z": 375.70623779296875
                    },
                    "rotation": {
                        "roll": -0.0014343230286613107,
                        "pitch": 0.27668410539627075,
                        "yaw": 156.40806579589844
                    }
                },
                "velocity": {
                    "x": -4.767149448394775,
                    "y": 2.0815913677215576,
                    "z": 0.024999789893627167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.708436965942383,
                "transform": {
                    "location": {
                        "x": -1579.7646484375,
                        "y": 5814.45068359375,
                        "z": 376.13275146484375
                    },
                    "rotation": {
                        "roll": -0.000671391433570534,
                        "pitch": 0.42563003301620483,
                        "yaw": 156.43621826171875
                    }
                },
                "velocity": {
                    "x": -8.898831367492676,
                    "y": 3.8810086250305176,
                    "z": 0.04819829761981964
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.818817138671875,
                "transform": {
                    "location": {
                        "x": -1528.34619140625,
                        "y": 5792.01611328125,
                        "z": 375.81982421875
                    },
                    "rotation": {
                        "roll": -0.00042724559898488224,
                        "pitch": 0.1741151660680771,
                        "yaw": 156.4369659423828
                    }
                },
                "velocity": {
                    "x": -8.083416938781738,
                    "y": 3.525362968444824,
                    "z": 0.04144400358200073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019401550292969,
                "transform": {
                    "location": {
                        "x": -1564.27685546875,
                        "y": 5739.40087890625,
                        "z": 376.1958923339844
                    },
                    "rotation": {
                        "roll": 0.0002466014993842691,
                        "pitch": 0.16136321425437927,
                        "yaw": -90.14535522460938
                    }
                },
                "velocity": {
                    "x": -0.02035730518400669,
                    "y": -8.019347190856934,
                    "z": 0.021621303632855415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.810138702392578,
                "transform": {
                    "location": {
                        "x": -1567.2421875,
                        "y": 5731.822265625,
                        "z": 376.22021484375
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": 0.008858755230903625,
                        "yaw": 89.92118072509766
                    }
                },
                "velocity": {
                    "x": 0.013591316528618336,
                    "y": 7.810097694396973,
                    "z": -0.021423272788524628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.013025283813477,
                "transform": {
                    "location": {
                        "x": -1567.208984375,
                        "y": 5745.52880859375,
                        "z": 376.1786193847656
                    },
                    "rotation": {
                        "roll": 0.0010503103258088231,
                        "pitch": -0.0047606416046619415,
                        "yaw": 89.87064361572266
                    }
                },
                "velocity": {
                    "x": 0.011429034173488617,
                    "y": 5.012992858886719,
                    "z": -0.013991241343319416
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.014620201662182808,
        "expert_target_speed": 8.260647220606206,
        "target_point": [
            18.365497502182123,
            0.10089586740828484
        ],
        "target_point_next": [
            30.60314760275232,
            0.16721721142420154
        ]
    },
    "180": {
        "acceleration": [
            0.14057844877243042,
            1.867380142211914,
            -0.014651194214820862
        ],
        "angular_velocity": [
            -0.063685841858387,
            0.019372016191482544,
            1.6240121126174927
        ],
        "forward_vector": [
            0.010913100093603134,
            0.9999394416809082,
            0.0014371866127476096
        ],
        "right_vector": [
            -0.9999402761459351,
            0.010913987644016743,
            -0.0006113304407335818
        ],
        "location": [
            -1567.0364990234375,
            5769.31787109375,
            376.116943359375
        ],
        "rotation": [
            0.03502669557929039,
            0.08234475553035736,
            89.37471008300781
        ],
        "velocity": [
            0.10536527633666992,
            8.07528305053711,
            -0.019174570217728615
        ],
        "speed": 8.075970417711387,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.68424987792969,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1655.688720703125,
                        "y": 5843.61181640625,
                        "z": 376.46600341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.369841068983078,
                        "yaw": -144.72140502929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.390380859375,
                        "y": 5825.919921875,
                        "z": 376.4983825683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.298754692077637,
                "transform": {
                    "location": {
                        "x": -1564.1824951171875,
                        "y": 5789.14306640625,
                        "z": 376.0680847167969
                    },
                    "rotation": {
                        "roll": 0.023146960884332657,
                        "pitch": 0.5179263949394226,
                        "yaw": -89.8525390625
                    }
                },
                "velocity": {
                    "x": 0.015248122625052929,
                    "y": -8.298714637756348,
                    "z": 0.020784320309758186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.663244247436523,
                "transform": {
                    "location": {
                        "x": -1509.2508544921875,
                        "y": 5783.68603515625,
                        "z": 375.7123718261719
                    },
                    "rotation": {
                        "roll": -0.0007934581371955574,
                        "pitch": 0.2720259428024292,
                        "yaw": 156.4164276123047
                    }
                },
                "velocity": {
                    "x": -5.190251350402832,
                    "y": 2.2656056880950928,
                    "z": 0.025630807504057884
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.150155067443848,
                "transform": {
                    "location": {
                        "x": -1582.1341552734375,
                        "y": 5815.484375,
                        "z": 376.14556884765625
                    },
                    "rotation": {
                        "roll": 0.0009807877941057086,
                        "pitch": 0.43800634145736694,
                        "yaw": 156.43338012695312
                    }
                },
                "velocity": {
                    "x": -10.219047546386719,
                    "y": 4.460285663604736,
                    "z": 0.05367397144436836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.533221244812012,
                "transform": {
                    "location": {
                        "x": -1530.365234375,
                        "y": 5792.89697265625,
                        "z": 375.82965087890625
                    },
                    "rotation": {
                        "roll": -0.00128173956181854,
                        "pitch": 0.27964159846305847,
                        "yaw": 156.4296417236328
                    }
                },
                "velocity": {
                    "x": -7.8211822509765625,
                    "y": 3.4122297763824463,
                    "z": 0.04088638350367546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034398078918457,
                "transform": {
                    "location": {
                        "x": -1564.2818603515625,
                        "y": 5737.39501953125,
                        "z": 376.20135498046875
                    },
                    "rotation": {
                        "roll": 6.835551903350279e-05,
                        "pitch": 0.16124026477336884,
                        "yaw": -90.14757537841797
                    }
                },
                "velocity": {
                    "x": -0.020725075155496597,
                    "y": -8.034342765808105,
                    "z": 0.02160736918449402
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.0887627601623535,
                "transform": {
                    "location": {
                        "x": -1567.2384033203125,
                        "y": 5733.71533203125,
                        "z": 376.2147521972656
                    },
                    "rotation": {
                        "roll": 0.0005844116676598787,
                        "pitch": -0.20263120532035828,
                        "yaw": 89.87700653076172
                    }
                },
                "velocity": {
                    "x": 0.014193940907716751,
                    "y": 7.088719844818115,
                    "z": -0.020144129171967506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.318533420562744,
                "transform": {
                    "location": {
                        "x": -1567.2061767578125,
                        "y": 5746.8515625,
                        "z": 376.17529296875
                    },
                    "rotation": {
                        "roll": 0.0001809699897421524,
                        "pitch": 0.01151569839566946,
                        "yaw": 89.87477111816406
                    }
                },
                "velocity": {
                    "x": 0.011653624475002289,
                    "y": 5.318501949310303,
                    "z": -0.014080037362873554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.036499880254268646,
        "expert_target_speed": 8.61028893144339,
        "target_point": [
            16.403076092126536,
            0.15663840527364287
        ],
        "target_point_next": [
            28.64046750215774,
            0.26022403338999844
        ]
    },
    "185": {
        "acceleration": [
            -0.02246573567390442,
            1.8227195739746094,
            -0.004802718758583069
        ],
        "angular_velocity": [
            -0.028882896527647972,
            0.0352681539952755,
            -2.2323808670043945
        ],
        "forward_vector": [
            0.012631264515221119,
            0.9999194741249084,
            0.0012660021893680096
        ],
        "right_vector": [
            -0.9999202489852905,
            0.012631477788090706,
            -0.00016008414968382567
        ],
        "location": [
            -1567.0106201171875,
            5771.39697265625,
            376.11187744140625
        ],
        "rotation": [
            0.009172153659164906,
            0.07253660261631012,
            89.27626037597656
        ],
        "velocity": [
            0.10217525064945221,
            8.53685188293457,
            -0.0217453483492136
        ],
        "speed": 8.537463314885095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.97344970703125,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.6319580078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2578122913837433,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1657.185546875,
                        "y": 5842.1953125,
                        "z": 376.4786682128906
                    },
                    "rotation": {
                        "roll": 6.6701577594585615e-09,
                        "pitch": 0.2254030555486679,
                        "yaw": -128.16180419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4049072265625,
                        "y": 5822.44775390625,
                        "z": 376.5011901855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.800372123718262,
                "transform": {
                    "location": {
                        "x": -1564.17919921875,
                        "y": 5787.14599609375,
                        "z": 376.0744323730469
                    },
                    "rotation": {
                        "roll": 0.014942151494324207,
                        "pitch": 0.11952830106019974,
                        "yaw": -89.9169921875
                    }
                },
                "velocity": {
                    "x": 0.00959104672074318,
                    "y": -7.8003435134887695,
                    "z": 0.01884787529706955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.4925618171691895,
                "transform": {
                    "location": {
                        "x": -1510.6356201171875,
                        "y": 5784.29052734375,
                        "z": 375.7190856933594
                    },
                    "rotation": {
                        "roll": -0.0003967258962802589,
                        "pitch": 0.2775925397872925,
                        "yaw": 156.4225616455078
                    }
                },
                "velocity": {
                    "x": -5.9507575035095215,
                    "y": 2.596339464187622,
                    "z": 0.029457224532961845
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.859251976013184,
                "transform": {
                    "location": {
                        "x": -1584.8033447265625,
                        "y": 5816.6484375,
                        "z": 376.1602783203125
                    },
                    "rotation": {
                        "roll": -0.0004882827633991838,
                        "pitch": 0.38455328345298767,
                        "yaw": 156.43740844726562
                    }
                },
                "velocity": {
                    "x": -10.87023639678955,
                    "y": 4.740943431854248,
                    "z": 0.05732867121696472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.8610992431640625,
                "transform": {
                    "location": {
                        "x": -1532.2086181640625,
                        "y": 5793.70068359375,
                        "z": 375.8383483886719
                    },
                    "rotation": {
                        "roll": -0.0002746624522842467,
                        "pitch": 0.42248815298080444,
                        "yaw": 156.41714477539062
                    }
                },
                "velocity": {
                    "x": -6.288778781890869,
                    "y": 2.743135690689087,
                    "z": 0.03394227847456932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019547462463379,
                "transform": {
                    "location": {
                        "x": -1564.2867431640625,
                        "y": 5735.38916015625,
                        "z": 376.2068176269531
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16250385344028473,
                        "yaw": -90.14743041992188
                    }
                },
                "velocity": {
                    "x": -0.020636217668652534,
                    "y": -8.019492149353027,
                    "z": 0.021620607003569603
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.422905683517456,
                "transform": {
                    "location": {
                        "x": -1567.2369384765625,
                        "y": 5735.142578125,
                        "z": 376.2099914550781
                    },
                    "rotation": {
                        "roll": -0.017364468425512314,
                        "pitch": -0.6172509789466858,
                        "yaw": 89.34459686279297
                    }
                },
                "velocity": {
                    "x": -0.03258392587304115,
                    "y": 3.422734022140503,
                    "z": -0.010633611120283604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.679792404174805,
                "transform": {
                    "location": {
                        "x": -1567.202880859375,
                        "y": 5748.31884765625,
                        "z": 376.1703796386719
                    },
                    "rotation": {
                        "roll": 0.0022483589127659798,
                        "pitch": 0.27725785970687866,
                        "yaw": 89.85030364990234
                    }
                },
                "velocity": {
                    "x": 0.01584605872631073,
                    "y": 6.679750442504883,
                    "z": -0.017635593190789223
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.055941905826330185,
        "expert_target_speed": 8.929324654760935,
        "target_point": [
            14.323520589739982,
            0.18439395041151765
        ],
        "target_point_next": [
            26.56071624211455,
            0.3089775374629624
        ]
    },
    "190": {
        "acceleration": [
            -0.0598454475402832,
            1.7293930053710938,
            -0.0034776702523231506
        ],
        "angular_velocity": [
            -0.03305794671177864,
            0.14015795290470123,
            2.686121702194214
        ],
        "forward_vector": [
            0.010980095714330673,
            0.9999390840530396,
            0.001124977832660079
        ],
        "right_vector": [
            -0.9999397397041321,
            0.010979955084621906,
            0.00013156014028936625
        ],
        "location": [
            -1566.985595703125,
            5773.58837890625,
            376.1064453125
        ],
        "rotation": [
            -0.0075378455221652985,
            0.06445649266242981,
            89.3708724975586
        ],
        "velocity": [
            0.09438235312700272,
            8.97857666015625,
            -0.022030867636203766
        ],
        "speed": 8.979072717763474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 68.18942260742188,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.5408935546875,
                5829.13232421875,
                376.32147216796875
            ],
            "velocity": [
                -0.007298427168279886,
                0.0028894946444779634,
                -1.836261510848999
            ],
            "speed_kmh": 6.610601838234752,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8362783193588257,
                "transform": {
                    "location": {
                        "x": -1606.5408935546875,
                        "y": 5829.13232421875,
                        "z": 376.32147216796875
                    },
                    "rotation": {
                        "roll": -0.0003662091912701726,
                        "pitch": -0.25635063648223877,
                        "yaw": -23.57102394104004
                    }
                },
                "velocity": {
                    "x": -0.007298427168279886,
                    "y": 0.0028894946444779634,
                    "z": -1.836261510848999
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.115234375,
                        "y": 5840.33837890625,
                        "z": 376.4852600097656
                    },
                    "rotation": {
                        "roll": 1.667527338433672e-09,
                        "pitch": 0.0568886436522007,
                        "yaw": -109.07626342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4193115234375,
                        "y": 5818.9755859375,
                        "z": 376.5041809082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.114768028259277,
                "transform": {
                    "location": {
                        "x": -1564.1781005859375,
                        "y": 5785.166015625,
                        "z": 376.0789489746094
                    },
                    "rotation": {
                        "roll": 0.017815060913562775,
                        "pitch": 0.19933223724365234,
                        "yaw": -89.9755859375
                    }
                },
                "velocity": {
                    "x": -0.00229309662245214,
                    "y": -8.114747047424316,
                    "z": 0.01834142580628395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.472765922546387,
                "transform": {
                    "location": {
                        "x": -1512.25048828125,
                        "y": 5784.99560546875,
                        "z": 375.72705078125
                    },
                    "rotation": {
                        "roll": -6.103224222897552e-05,
                        "pitch": 0.2879470884799957,
                        "yaw": 156.42013549804688
                    }
                },
                "velocity": {
                    "x": -6.848765850067139,
                    "y": 2.9892303943634033,
                    "z": 0.03379989415407181
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.573704719543457,
                "transform": {
                    "location": {
                        "x": -1587.488037109375,
                        "y": 5817.81982421875,
                        "z": 376.1755065917969
                    },
                    "rotation": {
                        "roll": 0.0004690943460445851,
                        "pitch": 0.2841358482837677,
                        "yaw": 156.42459106445312
                    }
                },
                "velocity": {
                    "x": -10.608124732971191,
                    "y": 4.627649307250977,
                    "z": 0.05651767551898956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.038905143737793,
                "transform": {
                    "location": {
                        "x": -1533.63623046875,
                        "y": 5794.32373046875,
                        "z": 375.8464660644531
                    },
                    "rotation": {
                        "roll": -0.0013122530654072762,
                        "pitch": 0.3856256306171417,
                        "yaw": 156.44126892089844
                    }
                },
                "velocity": {
                    "x": -5.534961223602295,
                    "y": 2.4148952960968018,
                    "z": 0.0293420497328043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034639358520508,
                "transform": {
                    "location": {
                        "x": -1564.29150390625,
                        "y": 5733.3828125,
                        "z": 376.21234130859375
                    },
                    "rotation": {
                        "roll": 0.0005119260749779642,
                        "pitch": 0.16322101652622223,
                        "yaw": -90.14757537841797
                    }
                },
                "velocity": {
                    "x": -0.020646123215556145,
                    "y": -8.034582138061523,
                    "z": 0.022277630865573883
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.39037880301475525,
                "transform": {
                    "location": {
                        "x": -1567.2413330078125,
                        "y": 5735.38671875,
                        "z": 376.20928955078125
                    },
                    "rotation": {
                        "roll": 0.021803004667162895,
                        "pitch": -0.6588741540908813,
                        "yaw": 88.67974090576172
                    }
                },
                "velocity": {
                    "x": 0.004619710147380829,
                    "y": 0.39035141468048096,
                    "z": 0.00020712852710857987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.554611682891846,
                "transform": {
                    "location": {
                        "x": -1567.198974609375,
                        "y": 5749.9912109375,
                        "z": 376.1667785644531
                    },
                    "rotation": {
                        "roll": -0.0002746567188296467,
                        "pitch": 0.042531587183475494,
                        "yaw": 89.89315032958984
                    }
                },
                "velocity": {
                    "x": 0.013945209793746471,
                    "y": 6.554572582244873,
                    "z": -0.01786230131983757
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.058995090425014496,
        "expert_target_speed": 9.211644972665901,
        "target_point": [
            12.13225740127558,
            0.1616390009120898
        ],
        "target_point_next": [
            24.36964259051326,
            0.2659569518319725
        ]
    },
    "195": {
        "acceleration": [
            -0.06743758916854858,
            1.66656494140625,
            -0.005939006805419922
        ],
        "angular_velocity": [
            -0.031917158514261246,
            -0.024015016853809357,
            -1.675472378730774
        ],
        "forward_vector": [
            0.009372168220579624,
            0.9999555945396423,
            0.000979423290118575
        ],
        "right_vector": [
            -0.9999560117721558,
            0.009371844120323658,
            0.00033502551377750933
        ],
        "location": [
            -1566.9635009765625,
            5775.888671875,
            376.1007995605469
        ],
        "rotation": [
            -0.019195556640625,
            0.05611683055758476,
            89.46300506591797
        ],
        "velocity": [
            0.07964023947715759,
            9.402191162109375,
            -0.0218312107026577
        ],
        "speed": 9.402528448060746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.34236145019531,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.25225830078125
            ],
            "velocity": [
                0.0005564318271353841,
                -0.00021299481159076095,
                0.13214212656021118
            ],
            "speed_kmh": 0.4757164910653156,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13214346766471863,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.25225830078125
                    },
                    "rotation": {
                        "roll": 6.385688902810216e-05,
                        "pitch": -0.2532360851764679,
                        "yaw": -23.571025848388672
                    }
                },
                "velocity": {
                    "x": 0.0005564318271353841,
                    "y": -0.00021299481159076095,
                    "z": 0.13214212656021118
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.332763671875,
                        "y": 5838.2744140625,
                        "z": 376.4874572753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.433837890625,
                        "y": 5815.5029296875,
                        "z": 376.5071105957031
                    },
                    "rotation": {
                        "roll": -1.667527116389067e-09,
                        "pitch": 0.04953936114907265,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.066200256347656,
                "transform": {
                    "location": {
                        "x": -1564.17919921875,
                        "y": 5783.1298828125,
                        "z": 376.0838928222656
                    },
                    "rotation": {
                        "roll": 0.012679914943873882,
                        "pitch": 0.16934086382389069,
                        "yaw": -90.03694915771484
                    }
                },
                "velocity": {
                    "x": -0.007398218382149935,
                    "y": -8.066177368164062,
                    "z": 0.017950305715203285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.285128593444824,
                "transform": {
                    "location": {
                        "x": -1514.0609130859375,
                        "y": 5785.78564453125,
                        "z": 375.7361755371094
                    },
                    "rotation": {
                        "roll": 2.8801870939787477e-05,
                        "pitch": 0.2835621237754822,
                        "yaw": 156.429443359375
                    }
                },
                "velocity": {
                    "x": -7.593928813934326,
                    "y": 3.3127245903015137,
                    "z": 0.0381687730550766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.51935863494873,
                "transform": {
                    "location": {
                        "x": -1590.1273193359375,
                        "y": 5818.97119140625,
                        "z": 376.18963623046875
                    },
                    "rotation": {
                        "roll": 9.635412425268441e-05,
                        "pitch": 0.27477848529815674,
                        "yaw": 156.438720703125
                    }
                },
                "velocity": {
                    "x": -10.558327674865723,
                    "y": 4.6058807373046875,
                    "z": 0.05658717080950737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.490027904510498,
                "transform": {
                    "location": {
                        "x": -1535.0570068359375,
                        "y": 5794.94384765625,
                        "z": 375.8551025390625
                    },
                    "rotation": {
                        "roll": -0.0018615759909152985,
                        "pitch": 0.2617942988872528,
                        "yaw": 156.40090942382812
                    }
                },
                "velocity": {
                    "x": -5.948148727416992,
                    "y": 2.5959625244140625,
                    "z": 0.03110249526798725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018634796142578,
                "transform": {
                    "location": {
                        "x": -1564.2965087890625,
                        "y": 5731.37744140625,
                        "z": 376.2178955078125
                    },
                    "rotation": {
                        "roll": 0.0015511794481426477,
                        "pitch": 0.16287268698215485,
                        "yaw": -90.14745330810547
                    }
                },
                "velocity": {
                    "x": -0.02065032720565796,
                    "y": -8.01857852935791,
                    "z": 0.02172590233385563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4898834228515625,
                "transform": {
                    "location": {
                        "x": -1567.239013671875,
                        "y": 5735.6435546875,
                        "z": 376.20928955078125
                    },
                    "rotation": {
                        "roll": 0.0017181179719045758,
                        "pitch": -0.14264166355133057,
                        "yaw": 88.8399887084961
                    }
                },
                "velocity": {
                    "x": 0.011986695230007172,
                    "y": 1.4898332357406616,
                    "z": -0.0024512005038559437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.341205596923828,
                "transform": {
                    "location": {
                        "x": -1567.1959228515625,
                        "y": 5751.57861328125,
                        "z": 376.16339111328125
                    },
                    "rotation": {
                        "roll": -0.000457764690509066,
                        "pitch": -0.1679680049419403,
                        "yaw": 89.8648452758789
                    }
                },
                "velocity": {
                    "x": 0.013233816251158714,
                    "y": 6.34116792678833,
                    "z": -0.01737813837826252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.6371609568595886,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06571555882692337,
        "expert_target_speed": 9.45496077231784,
        "target_point": [
            9.832101274862701,
            0.1427626034829787
        ],
        "target_point_next": [
            22.06963758996526,
            0.22751778741766557
        ]
    },
    "200": {
        "acceleration": [
            0.20303234457969666,
            1.4966392517089844,
            -0.01006443053483963
        ],
        "angular_velocity": [
            -0.040252115577459335,
            -0.20236563682556152,
            1.2056421041488647
        ],
        "forward_vector": [
            0.008890226483345032,
            0.9999601244926453,
            0.0008335111779160798
        ],
        "right_vector": [
            -0.9999604821205139,
            0.008890376426279545,
            -0.00017639029829297215
        ],
        "location": [
            -1566.942138671875,
            5778.29150390625,
            376.0950012207031
        ],
        "rotation": [
            0.010106422938406467,
            0.047756679356098175,
            89.4906234741211
        ],
        "velocity": [
            0.10328307747840881,
            9.797264099121094,
            -0.022889690473675728
        ],
        "speed": 9.79780849078101,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.44308471679688,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2742919921875
            ],
            "velocity": [
                0.00018955468840431422,
                -2.7369893359718844e-05,
                0.04387113079428673
            ],
            "speed_kmh": 0.15793757580922413,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.043871548026800156,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2742919921875
                    },
                    "rotation": {
                        "roll": 6.29330679657869e-06,
                        "pitch": -0.2532975375652313,
                        "yaw": -23.571022033691406
                    }
                },
                "velocity": {
                    "x": 0.00018955468840431422,
                    "y": -2.7369893359718844e-05,
                    "z": 0.04387113079428673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3470458984375,
                        "y": 5836.19091796875,
                        "z": 376.4895935058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4483642578125,
                        "y": 5812.03125,
                        "z": 376.5101013183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9400410652160645,
                "transform": {
                    "location": {
                        "x": -1564.1810302734375,
                        "y": 5781.1396484375,
                        "z": 376.0888977050781
                    },
                    "rotation": {
                        "roll": 0.007479011081159115,
                        "pitch": 0.1097884550690651,
                        "yaw": -90.05145263671875
                    }
                },
                "velocity": {
                    "x": -0.00956774316728115,
                    "y": -7.94001579284668,
                    "z": 0.017723912373185158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.018227577209473,
                "transform": {
                    "location": {
                        "x": -1516.0462646484375,
                        "y": 5786.65087890625,
                        "z": 375.7462158203125
                    },
                    "rotation": {
                        "roll": -0.00015259390056598932,
                        "pitch": 0.284170001745224,
                        "yaw": 156.43447875976562
                    }
                },
                "velocity": {
                    "x": -8.2660551071167,
                    "y": 3.6054162979125977,
                    "z": 0.04158578813076019
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.591386795043945,
                "transform": {
                    "location": {
                        "x": -1592.77685546875,
                        "y": 5820.126953125,
                        "z": 376.20361328125
                    },
                    "rotation": {
                        "roll": -0.00024414228391833603,
                        "pitch": 0.28582289814949036,
                        "yaw": 156.42544555664062
                    }
                },
                "velocity": {
                    "x": -10.62438678741455,
                    "y": 4.634591102600098,
                    "z": 0.056780021637678146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.728166103363037,
                "transform": {
                    "location": {
                        "x": -1536.6446533203125,
                        "y": 5795.63671875,
                        "z": 375.8646545410156
                    },
                    "rotation": {
                        "roll": -0.001342774135991931,
                        "pitch": 0.15611079335212708,
                        "yaw": 156.47589111328125
                    }
                },
                "velocity": {
                    "x": -7.0819878578186035,
                    "y": 3.0933024883270264,
                    "z": 0.038411300629377365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035165786743164,
                "transform": {
                    "location": {
                        "x": -1564.3013916015625,
                        "y": 5729.37109375,
                        "z": 376.223388671875
                    },
                    "rotation": {
                        "roll": 0.0005560023128055036,
                        "pitch": 0.16296830773353577,
                        "yaw": -90.14755249023438
                    }
                },
                "velocity": {
                    "x": -0.020705129951238632,
                    "y": -8.035109519958496,
                    "z": 0.022002819925546646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.55728816986084,
                "transform": {
                    "location": {
                        "x": -1567.2359619140625,
                        "y": 5736.14697265625,
                        "z": 376.2081298828125
                    },
                    "rotation": {
                        "roll": -0.003875733120366931,
                        "pitch": -0.02087305672466755,
                        "yaw": 89.20085906982422
                    }
                },
                "velocity": {
                    "x": 0.016780102625489235,
                    "y": 2.5572237968444824,
                    "z": -0.006893443875014782
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.240896224975586,
                "transform": {
                    "location": {
                        "x": -1567.192138671875,
                        "y": 5753.265625,
                        "z": 376.157958984375
                    },
                    "rotation": {
                        "roll": -0.0005493136704899371,
                        "pitch": 0.06759154796600342,
                        "yaw": 89.88977813720703
                    }
                },
                "velocity": {
                    "x": 0.015822237357497215,
                    "y": 7.240856647491455,
                    "z": -0.017936648800969124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32267889380455017,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07421091198921204,
        "expert_target_speed": 9.645652894605293,
        "target_point": [
            19.666819268583662,
            0.21672036027128677
        ],
        "target_point_next": [
            32.20959312106988,
            4.139051900958009
        ]
    },
    "205": {
        "acceleration": [
            0.21147340536117554,
            1.3759613037109375,
            -0.007484555244445801
        ],
        "angular_velocity": [
            -0.06875879317522049,
            -0.1559034287929535,
            -3.0618388652801514
        ],
        "forward_vector": [
            0.013887031935155392,
            0.9999033808708191,
            0.0005583762540481985
        ],
        "right_vector": [
            -0.9999032020568848,
            0.013887492939829826,
            -0.0008292327984236181
        ],
        "location": [
            -1566.910888671875,
            5780.78759765625,
            376.0891418457031
        ],
        "rotation": [
            0.04751155525445938,
            0.031992603093385696,
            89.20430755615234
        ],
        "velocity": [
            0.15322273969650269,
            10.151511192321777,
            -0.02528528682887554
        ],
        "speed": 10.152667467015474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.51251983642578,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.27923583984375
            ],
            "velocity": [
                1.0936558282992337e-05,
                -3.122780253761448e-05,
                0.006766507867723703
            ],
            "speed_kmh": 0.024359719552217968,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.006766588892787695,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.27923583984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.57102394104004
                    }
                },
                "velocity": {
                    "x": 1.0936558282992337e-05,
                    "y": -3.122780253761448e-05,
                    "z": 0.006766507867723703
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.356201171875,
                        "y": 5834.10791015625,
                        "z": 376.4913635253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.462646484375,
                        "y": 5808.55859375,
                        "z": 376.51324462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.096566200256348,
                "transform": {
                    "location": {
                        "x": -1564.18408203125,
                        "y": 5779.13037109375,
                        "z": 376.0935363769531
                    },
                    "rotation": {
                        "roll": 0.006129001267254353,
                        "pitch": 0.17116452753543854,
                        "yaw": -90.08712768554688
                    }
                },
                "velocity": {
                    "x": -0.01247687079012394,
                    "y": -8.096535682678223,
                    "z": 0.01873733475804329
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.844097137451172,
                "transform": {
                    "location": {
                        "x": -1518.2105712890625,
                        "y": 5787.595703125,
                        "z": 375.7572326660156
                    },
                    "rotation": {
                        "roll": 0.0005271051195450127,
                        "pitch": 0.2888076901435852,
                        "yaw": 156.4352569580078
                    }
                },
                "velocity": {
                    "x": -9.023085594177246,
                    "y": 3.9354913234710693,
                    "z": 0.045663632452487946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.583420753479004,
                "transform": {
                    "location": {
                        "x": -1595.4329833984375,
                        "y": 5821.28466796875,
                        "z": 376.2177734375
                    },
                    "rotation": {
                        "roll": -6.1032209487166256e-05,
                        "pitch": 0.2817179560661316,
                        "yaw": 156.43894958496094
                    }
                },
                "velocity": {
                    "x": -10.617047309875488,
                    "y": 4.631491661071777,
                    "z": 0.05670161917805672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0903706550598145,
                "transform": {
                    "location": {
                        "x": -1538.36767578125,
                        "y": 5796.38818359375,
                        "z": 375.8726806640625
                    },
                    "rotation": {
                        "roll": 0.002639172365888953,
                        "pitch": 0.3085811138153076,
                        "yaw": 156.5118408203125
                    }
                },
                "velocity": {
                    "x": -6.501966953277588,
                    "y": 2.827808380126953,
                    "z": 0.03577685356140137
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018893241882324,
                "transform": {
                    "location": {
                        "x": -1564.3062744140625,
                        "y": 5727.36474609375,
                        "z": 376.22894287109375
                    },
                    "rotation": {
                        "roll": -0.0005188030190765858,
                        "pitch": 0.16375377774238586,
                        "yaw": -90.1473388671875
                    }
                },
                "velocity": {
                    "x": -0.020679643377661705,
                    "y": -8.018837928771973,
                    "z": 0.021352749317884445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.091155052185059,
                "transform": {
                    "location": {
                        "x": -1567.2315673828125,
                        "y": 5736.98486328125,
                        "z": 376.2059020996094
                    },
                    "rotation": {
                        "roll": -0.005432129371911287,
                        "pitch": 0.06117117032408714,
                        "yaw": 89.45458984375
                    }
                },
                "velocity": {
                    "x": 0.021142125129699707,
                    "y": 4.0910868644714355,
                    "z": -0.01053337100893259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.368635177612305,
                "transform": {
                    "location": {
                        "x": -1567.187744140625,
                        "y": 5755.23779296875,
                        "z": 376.1521301269531
                    },
                    "rotation": {
                        "roll": 0.0010980054503306746,
                        "pitch": 0.2738085985183716,
                        "yaw": 89.85790252685547
                    }
                },
                "velocity": {
                    "x": 0.01900872215628624,
                    "y": 8.368586540222168,
                    "z": -0.021184301003813744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10531825572252274,
        "expert_target_speed": 9.761446372741494,
        "target_point": [
            17.16920479353305,
            0.31151938123372985
        ],
        "target_point_next": [
            29.69223548200955,
            4.2964363195341555
        ]
    },
    "210": {
        "acceleration": [
            0.24490386247634888,
            1.3103294372558594,
            0.0009843707084655762
        ],
        "angular_velocity": [
            -0.05462488904595375,
            -0.040449537336826324,
            0.5880895256996155
        ],
        "forward_vector": [
            0.018700536340475082,
            0.9998250603675842,
            0.0003728866286110133
        ],
        "right_vector": [
            -0.9998244047164917,
            0.018700966611504555,
            -0.0011820505606010556
        ],
        "location": [
            -1566.8658447265625,
            5783.36865234375,
            376.0828857421875
        ],
        "rotation": [
            0.06772653013467789,
            0.021364830434322357,
            88.92847442626953
        ],
        "velocity": [
            0.2114526331424713,
            10.485699653625488,
            -0.025343965739011765
        ],
        "speed": 10.487831493788626,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.56806945800781,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2799072265625
            ],
            "velocity": [
                7.73478313931264e-06,
                -1.3428018064587377e-05,
                0.0010689469054341316
            ],
            "speed_kmh": 0.0038486132076747124,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010690592462196946,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2799072265625
                    },
                    "rotation": {
                        "roll": 9.411612154508475e-06,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": 7.73478313931264e-06,
                    "y": -1.3428018064587377e-05,
                    "z": 0.0010689469054341316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.367431640625,
                        "y": 5831.46923828125,
                        "z": 376.49365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.476806640625,
                        "y": 5805.0869140625,
                        "z": 376.5164794921875
                    },
                    "rotation": {
                        "roll": 3.335054676867344e-09,
                        "pitch": 0.05734626576304436,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.996426582336426,
                "transform": {
                    "location": {
                        "x": -1564.1876220703125,
                        "y": 5777.1181640625,
                        "z": 376.0985412597656
                    },
                    "rotation": {
                        "roll": 0.004931643605232239,
                        "pitch": 0.13569536805152893,
                        "yaw": -90.10311126708984
                    }
                },
                "velocity": {
                    "x": -0.015633966773748398,
                    "y": -7.996389389038086,
                    "z": 0.018748177215456963
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.715024948120117,
                "transform": {
                    "location": {
                        "x": -1520.4986572265625,
                        "y": 5788.5927734375,
                        "z": 375.76910400390625
                    },
                    "rotation": {
                        "roll": -6.103549094405025e-05,
                        "pitch": 0.27088528871536255,
                        "yaw": 156.4352569580078
                    }
                },
                "velocity": {
                    "x": -8.904775619506836,
                    "y": 3.8838932514190674,
                    "z": 0.045313406735658646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.570818901062012,
                "transform": {
                    "location": {
                        "x": -1598.0850830078125,
                        "y": 5822.4423828125,
                        "z": 376.2316589355469
                    },
                    "rotation": {
                        "roll": -0.0004577679210342467,
                        "pitch": 0.2734602689743042,
                        "yaw": 156.41342163085938
                    }
                },
                "velocity": {
                    "x": -10.604649543762207,
                    "y": 4.62839937210083,
                    "z": 0.05629108473658562
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.095865726470947,
                "transform": {
                    "location": {
                        "x": -1539.8583984375,
                        "y": 5797.03662109375,
                        "z": 375.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0002696048468351364,
                        "pitch": 0.37626826763153076,
                        "yaw": 156.53639221191406
                    }
                },
                "velocity": {
                    "x": -5.589563846588135,
                    "y": 2.4321420192718506,
                    "z": 0.032188061624765396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03397274017334,
                "transform": {
                    "location": {
                        "x": -1564.31103515625,
                        "y": 5725.359375,
                        "z": 376.2345275878906
                    },
                    "rotation": {
                        "roll": -0.00030517863342538476,
                        "pitch": 0.16525641083717346,
                        "yaw": -90.14743041992188
                    }
                },
                "velocity": {
                    "x": -0.02065083757042885,
                    "y": -8.033918380737305,
                    "z": 0.021007290109992027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.430532932281494,
                "transform": {
                    "location": {
                        "x": -1567.2266845703125,
                        "y": 5738.189453125,
                        "z": 376.2030029296875
                    },
                    "rotation": {
                        "roll": -0.004821782931685448,
                        "pitch": 0.06298117339611053,
                        "yaw": 89.65908813476562
                    }
                },
                "velocity": {
                    "x": 0.020703881978988647,
                    "y": 5.430476188659668,
                    "z": -0.01363013219088316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022746086120605,
                "transform": {
                    "location": {
                        "x": -1567.1827392578125,
                        "y": 5757.30126953125,
                        "z": 376.14794921875
                    },
                    "rotation": {
                        "roll": -0.0003051741514354944,
                        "pitch": -0.047695208340883255,
                        "yaw": 89.88833618164062
                    }
                },
                "velocity": {
                    "x": 0.017461726441979408,
                    "y": 8.022697448730469,
                    "z": -0.021539850160479546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13740715384483337,
        "expert_target_speed": 9.777328184448667,
        "target_point": [
            14.586057650877937,
            0.39105286419405244
        ],
        "target_point_next": [
            27.08973038347553,
            4.4363005483010705
        ]
    },
    "215": {
        "acceleration": [
            -0.1777985692024231,
            -0.3803253173828125,
            0.004301629960536957
        ],
        "angular_velocity": [
            -0.5050985813140869,
            0.300802618265152,
            -1.9381115436553955
        ],
        "forward_vector": [
            0.023276684805750847,
            0.9997289180755615,
            -0.00048148626228794456
        ],
        "right_vector": [
            -0.9997286200523376,
            0.023276224732398987,
            -0.0009397515095770359
        ],
        "location": [
            -1566.8079833984375,
            5786.0185546875,
            376.0766296386719
        ],
        "rotation": [
            0.05384380742907524,
            -0.027587132528424263,
            88.66622161865234
        ],
        "velocity": [
            0.24015477299690247,
            10.625327110290527,
            -0.02571053057909012
        ],
        "speed": 10.628040765619412,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.63080596923828,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.280029296875
            ],
            "velocity": [
                2.575602411525324e-05,
                2.397373236817657e-06,
                0.000833471305668354
            ],
            "speed_kmh": 0.0030019414129255225,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008338726474903524,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.280029296875
                    },
                    "rotation": {
                        "roll": 0.00032025494147092104,
                        "pitch": -0.25365954637527466,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 2.575602411525324e-05,
                    "y": 2.397373236817657e-06,
                    "z": 0.000833471305668354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.3819580078125,
                        "y": 5827.99755859375,
                        "z": 376.49658203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4913330078125,
                        "y": 5801.6142578125,
                        "z": 376.5199890136719
                    },
                    "rotation": {
                        "roll": 3.3350551209565538e-09,
                        "pitch": 0.0612531341612339,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027196884155273,
                "transform": {
                    "location": {
                        "x": -1564.1915283203125,
                        "y": 5775.1181640625,
                        "z": 376.1033935546875
                    },
                    "rotation": {
                        "roll": 0.002424357458949089,
                        "pitch": 0.1415761560201645,
                        "yaw": -90.10804748535156
                    }
                },
                "velocity": {
                    "x": -0.016316359862685204,
                    "y": -8.0271577835083,
                    "z": 0.018794050440192223
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.553257942199707,
                "transform": {
                    "location": {
                        "x": -1522.583984375,
                        "y": 5789.5029296875,
                        "z": 375.7801208496094
                    },
                    "rotation": {
                        "roll": 4.845877811021637e-06,
                        "pitch": 0.24885793030261993,
                        "yaw": 156.43544006347656
                    }
                },
                "velocity": {
                    "x": -7.839914798736572,
                    "y": 3.4194085597991943,
                    "z": 0.040157612413167953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4453,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.575779914855957,
                "transform": {
                    "location": {
                        "x": -1600.7366943359375,
                        "y": 5823.60009765625,
                        "z": 376.2453918457031
                    },
                    "rotation": {
                        "roll": -0.0002746647223830223,
                        "pitch": 0.27211472392082214,
                        "yaw": 156.4256591796875
                    }
                },
                "velocity": {
                    "x": -10.609004020690918,
                    "y": 4.630843162536621,
                    "z": 0.05502825602889061
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.677237510681152,
                "transform": {
                    "location": {
                        "x": -1541.142578125,
                        "y": 5797.595703125,
                        "z": 375.8869934082031
                    },
                    "rotation": {
                        "roll": -0.002746579935774207,
                        "pitch": 0.42890170216560364,
                        "yaw": 156.40011596679688
                    }
                },
                "velocity": {
                    "x": -4.284895420074463,
                    "y": 1.875045895576477,
                    "z": 0.02058975212275982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01988410949707,
                "transform": {
                    "location": {
                        "x": -1564.31591796875,
                        "y": 5723.35302734375,
                        "z": 376.2401123046875
                    },
                    "rotation": {
                        "roll": 0.0005950292688794434,
                        "pitch": 0.16475097835063934,
                        "yaw": -90.14739227294922
                    }
                },
                "velocity": {
                    "x": -0.020585570484399796,
                    "y": -8.019826889038086,
                    "z": 0.022019270807504654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.0825886726379395,
                "transform": {
                    "location": {
                        "x": -1567.2222900390625,
                        "y": 5739.61181640625,
                        "z": 376.198974609375
                    },
                    "rotation": {
                        "roll": -0.004791258834302425,
                        "pitch": -0.0028413585387170315,
                        "yaw": 89.83676147460938
                    }
                },
                "velocity": {
                    "x": 0.014988299459218979,
                    "y": 6.082544803619385,
                    "z": -0.017418069764971733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.881689071655273,
                "transform": {
                    "location": {
                        "x": -1567.17822265625,
                        "y": 5759.26611328125,
                        "z": 376.1434020996094
                    },
                    "rotation": {
                        "roll": 0.0008040521061047912,
                        "pitch": -0.1841077357530594,
                        "yaw": 89.8572769165039
                    }
                },
                "velocity": {
                    "x": 0.018894311040639877,
                    "y": 7.881638526916504,
                    "z": -0.021042542532086372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17918922007083893,
        "expert_target_speed": 9.517886867129803,
        "target_point": [
            11.933584956190856,
            0.4539349820587191
        ],
        "target_point_next": [
            24.418621788856793,
            4.556338657546141
        ]
    },
    "220": {
        "acceleration": [
            -0.27406156063079834,
            -2.40234375,
            -0.008030533790588379
        ],
        "angular_velocity": [
            -0.7668747901916504,
            0.22363990545272827,
            3.346879482269287
        ],
        "forward_vector": [
            0.018457753583788872,
            0.999823272228241,
            -0.0035755555145442486
        ],
        "right_vector": [
            -0.9998294711112976,
            0.018459502607584,
            0.00045699565089307725
        ],
        "location": [
            -1566.75634765625,
            5788.62744140625,
            376.0710754394531
        ],
        "rotation": [
            -0.026184091344475746,
            -0.20486468076705933,
            88.9423828125
        ],
        "velocity": [
            0.17389188706874847,
            10.19841194152832,
            -0.025372905656695366
        ],
        "speed": 10.199894338545658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.776126861572266,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2800598144531
            ],
            "velocity": [
                6.241388291527983e-06,
                2.9291024929989362e-06,
                0.000981268472969532
            ],
            "speed_kmh": 0.003532653697144227,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1500.1275634765625,
                        "y": 5779.705078125,
                        "z": 375.85845947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000981292687356472,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2800598144531
                    },
                    "rotation": {
                        "roll": 0.00019765718025155365,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": 6.241388291527983e-06,
                    "y": 2.9291024929989362e-06,
                    "z": 0.000981268472969532
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.396240234375,
                        "y": 5824.52490234375,
                        "z": 376.49951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.505859375,
                        "y": 5798.142578125,
                        "z": 376.5235595703125
                    },
                    "rotation": {
                        "roll": 3.3350551209565538e-09,
                        "pitch": 0.0612531341612339,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036516189575195,
                "transform": {
                    "location": {
                        "x": -1564.1953125,
                        "y": 5773.107421875,
                        "z": 376.1082458496094
                    },
                    "rotation": {
                        "roll": 0.0010765724582597613,
                        "pitch": 0.15426664054393768,
                        "yaw": -90.1176986694336
                    }
                },
                "velocity": {
                    "x": -0.016553031280636787,
                    "y": -8.03647232055664,
                    "z": 0.020580463111400604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.52824592590332,
                "transform": {
                    "location": {
                        "x": -1524.5223388671875,
                        "y": 5790.34814453125,
                        "z": 375.7900390625
                    },
                    "rotation": {
                        "roll": 0.0005661315517500043,
                        "pitch": 0.2702637314796448,
                        "yaw": 156.4320526123047
                    }
                },
                "velocity": {
                    "x": -7.816780090332031,
                    "y": 3.40986967086792,
                    "z": 0.04140600934624672
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.970597267150879,
                "transform": {
                    "location": {
                        "x": -1542.2066650390625,
                        "y": 5798.060546875,
                        "z": 375.8938293457031
                    },
                    "rotation": {
                        "roll": -0.001220706501044333,
                        "pitch": 0.3018397092819214,
                        "yaw": 156.39686584472656
                    }
                },
                "velocity": {
                    "x": -4.55470085144043,
                    "y": 1.9901952743530273,
                    "z": 0.02570466883480549
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03428840637207,
                "transform": {
                    "location": {
                        "x": -1564.3209228515625,
                        "y": 5721.3466796875,
                        "z": 376.2456970214844
                    },
                    "rotation": {
                        "roll": 0.0008797105983830988,
                        "pitch": 0.16483977437019348,
                        "yaw": -90.14743041992188
                    }
                },
                "velocity": {
                    "x": -0.020562563091516495,
                    "y": -8.034233093261719,
                    "z": 0.02167685516178608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.789259433746338,
                "transform": {
                    "location": {
                        "x": -1567.2181396484375,
                        "y": 5741.30224609375,
                        "z": 376.19439697265625
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 0.1022479236125946,
                        "yaw": 89.81718444824219
                    }
                },
                "velocity": {
                    "x": 0.018063677474856377,
                    "y": 7.789206504821777,
                    "z": -0.02226431854069233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.169894218444824,
                "transform": {
                    "location": {
                        "x": -1567.1734619140625,
                        "y": 5761.2861328125,
                        "z": 376.1378173828125
                    },
                    "rotation": {
                        "roll": -0.0006103552877902985,
                        "pitch": -0.07477007806301117,
                        "yaw": 89.88610076904297
                    }
                },
                "velocity": {
                    "x": 0.018192728981375694,
                    "y": 8.16984748840332,
                    "z": -0.02091197483241558
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19803695380687714,
        "expert_target_speed": 8.64227398795504,
        "target_point": [
            9.326239551910612,
            0.3998658059251602
        ],
        "target_point_next": [
            21.830911085919013,
            4.442024938893309
        ]
    },
    "225": {
        "acceleration": [
            -0.2816721796989441,
            -3.3075332641601562,
            0.021107196807861328
        ],
        "angular_velocity": [
            -0.5452115535736084,
            0.13113068044185638,
            -0.7555981874465942
        ],
        "forward_vector": [
            0.012628745287656784,
            0.9998992681503296,
            -0.006482079159468412
        ],
        "right_vector": [
            -0.9999195337295532,
            0.01263625267893076,
            0.0011185038601979613
        ],
        "location": [
            -1566.7213134765625,
            5791.08251953125,
            376.0657653808594
        ],
        "rotation": [
            -0.0640869140625,
            -0.37139835953712463,
            89.2763900756836
        ],
        "velocity": [
            0.10233704000711441,
            9.450940132141113,
            -0.02338816039264202
        ],
        "speed": 9.451494180872826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.07686996459961,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -8.463859302310084e-08,
                -3.949719393858686e-05,
                0.0019792141392827034
            ],
            "speed_kmh": 0.00712658953738712,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.20072320103645325,
                "transform": {
                    "location": {
                        "x": -1500.1279296875,
                        "y": 5779.705078125,
                        "z": 375.64404296875
                    },
                    "rotation": {
                        "roll": -0.00021362226107157767,
                        "pitch": 0.25503242015838623,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.000850933778565377,
                    "y": 0.00026214326499029994,
                    "z": -0.20072121918201447
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0019796083215624094,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 6.987004599068314e-05,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.571086883544922
                    }
                },
                "velocity": {
                    "x": -8.463859302310084e-08,
                    "y": -3.949719393858686e-05,
                    "z": 0.0019792141392827034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.41064453125,
                        "y": 5821.05322265625,
                        "z": 376.5024108886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5201416015625,
                        "y": 5794.669921875,
                        "z": 376.52734375
                    },
                    "rotation": {
                        "roll": 3.3350555650457636e-09,
                        "pitch": 0.06518049538135529,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0210599899292,
                "transform": {
                    "location": {
                        "x": -1564.19970703125,
                        "y": 5771.1015625,
                        "z": 376.1133117675781
                    },
                    "rotation": {
                        "roll": 0.00162228150293231,
                        "pitch": 0.14107072353363037,
                        "yaw": -90.12584686279297
                    }
                },
                "velocity": {
                    "x": -0.017708854749798775,
                    "y": -8.021013259887695,
                    "z": 0.02110784500837326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.931255340576172,
                "transform": {
                    "location": {
                        "x": -1526.5380859375,
                        "y": 5791.2275390625,
                        "z": 375.8005065917969
                    },
                    "rotation": {
                        "roll": 1.6962289009825327e-05,
                        "pitch": 0.2836918830871582,
                        "yaw": 156.4273681640625
                    }
                },
                "velocity": {
                    "x": -8.185487747192383,
                    "y": 3.5725789070129395,
                    "z": 0.042250555008649826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.390273571014404,
                "transform": {
                    "location": {
                        "x": -1543.396240234375,
                        "y": 5798.580078125,
                        "z": 375.9011535644531
                    },
                    "rotation": {
                        "roll": -0.0008850051090121269,
                        "pitch": 0.25374835729599,
                        "yaw": 156.3784637451172
                    }
                },
                "velocity": {
                    "x": -4.940080165863037,
                    "y": 2.1563775539398193,
                    "z": 0.026310129091143608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.3502197265625,
                        "y": 5719.30908203125,
                        "z": 376.2525634765625
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16344641149044037,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.30911636352539,
                "transform": {
                    "location": {
                        "x": -1567.2137451171875,
                        "y": 5743.345703125,
                        "z": 376.18865966796875
                    },
                    "rotation": {
                        "roll": -0.0010986316483467817,
                        "pitch": -0.019930491223931313,
                        "yaw": 89.8980712890625
                    }
                },
                "velocity": {
                    "x": 0.01678488589823246,
                    "y": 8.30907154083252,
                    "z": -0.021643739193677902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.963662624359131,
                "transform": {
                    "location": {
                        "x": -1567.168701171875,
                        "y": 5763.30224609375,
                        "z": 376.1330261230469
                    },
                    "rotation": {
                        "roll": 0.0009970652172341943,
                        "pitch": -0.16952528059482574,
                        "yaw": 89.85414123535156
                    }
                },
                "velocity": {
                    "x": 0.019556846469640732,
                    "y": 7.963611125946045,
                    "z": -0.021012410521507263
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20558959245681763,
        "expert_target_speed": 6.809259160604825,
        "target_point": [
            19.401126792923158,
            4.318639038610259
        ],
        "target_point_next": [
            39.203411223614836,
            51.31725259375323
        ]
    },
    "230": {
        "acceleration": [
            -0.2250201255083084,
            -4.1118621826171875,
            -0.0006169453263282776
        ],
        "angular_velocity": [
            -0.40552932024002075,
            -0.07303018867969513,
            3.6804399490356445
        ],
        "forward_vector": [
            0.006419448181986809,
            0.9999417066574097,
            -0.008676419034600258
        ],
        "right_vector": [
            -0.9999784827232361,
            0.006430784706026316,
            0.0012793340720236301
        ],
        "location": [
            -1566.703125,
            5793.3212890625,
            376.0609436035156
        ],
        "rotation": [
            -0.07330322265625,
            -0.4971284568309784,
            89.6321792602539
        ],
        "velocity": [
            0.03961164504289627,
            8.473003387451172,
            -0.02149816043674946
        ],
        "speed": 8.473095979993502,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.56822967529297,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.3552791642723605e-05,
                -4.951294249622151e-05,
                -0.0002769987331703305
            ],
            "speed_kmh": 0.0010141750644086626,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09031900018453598,
                "transform": {
                    "location": {
                        "x": -1500.1279296875,
                        "y": 5779.705078125,
                        "z": 375.6558837890625
                    },
                    "rotation": {
                        "roll": 0.000279243424301967,
                        "pitch": 0.2551895081996918,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 0.00039463891880586743,
                    "y": -0.00012194595910841599,
                    "z": 0.09031806141138077
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002817152999341488,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2540898621082306,
                        "yaw": -23.571088790893555
                    }
                },
                "velocity": {
                    "x": -1.3552791642723605e-05,
                    "y": -4.951294249622151e-05,
                    "z": -0.0002769987331703305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.42529296875,
                        "y": 5817.58056640625,
                        "z": 376.50537109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.04829626530408859,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.53466796875,
                        "y": 5791.19775390625,
                        "z": 376.53131103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06909418851137161,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024547576904297,
                "transform": {
                    "location": {
                        "x": -1564.2044677734375,
                        "y": 5769.09619140625,
                        "z": 376.1183166503906
                    },
                    "rotation": {
                        "roll": 0.0019359783036634326,
                        "pitch": 0.15007290244102478,
                        "yaw": -90.13504028320312
                    }
                },
                "velocity": {
                    "x": -0.019040077924728394,
                    "y": -8.024494171142578,
                    "z": 0.021847810596227646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.25190258026123,
                "transform": {
                    "location": {
                        "x": -1528.48876953125,
                        "y": 5792.07861328125,
                        "z": 375.81085205078125
                    },
                    "rotation": {
                        "roll": 0.000693655340000987,
                        "pitch": 0.26942363381385803,
                        "yaw": 156.4214324951172
                    }
                },
                "velocity": {
                    "x": -7.562882423400879,
                    "y": 3.3007652759552,
                    "z": 0.04077552631497383
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.935844421386719,
                "transform": {
                    "location": {
                        "x": -1544.579833984375,
                        "y": 5799.0966796875,
                        "z": 375.906982421875
                    },
                    "rotation": {
                        "roll": -0.0016784779727458954,
                        "pitch": 0.31712567806243896,
                        "yaw": 156.37014770507812
                    }
                },
                "velocity": {
                    "x": -4.523223876953125,
                    "y": 1.9754729270935059,
                    "z": 0.022628240287303925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.4166259765625,
                        "y": 5717.22607421875,
                        "z": 376.26123046875
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16344641149044037,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9238457679748535,
                "transform": {
                    "location": {
                        "x": -1567.2098388671875,
                        "y": 5745.36962890625,
                        "z": 376.18310546875
                    },
                    "rotation": {
                        "roll": 0.0010249261977151036,
                        "pitch": -0.16751037538051605,
                        "yaw": 89.87035369873047
                    }
                },
                "velocity": {
                    "x": 0.015578040853142738,
                    "y": 7.923802375793457,
                    "z": -0.021150635555386543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025023460388184,
                "transform": {
                    "location": {
                        "x": -1567.1636962890625,
                        "y": 5765.29443359375,
                        "z": 376.1279296875
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": -0.1488024890422821,
                        "yaw": 89.87933349609375
                    }
                },
                "velocity": {
                    "x": 0.01887461170554161,
                    "y": 8.024972915649414,
                    "z": -0.02119388058781624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.23458175361156464,
        "expert_target_speed": 2.442903210131624,
        "target_point": [
            17.188738518077454,
            4.201872068675377
        ],
        "target_point_next": [
            37.28258302545664,
            51.07657268311076
        ]
    },
    "235": {
        "acceleration": [
            -0.15810571610927582,
            -4.558582305908203,
            0.009117312729358673
        ],
        "angular_velocity": [
            -0.2682500183582306,
            0.0694575384259224,
            -1.7141464948654175
        ],
        "forward_vector": [
            0.0017013427568599582,
            0.9999475479125977,
            -0.010102814063429832
        ],
        "right_vector": [
            -0.9999978542327881,
            0.0017134390072897077,
            0.001188773545436561
        ],
        "location": [
            -1566.6986083984375,
            5795.298828125,
            376.0564880371094
        ],
        "rotation": [
            -0.06811519712209702,
            -0.578858494758606,
            89.90251922607422
        ],
        "velocity": [
            -0.006737671326845884,
            7.376460552215576,
            -0.017220573499798775
        ],
        "speed": 7.376463629315028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.27037811279297,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.179443754357635e-06,
                -5.2490922826109454e-05,
                0.0004690935311373323
            ],
            "speed_kmh": 0.001699294527532534,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.013911246322095394,
                "transform": {
                    "location": {
                        "x": -1500.1279296875,
                        "y": 5779.705078125,
                        "z": 375.6672668457031
                    },
                    "rotation": {
                        "roll": 0.0001341505121672526,
                        "pitch": 0.25510072708129883,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 4.803709452971816e-05,
                    "y": -6.455963011831045e-05,
                    "z": 0.01391101349145174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00047202626592479646,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00018310287850908935,
                        "pitch": -0.2534478008747101,
                        "yaw": -23.571115493774414
                    }
                },
                "velocity": {
                    "x": 2.179443754357635e-06,
                    "y": -5.2490922826109454e-05,
                    "z": 0.0004690935311373323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.439453125,
                        "y": 5814.1083984375,
                        "z": 376.50830078125
                    },
                    "rotation": {
                        "roll": -1.667527116389067e-09,
                        "pitch": 0.04953936114907265,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5491943359375,
                        "y": 5787.7255859375,
                        "z": 376.5354309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06909418851137161,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036397933959961,
                "transform": {
                    "location": {
                        "x": -1564.2093505859375,
                        "y": 5767.087890625,
                        "z": 376.12335205078125
                    },
                    "rotation": {
                        "roll": 0.0006985426298342645,
                        "pitch": 0.14954698085784912,
                        "yaw": -90.13616180419922
                    }
                },
                "velocity": {
                    "x": -0.019096562638878822,
                    "y": -8.036347389221191,
                    "z": 0.021038055419921875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.275632858276367,
                "transform": {
                    "location": {
                        "x": -1530.2696533203125,
                        "y": 5792.85595703125,
                        "z": 375.8204650878906
                    },
                    "rotation": {
                        "roll": -9.155481529887766e-05,
                        "pitch": 0.25976574420928955,
                        "yaw": 156.42462158203125
                    }
                },
                "velocity": {
                    "x": -6.668294429779053,
                    "y": 2.909877061843872,
                    "z": 0.036000270396471024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.678184986114502,
                "transform": {
                    "location": {
                        "x": -1545.671875,
                        "y": 5799.57373046875,
                        "z": 375.9129943847656
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.3213399052619934,
                        "yaw": 156.38290405273438
                    }
                },
                "velocity": {
                    "x": -4.286970138549805,
                    "y": 1.8726073503494263,
                    "z": 0.025344571098685265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4450,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.4346923828125,
                        "y": 5715.142578125,
                        "z": 376.26776123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16601456701755524,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058510780334473,
                "transform": {
                    "location": {
                        "x": -1567.2059326171875,
                        "y": 5747.35791015625,
                        "z": 376.17779541015625
                    },
                    "rotation": {
                        "roll": 0.0011001973180100322,
                        "pitch": -0.14148053526878357,
                        "yaw": 89.90618133544922
                    }
                },
                "velocity": {
                    "x": 0.015677357092499733,
                    "y": 8.058465003967285,
                    "z": -0.022171897813677788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.064640045166016,
                "transform": {
                    "location": {
                        "x": -1567.1588134765625,
                        "y": 5767.3115234375,
                        "z": 376.1227722167969
                    },
                    "rotation": {
                        "roll": 0.0004526011471170932,
                        "pitch": -0.127075657248497,
                        "yaw": 89.84822082519531
                    }
                },
                "velocity": {
                    "x": 0.01957079768180847,
                    "y": 8.06458854675293,
                    "z": -0.021190032362937927
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.252777099609375,
        "expert_target_speed": 0.0,
        "target_point": [
            15.230699216392045,
            4.1223682444790315
        ],
        "target_point_next": [
            35.544016092058804,
            50.90237788843308
        ]
    },
    "240": {
        "acceleration": [
            -0.05252473056316376,
            -14.924201965332031,
            0.04168681800365448
        ],
        "angular_velocity": [
            -3.730532169342041,
            -0.10665705800056458,
            2.119452714920044
        ],
        "forward_vector": [
            -0.004576724488288164,
            0.9998882412910461,
            -0.01422929298132658
        ],
        "right_vector": [
            -0.9999891519546509,
            -0.004564354661852121,
            0.0009016550611704588
        ],
        "location": [
            -1566.7027587890625,
            5796.9716796875,
            376.0533447265625
        ],
        "rotation": [
            -0.051666270941495895,
            -0.8153059482574463,
            90.26225280761719
        ],
        "velocity": [
            -0.03316458314657211,
            5.311592102050781,
            -0.012654446996748447
        ],
        "speed": 5.311695637754815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.20024108886719,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                9.496472557657398e-06,
                -3.109030512860045e-05,
                0.0001856057351687923
            ],
            "speed_kmh": 0.0006783519556475243,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.216921806335449,
                "transform": {
                    "location": {
                        "x": -1500.4156494140625,
                        "y": 5779.830078125,
                        "z": 375.6689453125
                    },
                    "rotation": {
                        "roll": 7.383906904578907e-06,
                        "pitch": 0.29684683680534363,
                        "yaw": 156.3646697998047
                    }
                },
                "velocity": {
                    "x": -2.0316407680511475,
                    "y": 0.8871983885765076,
                    "z": 0.007540149614214897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018843109137378633,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0516035621985793e-05,
                        "pitch": -0.2534478008747101,
                        "yaw": -23.571115493774414
                    }
                },
                "velocity": {
                    "x": 9.496472557657398e-06,
                    "y": -3.109030512860045e-05,
                    "z": 0.0001856057351687923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4539794921875,
                        "y": 5810.63623046875,
                        "z": 376.5113525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5633544921875,
                        "y": 5784.2529296875,
                        "z": 376.5396728515625
                    },
                    "rotation": {
                        "roll": -3.3350560091349735e-09,
                        "pitch": 0.072987399995327,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014477729797363,
                "transform": {
                    "location": {
                        "x": -1564.21435546875,
                        "y": 5765.08154296875,
                        "z": 376.12841796875
                    },
                    "rotation": {
                        "roll": 0.0004208784084767103,
                        "pitch": 0.1470949500799179,
                        "yaw": -90.13616180419922
                    }
                },
                "velocity": {
                    "x": -0.019031694158911705,
                    "y": -8.014426231384277,
                    "z": 0.021548155695199966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.800197124481201,
                "transform": {
                    "location": {
                        "x": -1531.7047119140625,
                        "y": 5793.48193359375,
                        "z": 375.8283996582031
                    },
                    "rotation": {
                        "roll": -0.00042724391096271574,
                        "pitch": 0.2346511334180832,
                        "yaw": 156.42532348632812
                    }
                },
                "velocity": {
                    "x": -4.399484157562256,
                    "y": 1.91987144947052,
                    "z": 0.02295450121164322
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.409297466278076,
                "transform": {
                    "location": {
                        "x": -1546.7120361328125,
                        "y": 5800.02783203125,
                        "z": 375.9189453125
                    },
                    "rotation": {
                        "roll": -0.0012817410752177238,
                        "pitch": 0.3208754360675812,
                        "yaw": 156.39724731445312
                    }
                },
                "velocity": {
                    "x": -4.041108131408691,
                    "y": 1.7637375593185425,
                    "z": 0.024085721001029015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.095620155334473,
                "transform": {
                    "location": {
                        "x": -1567.2017822265625,
                        "y": 5749.38671875,
                        "z": 376.17236328125
                    },
                    "rotation": {
                        "roll": 0.00041548890294507146,
                        "pitch": -0.1436183750629425,
                        "yaw": 89.86504364013672
                    }
                },
                "velocity": {
                    "x": 0.01726662926375866,
                    "y": 8.095573425292969,
                    "z": -0.021658573299646378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.885540008544922,
                "transform": {
                    "location": {
                        "x": -1567.1539306640625,
                        "y": 5769.31005859375,
                        "z": 376.1179504394531
                    },
                    "rotation": {
                        "roll": 0.0006209766725078225,
                        "pitch": -0.18175815045833588,
                        "yaw": 89.87667083740234
                    }
                },
                "velocity": {
                    "x": 0.019003581255674362,
                    "y": 7.885489463806152,
                    "z": -0.02088400349020958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25468820333480835,
        "expert_target_speed": 6.362077137080135,
        "target_point": [
            13.583490533552931,
            4.029915747863839
        ],
        "target_point_next": [
            34.19083706005293,
            50.681147392016925
        ]
    },
    "245": {
        "acceleration": [
            -0.32493919134140015,
            -11.493457794189453,
            0.03820669278502464
        ],
        "angular_velocity": [
            -0.4522942900657654,
            0.3205410838127136,
            -0.00021832779748365283
        ],
        "forward_vector": [
            -0.01742570474743843,
            0.9992427229881287,
            -0.0347902849316597
        ],
        "right_vector": [
            -0.999847948551178,
            -0.017435815185308456,
            1.2775882169080433e-05
        ],
        "location": [
            -1566.7017822265625,
            5797.52880859375,
            376.05615234375
        ],
        "rotation": [
            -0.0007324475445784628,
            -1.9937388896942139,
            90.99907684326172
        ],
        "velocity": [
            0.003674059407785535,
            0.0013646217994391918,
            -0.0012959850719198585
        ],
        "speed": 0.003919299068384812,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.85289001464844,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.0014995496021584e-05,
                1.6814414266264066e-05,
                0.00031995243625715375
            ],
            "speed_kmh": 0.0011539815926734404,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.126880168914795,
                "transform": {
                    "location": {
                        "x": -1501.0384521484375,
                        "y": 5780.1025390625,
                        "z": 375.6717834472656
                    },
                    "rotation": {
                        "roll": -0.0006713910843245685,
                        "pitch": 0.28248295187950134,
                        "yaw": 156.37860107421875
                    }
                },
                "velocity": {
                    "x": -2.865743398666382,
                    "y": 1.250884771347046,
                    "z": 0.01349608413875103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032055043266154826,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571147918701172
                    }
                },
                "velocity": {
                    "x": 1.0014995496021584e-05,
                    "y": 1.6814414266264066e-05,
                    "z": 0.00031995243625715375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4683837890625,
                        "y": 5807.16357421875,
                        "z": 376.5144958496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.053432565182447433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.577880859375,
                        "y": 5780.78125,
                        "z": 376.54412841796875
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038354873657227,
                "transform": {
                    "location": {
                        "x": -1564.21923828125,
                        "y": 5763.07470703125,
                        "z": 376.1334228515625
                    },
                    "rotation": {
                        "roll": 0.000579727697186172,
                        "pitch": 0.15285278856754303,
                        "yaw": -90.13963317871094
                    }
                },
                "velocity": {
                    "x": -0.0195317342877388,
                    "y": -8.03830337524414,
                    "z": 0.02119334228336811
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0345466136932373,
                "transform": {
                    "location": {
                        "x": -1532.44384765625,
                        "y": 5793.80419921875,
                        "z": 375.8321838378906
                    },
                    "rotation": {
                        "roll": 1.8112823454430327e-05,
                        "pitch": 0.23285479843616486,
                        "yaw": 156.4251708984375
                    }
                },
                "velocity": {
                    "x": -2.7812488079071045,
                    "y": 1.2136383056640625,
                    "z": 0.01452726311981678
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.191640377044678,
                "transform": {
                    "location": {
                        "x": -1547.69775390625,
                        "y": 5800.45849609375,
                        "z": 375.9245910644531
                    },
                    "rotation": {
                        "roll": -0.0016784645849838853,
                        "pitch": 0.31713250279426575,
                        "yaw": 156.401123046875
                    }
                },
                "velocity": {
                    "x": -3.8419485092163086,
                    "y": 1.6759586334228516,
                    "z": 0.021040314808487892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.010075569152832,
                "transform": {
                    "location": {
                        "x": -1567.19775390625,
                        "y": 5751.3955078125,
                        "z": 376.1671142578125
                    },
                    "rotation": {
                        "roll": 5.1446731959003955e-05,
                        "pitch": -0.16012011468410492,
                        "yaw": 89.89434814453125
                    }
                },
                "velocity": {
                    "x": 0.01738561876118183,
                    "y": 8.010028839111328,
                    "z": -0.02106723189353943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.243945121765137,
                "transform": {
                    "location": {
                        "x": -1567.149169921875,
                        "y": 5771.2109375,
                        "z": 376.1136779785156
                    },
                    "rotation": {
                        "roll": -0.0002136068360414356,
                        "pitch": -0.32104620337486267,
                        "yaw": 89.84449768066406
                    }
                },
                "velocity": {
                    "x": 0.017882781103253365,
                    "y": 7.243901252746582,
                    "z": -0.017733754590153694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22416400909423828,
        "expert_target_speed": 1.1996009055619952,
        "target_point": [
            13.077193982243163,
            3.8654853801057554
        ],
        "target_point_next": [
            34.28312251573828,
            50.24768821494297
        ]
    },
    "250": {
        "acceleration": [
            -0.001795829739421606,
            0.024990886449813843,
            0.002953791990876198
        ],
        "angular_velocity": [
            3.6266770362854004,
            0.052482061088085175,
            -0.0030638116877526045
        ],
        "forward_vector": [
            -0.017422456294298172,
            0.9996715784072876,
            -0.018792355433106422
        ],
        "right_vector": [
            -0.9998482465744019,
            -0.017422311007976532,
            0.0001714769605314359
        ],
        "location": [
            -1566.7020263671875,
            5797.5341796875,
            376.05267333984375
        ],
        "rotation": [
            -0.009826641529798508,
            -1.0767860412597656,
            90.99845886230469
        ],
        "velocity": [
            0.0001728540228214115,
            -0.011109043844044209,
            0.002133481204509735
        ],
        "speed": 0.01111038854595563,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.8493766784668,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.2767520931665786e-05,
                4.08280629926594e-06,
                0.000607022549957037
            ],
            "speed_kmh": 0.0021868671232907616,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.884732484817505,
                "transform": {
                    "location": {
                        "x": -1501.8460693359375,
                        "y": 5780.455078125,
                        "z": 375.67572021484375
                    },
                    "rotation": {
                        "roll": -0.0003662097151391208,
                        "pitch": 0.27483996748924255,
                        "yaw": 156.39544677734375
                    }
                },
                "velocity": {
                    "x": -3.560243844985962,
                    "y": 1.5542011260986328,
                    "z": 0.016389798372983932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000607463123742491,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571147918701172
                    }
                },
                "velocity": {
                    "x": 2.2767520931665786e-05,
                    "y": 4.08280629926594e-06,
                    "z": 0.000607022549957037
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.48291015625,
                        "y": 5803.69189453125,
                        "z": 376.51788330078125
                    },
                    "rotation": {
                        "roll": 3.335054676867344e-09,
                        "pitch": 0.05734626576304436,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.59228515625,
                        "y": 5777.30859375,
                        "z": 376.5487060546875
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017274856567383,
                "transform": {
                    "location": {
                        "x": -1564.2239990234375,
                        "y": 5761.06787109375,
                        "z": 376.13861083984375
                    },
                    "rotation": {
                        "roll": 5.814351970911957e-05,
                        "pitch": 0.15048271417617798,
                        "yaw": -90.1396713256836
                    }
                },
                "velocity": {
                    "x": -0.01954643614590168,
                    "y": -8.017224311828613,
                    "z": 0.020744847133755684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6884593963623047,
                "transform": {
                    "location": {
                        "x": -1533.212890625,
                        "y": 5794.1396484375,
                        "z": 375.83587646484375
                    },
                    "rotation": {
                        "roll": -0.0013427764642983675,
                        "pitch": 0.291806161403656,
                        "yaw": 156.42662048339844
                    }
                },
                "velocity": {
                    "x": -3.3806028366088867,
                    "y": 1.4751036167144775,
                    "z": 0.01805885322391987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9760899543762207,
                "transform": {
                    "location": {
                        "x": -1548.63134765625,
                        "y": 5800.8662109375,
                        "z": 375.9298400878906
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.31715983152389526,
                        "yaw": 156.4130401611328
                    }
                },
                "velocity": {
                    "x": -3.643690347671509,
                    "y": 1.5913387537002563,
                    "z": 0.021255511790513992
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.069079399108887,
                "transform": {
                    "location": {
                        "x": -1567.1932373046875,
                        "y": 5753.4052734375,
                        "z": 376.1618347167969
                    },
                    "rotation": {
                        "roll": 0.0009363725548610091,
                        "pitch": -0.1456332802772522,
                        "yaw": 89.86119842529297
                    }
                },
                "velocity": {
                    "x": 0.017960775643587112,
                    "y": 8.06903076171875,
                    "z": -0.021358245983719826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.294857978820801,
                "transform": {
                    "location": {
                        "x": -1567.1451416015625,
                        "y": 5772.84423828125,
                        "z": 376.1109924316406
                    },
                    "rotation": {
                        "roll": 0.00034903062623925507,
                        "pitch": -0.6720290780067444,
                        "yaw": 89.87670135498047
                    }
                },
                "velocity": {
                    "x": 0.012666397728025913,
                    "y": 5.294826507568359,
                    "z": -0.01312139444053173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2349032759666443,
        "expert_target_speed": 1.2067832365495168,
        "target_point": [
            13.071778898654497,
            3.86547204892201
        ],
        "target_point_next": [
            34.277220862311374,
            50.24789734025044
        ]
    },
    "255": {
        "acceleration": [
            -0.0006997404852882028,
            0.020409971475601196,
            -0.005846656858921051
        ],
        "angular_velocity": [
            1.4967347383499146,
            -0.0017253172118216753,
            0.0001747523929225281
        ],
        "forward_vector": [
            -0.017423762008547783,
            0.9998149275779724,
            -0.008156566880643368
        ],
        "right_vector": [
            -0.9998481869697571,
            -0.017423467710614204,
            0.00010705505701480433
        ],
        "location": [
            -1566.7021484375,
            5797.5380859375,
            376.0504455566406
        ],
        "rotation": [
            -0.0061340066604316235,
            -0.4673420190811157,
            90.9983901977539
        ],
        "velocity": [
            -1.7175952962134033e-05,
            -0.004763308446854353,
            0.001555972034111619
        ],
        "speed": 0.004763339414028165,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.84686279296875,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.73624594026478e-05,
                -1.8159131286665797e-05,
                -0.00016067623801063746
            ],
            "speed_kmh": 0.0005854629707237887,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.620114326477051,
                "transform": {
                    "location": {
                        "x": -1502.8232421875,
                        "y": 5780.88134765625,
                        "z": 375.6805114746094
                    },
                    "rotation": {
                        "roll": 3.388118784641847e-05,
                        "pitch": 0.27367883920669556,
                        "yaw": 156.40679931640625
                    }
                },
                "velocity": {
                    "x": -4.234548091888428,
                    "y": 1.8476132154464722,
                    "z": 0.019532231613993645
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001626285957172513,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.102873521740548e-05,
                        "pitch": -0.2532975375652313,
                        "yaw": -23.571147918701172
                    }
                },
                "velocity": {
                    "x": -1.73624594026478e-05,
                    "y": -1.8159131286665797e-05,
                    "z": -0.00016067623801063746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.4969482421875,
                        "y": 5800.21923828125,
                        "z": 376.5213928222656
                    },
                    "rotation": {
                        "roll": 3.3350551209565538e-09,
                        "pitch": 0.0612531341612339,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6068115234375,
                        "y": 5773.8369140625,
                        "z": 376.5533752441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0774543434381485,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034433364868164,
                "transform": {
                    "location": {
                        "x": -1564.2288818359375,
                        "y": 5759.0625,
                        "z": 376.14373779296875
                    },
                    "rotation": {
                        "roll": -0.00024414676590822637,
                        "pitch": 0.15247713029384613,
                        "yaw": -90.14168548583984
                    }
                },
                "velocity": {
                    "x": -0.01981319487094879,
                    "y": -8.034382820129395,
                    "z": 0.020545797422528267
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.4173455238342285,
                "transform": {
                    "location": {
                        "x": -1534.14501953125,
                        "y": 5794.546875,
                        "z": 375.84075927734375
                    },
                    "rotation": {
                        "roll": -0.0002136264811269939,
                        "pitch": 0.3024475872516632,
                        "yaw": 156.42660522460938
                    }
                },
                "velocity": {
                    "x": -4.048664569854736,
                    "y": 1.7665691375732422,
                    "z": 0.022149600088596344
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7635114192962646,
                "transform": {
                    "location": {
                        "x": -1549.5167236328125,
                        "y": 5801.2529296875,
                        "z": 375.9348449707031
                    },
                    "rotation": {
                        "roll": -0.0003051753737963736,
                        "pitch": 0.31675001978874207,
                        "yaw": 156.4093780517578
                    }
                },
                "velocity": {
                    "x": -3.4490253925323486,
                    "y": 1.505927562713623,
                    "z": 0.02059735171496868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05213451385498,
                "transform": {
                    "location": {
                        "x": -1567.1883544921875,
                        "y": 5755.42236328125,
                        "z": 376.15655517578125
                    },
                    "rotation": {
                        "roll": 0.0008667432703077793,
                        "pitch": -0.14919865131378174,
                        "yaw": 89.88172149658203
                    }
                },
                "velocity": {
                    "x": 0.019232042133808136,
                    "y": 8.052083969116211,
                    "z": -0.021303800866007805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.384700298309326,
                "transform": {
                    "location": {
                        "x": -1567.141845703125,
                        "y": 5773.7197265625,
                        "z": 376.1098327636719
                    },
                    "rotation": {
                        "roll": 0.009994760155677795,
                        "pitch": -1.0101029872894287,
                        "yaw": 90.13294982910156
                    }
                },
                "velocity": {
                    "x": 0.0063455901108682156,
                    "y": 3.38468337059021,
                    "z": -0.008683843538165092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2377236783504486,
        "expert_target_speed": 1.2004835561253824,
        "target_point": [
            13.067858212394983,
            3.8654616793842878
        ],
        "target_point_next": [
            34.27314535788667,
            50.24795775125312
        ]
    },
    "260": {
        "acceleration": [
            0.0030284076929092407,
            0.00835429411381483,
            -0.0020630424842238426
        ],
        "angular_velocity": [
            0.4901733100414276,
            0.037882428616285324,
            -0.00016451576084364206
        ],
        "forward_vector": [
            -0.01742442138493061,
            0.9998390674591064,
            -0.0042738779447972775
        ],
        "right_vector": [
            -0.9998481869697571,
            -0.017424171790480614,
            9.534041601000354e-05
        ],
        "location": [
            -1566.7021484375,
            5797.5400390625,
            376.0496520996094
        ],
        "rotation": [
            -0.005462653003633022,
            -0.2448759227991104,
            90.99840545654297
        ],
        "velocity": [
            0.00011580120190046728,
            -0.0015766716096550226,
            0.001669561956077814
        ],
        "speed": 0.0015809184934884382,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.84565353393555,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.824814717110712e-05,
                4.3139625631738454e-05,
                0.00025756642571650445
            ],
            "speed_kmh": 0.0009424473122527111,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2446794509887695,
                "transform": {
                    "location": {
                        "x": -1503.968994140625,
                        "y": 5781.3818359375,
                        "z": 375.6863708496094
                    },
                    "rotation": {
                        "roll": -9.155490988632664e-05,
                        "pitch": 0.27149999141693115,
                        "yaw": 156.41094970703125
                    }
                },
                "velocity": {
                    "x": -4.80645227432251,
                    "y": 2.09858775138855,
                    "z": 0.024669084697961807
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00026179090491496027,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00028243506676517427,
                        "pitch": -0.2532360851764679,
                        "yaw": -23.57118034362793
                    }
                },
                "velocity": {
                    "x": 1.824814717110712e-05,
                    "y": 4.3139625631738454e-05,
                    "z": 0.00025756642571650445
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.511962890625,
                        "y": 5796.74755859375,
                        "z": 376.5250244140625
                    },
                    "rotation": {
                        "roll": 3.3350555650457636e-09,
                        "pitch": 0.06518049538135529,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.620849609375,
                        "y": 5770.3642578125,
                        "z": 376.5580749511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020628929138184,
                "transform": {
                    "location": {
                        "x": -1564.2337646484375,
                        "y": 5757.05419921875,
                        "z": 376.14892578125
                    },
                    "rotation": {
                        "roll": -0.00024414679501205683,
                        "pitch": 0.1544988751411438,
                        "yaw": -90.14131927490234
                    }
                },
                "velocity": {
                    "x": -0.01979180797934532,
                    "y": -8.020575523376465,
                    "z": 0.02158067747950554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.200484275817871,
                "transform": {
                    "location": {
                        "x": -1535.2484130859375,
                        "y": 5795.02783203125,
                        "z": 375.84698486328125
                    },
                    "rotation": {
                        "roll": -0.0011596743715927005,
                        "pitch": 0.30451714992523193,
                        "yaw": 156.4292755126953
                    }
                },
                "velocity": {
                    "x": -4.766505718231201,
                    "y": 2.079566717147827,
                    "z": 0.02940656617283821
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5698564052581787,
                "transform": {
                    "location": {
                        "x": -1550.3560791015625,
                        "y": 5801.619140625,
                        "z": 375.9397277832031
                    },
                    "rotation": {
                        "roll": -0.0006713897455483675,
                        "pitch": 0.31593722105026245,
                        "yaw": 156.41822814941406
                    }
                },
                "velocity": {
                    "x": -3.2715914249420166,
                    "y": 1.4283638000488281,
                    "z": 0.018475370481610298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011626243591309,
                "transform": {
                    "location": {
                        "x": -1567.183349609375,
                        "y": 5757.431640625,
                        "z": 376.15130615234375
                    },
                    "rotation": {
                        "roll": -0.0004577643412631005,
                        "pitch": -0.1528937816619873,
                        "yaw": 89.8464126586914
                    }
                },
                "velocity": {
                    "x": 0.018879493698477745,
                    "y": 8.011574745178223,
                    "z": -0.021393336355686188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.397471904754639,
                "transform": {
                    "location": {
                        "x": -1567.1402587890625,
                        "y": 5774.72119140625,
                        "z": 376.104248046875
                    },
                    "rotation": {
                        "roll": 0.006138944998383522,
                        "pitch": -0.16668392717838287,
                        "yaw": 90.02412414550781
                    }
                },
                "velocity": {
                    "x": 0.00797873642295599,
                    "y": 4.3974528312683105,
                    "z": -0.010205383412539959
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23788131773471832,
        "expert_target_speed": 1.1977729499908747,
        "target_point": [
            13.065932110054707,
            3.865405365059653
        ],
        "target_point_next": [
            34.271539950054986,
            50.24775481952134
        ]
    },
    "265": {
        "acceleration": [
            0.020256897434592247,
            -1.0811315774917603,
            4.234490916132927e-05
        ],
        "angular_velocity": [
            -0.07255426794290543,
            0.003984234761446714,
            0.6346033811569214
        ],
        "forward_vector": [
            -0.01765371672809124,
            0.9998403191566467,
            -0.0027584992349147797
        ],
        "right_vector": [
            -0.9998441338539124,
            -0.01765366829931736,
            4.154513226239942e-05
        ],
        "location": [
            -1566.7020263671875,
            5797.5498046875,
            376.04937744140625
        ],
        "rotation": [
            -0.0023803699295967817,
            -0.1580505669116974,
            91.01154327392578
        ],
        "velocity": [
            0.000349921960150823,
            0.02887311391532421,
            0.001474514021538198
        ],
        "speed": 0.02887523424226173,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.839683532714844,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.1452175385784358e-05,
                1.642642564547714e-05,
                0.000538616965059191
            ],
            "speed_kmh": 0.0019403606428183512,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.975062847137451,
                "transform": {
                    "location": {
                        "x": -1505.23828125,
                        "y": 5781.935546875,
                        "z": 375.6925964355469
                    },
                    "rotation": {
                        "roll": -0.00030518087442032993,
                        "pitch": 0.27534541487693787,
                        "yaw": 156.4186553955078
                    }
                },
                "velocity": {
                    "x": -5.476285934448242,
                    "y": 2.3897697925567627,
                    "z": 0.02588777430355549
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005389890866354108,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00021344881679397076,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.57118034362793
                    }
                },
                "velocity": {
                    "x": 1.1452175385784358e-05,
                    "y": 1.642642564547714e-05,
                    "z": 0.000538616965059191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5262451171875,
                        "y": 5793.27490234375,
                        "z": 376.5289001464844
                    },
                    "rotation": {
                        "roll": 3.3350555650457636e-09,
                        "pitch": 0.06518049538135529,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6353759765625,
                        "y": 5766.892578125,
                        "z": 376.56280517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032999038696289,
                "transform": {
                    "location": {
                        "x": -1564.23876953125,
                        "y": 5755.0478515625,
                        "z": 376.1541442871094
                    },
                    "rotation": {
                        "roll": -0.000976567156612873,
                        "pitch": 0.15354947745800018,
                        "yaw": -90.14147186279297
                    }
                },
                "velocity": {
                    "x": -0.01983567140996456,
                    "y": -8.032946586608887,
                    "z": 0.021005306392908096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.66493558883667,
                "transform": {
                    "location": {
                        "x": -1536.4755859375,
                        "y": 5795.5634765625,
                        "z": 375.85382080078125
                    },
                    "rotation": {
                        "roll": -0.0005493174539878964,
                        "pitch": 0.2995447516441345,
                        "yaw": 156.42372131347656
                    }
                },
                "velocity": {
                    "x": -5.1922526359558105,
                    "y": 2.265238046646118,
                    "z": 0.026553677394986153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4657270908355713,
                "transform": {
                    "location": {
                        "x": -1551.1539306640625,
                        "y": 5801.96728515625,
                        "z": 375.9442443847656
                    },
                    "rotation": {
                        "roll": 0.0002651006216183305,
                        "pitch": 0.310835063457489,
                        "yaw": 156.41220092773438
                    }
                },
                "velocity": {
                    "x": -3.1767733097076416,
                    "y": 1.3852953910827637,
                    "z": 0.018244046717882156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.019099235534668,
                "transform": {
                    "location": {
                        "x": -1567.1787109375,
                        "y": 5759.31884765625,
                        "z": 376.1462097167969
                    },
                    "rotation": {
                        "roll": 2.6000359866884537e-05,
                        "pitch": -0.26818737387657166,
                        "yaw": 89.87539672851562
                    }
                },
                "velocity": {
                    "x": 0.016752762719988823,
                    "y": 7.01905632019043,
                    "z": -0.018018269911408424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4350006580352783,
                "transform": {
                    "location": {
                        "x": -1567.138671875,
                        "y": 5775.7041015625,
                        "z": 376.1026916503906
                    },
                    "rotation": {
                        "roll": 0.0023427435662597418,
                        "pitch": -0.3433808982372284,
                        "yaw": 89.96060943603516
                    }
                },
                "velocity": {
                    "x": 0.007573228795081377,
                    "y": 3.43497896194458,
                    "z": -0.009555606171488762
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23663221299648285,
        "expert_target_speed": 1.2243751136757988,
        "target_point": [
            13.057037043591816,
            3.862768336990592
        ],
        "target_point_next": [
            34.27305031726077,
            50.24035910614532
        ]
    },
    "270": {
        "acceleration": [
            -0.0014957378152757883,
            0.17974518239498138,
            0.0030467985197901726
        ],
        "angular_velocity": [
            0.04710271582007408,
            0.012936715967953205,
            -0.006863018032163382
        ],
        "forward_vector": [
            -0.01744871959090233,
            0.9998446106910706,
            -0.0025055380538105965
        ],
        "right_vector": [
            -0.9998477697372437,
            -0.017448624595999718,
            6.0187416238477454e-05
        ],
        "location": [
            -1566.7021484375,
            5797.56494140625,
            376.04931640625
        ],
        "rotation": [
            -0.00344849587418139,
            -0.14355690777301788,
            90.99979400634766
        ],
        "velocity": [
            -0.000916887482162565,
            0.062344182282686234,
            0.0006908607319928706
        ],
        "speed": 0.06235092418843328,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.83018493652344,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -8.770190106588416e-06,
                -8.854754014464561e-06,
                -0.00013560292427428067
            ],
            "speed_kmh": 0.0004902279557865777,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.849161148071289,
                "transform": {
                    "location": {
                        "x": -1506.6776123046875,
                        "y": 5782.5634765625,
                        "z": 375.69952392578125
                    },
                    "rotation": {
                        "roll": -0.0009765619179233909,
                        "pitch": 0.2802904546260834,
                        "yaw": 156.42620849609375
                    }
                },
                "velocity": {
                    "x": -6.277527809143066,
                    "y": 2.7391085624694824,
                    "z": 0.030598821118474007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013617443619295955,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.102873521740548e-05,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571178436279297
                    }
                },
                "velocity": {
                    "x": -8.770190106588416e-06,
                    "y": -8.854754014464561e-06,
                    "z": -0.00013560292427428067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5404052734375,
                        "y": 5789.80322265625,
                        "z": 376.532958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.06909418851137161,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.64990234375,
                        "y": 5763.419921875,
                        "z": 376.5677185058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019708633422852,
                "transform": {
                    "location": {
                        "x": -1564.2435302734375,
                        "y": 5753.04150390625,
                        "z": 376.1593933105469
                    },
                    "rotation": {
                        "roll": 0.0005597973940894008,
                        "pitch": 0.15542776882648468,
                        "yaw": -90.14537048339844
                    }
                },
                "velocity": {
                    "x": -0.02031782828271389,
                    "y": -8.0196533203125,
                    "z": 0.021507862955331802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.56361198425293,
                "transform": {
                    "location": {
                        "x": -1537.876708984375,
                        "y": 5796.1748046875,
                        "z": 375.86126708984375
                    },
                    "rotation": {
                        "roll": -0.0005798270576633513,
                        "pitch": 0.30229049921035767,
                        "yaw": 156.45465087890625
                    }
                },
                "velocity": {
                    "x": -6.016739368438721,
                    "y": 2.6227548122406006,
                    "z": 0.03178801387548447
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.5590178966522217,
                "transform": {
                    "location": {
                        "x": -1551.9912109375,
                        "y": 5802.3330078125,
                        "z": 375.94915771484375
                    },
                    "rotation": {
                        "roll": -0.00018311011081095785,
                        "pitch": 0.29056304693222046,
                        "yaw": 156.42156982421875
                    }
                },
                "velocity": {
                    "x": -3.261749744415283,
                    "y": 1.4238275289535522,
                    "z": 0.017661580815911293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.809751033782959,
                "transform": {
                    "location": {
                        "x": -1567.1751708984375,
                        "y": 5760.79296875,
                        "z": 376.14190673828125
                    },
                    "rotation": {
                        "roll": 0.001048402744345367,
                        "pitch": -0.5527671575546265,
                        "yaw": 89.84855651855469
                    }
                },
                "velocity": {
                    "x": 0.010421175509691238,
                    "y": 3.8097124099731445,
                    "z": -0.013624791987240314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.967226505279541,
                "transform": {
                    "location": {
                        "x": -1567.1368408203125,
                        "y": 5776.48876953125,
                        "z": 376.10089111328125
                    },
                    "rotation": {
                        "roll": 0.0009174002916552126,
                        "pitch": -0.38311895728111267,
                        "yaw": 89.91870880126953
                    }
                },
                "velocity": {
                    "x": 0.007016959600150585,
                    "y": 2.9672060012817383,
                    "z": -0.008534908294677734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22598150372505188,
        "expert_target_speed": 1.2577927916664449,
        "target_point": [
            13.041112810802563,
            3.8655719650268567
        ],
        "target_point_next": [
            34.2476716699365,
            50.24748661000211
        ]
    },
    "275": {
        "acceleration": [
            0.0077837868593633175,
            -0.1589479297399521,
            -0.00646400498226285
        ],
        "angular_velocity": [
            -0.025738611817359924,
            0.0301546361297369,
            0.010685702785849571
        ],
        "forward_vector": [
            -0.01744169183075428,
            0.9998448491096497,
            -0.002468225546181202
        ],
        "right_vector": [
            -0.9998478889465332,
            -0.017441608011722565,
            5.4861066018929705e-05
        ],
        "location": [
            -1566.7021484375,
            5797.580078125,
            376.0492858886719
        ],
        "rotation": [
            -0.0031433170661330223,
            -0.14141905307769775,
            90.9993896484375
        ],
        "velocity": [
            -0.0008444489212706685,
            0.054029859602451324,
            -0.0010365390917286277
        ],
        "speed": 0.054036458272551845,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.82078552246094,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.8405504306429066e-05,
                2.2341999283526093e-05,
                0.00013000548642594367
            ],
            "speed_kmh": 0.00047948099870589707,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.7128190994262695,
                "transform": {
                    "location": {
                        "x": -1508.3543701171875,
                        "y": 5783.294921875,
                        "z": 375.7077941894531
                    },
                    "rotation": {
                        "roll": -0.0008239747257903218,
                        "pitch": 0.2805636525154114,
                        "yaw": 156.42803955078125
                    }
                },
                "velocity": {
                    "x": -7.069157123565674,
                    "y": 3.0843889713287354,
                    "z": 0.03377526253461838
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000133189168991521,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.102873521740548e-05,
                        "pitch": -0.25338634848594666,
                        "yaw": -23.571178436279297
                    }
                },
                "velocity": {
                    "x": 1.8405504306429066e-05,
                    "y": 2.2341999283526093e-05,
                    "z": 0.00013000548642594367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.554931640625,
                        "y": 5786.33056640625,
                        "z": 376.5371398925781
                    },
                    "rotation": {
                        "roll": -3.3350560091349735e-09,
                        "pitch": 0.072987399995327,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.664306640625,
                        "y": 5759.94775390625,
                        "z": 376.57281494140625
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.0885055884718895,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03471565246582,
                "transform": {
                    "location": {
                        "x": -1564.2484130859375,
                        "y": 5751.03564453125,
                        "z": 376.1646728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1569850593805313,
                        "yaw": -90.1434555053711
                    }
                },
                "velocity": {
                    "x": -0.018911048769950867,
                    "y": -8.034663200378418,
                    "z": 0.022167786955833435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.499764442443848,
                "transform": {
                    "location": {
                        "x": -1539.4210205078125,
                        "y": 5796.84814453125,
                        "z": 375.8698425292969
                    },
                    "rotation": {
                        "roll": -0.0010986275738105178,
                        "pitch": 0.29339075088500977,
                        "yaw": 156.44798278808594
                    }
                },
                "velocity": {
                    "x": -5.957998752593994,
                    "y": 2.5977182388305664,
                    "z": 0.03239217773079872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.289637804031372,
                "transform": {
                    "location": {
                        "x": -1552.7532958984375,
                        "y": 5802.66552734375,
                        "z": 375.95318603515625
                    },
                    "rotation": {
                        "roll": 0.0006389262853190303,
                        "pitch": 0.3234640955924988,
                        "yaw": 156.41342163085938
                    }
                },
                "velocity": {
                    "x": -3.0148799419403076,
                    "y": 1.3160145282745361,
                    "z": 0.017911862581968307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6150953769683838,
                "transform": {
                    "location": {
                        "x": -1567.174072265625,
                        "y": 5761.205078125,
                        "z": 376.14080810546875
                    },
                    "rotation": {
                        "roll": 0.0006445172475650907,
                        "pitch": -0.5036581158638,
                        "yaw": 89.88339233398438
                    }
                },
                "velocity": {
                    "x": 0.003727342700585723,
                    "y": 1.6150894165039062,
                    "z": -0.0023267269134521484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5423014163970947,
                "transform": {
                    "location": {
                        "x": -1567.135009765625,
                        "y": 5777.181640625,
                        "z": 376.09893798828125
                    },
                    "rotation": {
                        "roll": -3.0496272302116267e-05,
                        "pitch": -0.3431965112686157,
                        "yaw": 89.90729522705078
                    }
                },
                "velocity": {
                    "x": 0.005598417017608881,
                    "y": 2.542287826538086,
                    "z": -0.006173734553158283
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23034745454788208,
        "expert_target_speed": 1.2494883072885983,
        "target_point": [
            13.025951667135994,
            3.8659261390102047
        ],
        "target_point_next": [
            34.23218983476766,
            50.24798740796811
        ]
    },
    "280": {
        "acceleration": [
            -0.005767096299678087,
            0.16004838049411774,
            0.001956175547093153
        ],
        "angular_velocity": [
            0.046294085681438446,
            0.024337543174624443,
            0.003271976485848427
        ],
        "forward_vector": [
            -0.017433347180485725,
            0.9998449683189392,
            -0.00245821219868958
        ],
        "right_vector": [
            -0.9998480081558228,
            -0.017433298751711845,
            4.1012768633663654e-05
        ],
        "location": [
            -1566.7021484375,
            5797.59423828125,
            376.04925537109375
        ],
        "rotation": [
            -0.00234986562281847,
            -0.14084532856941223,
            90.99890899658203
        ],
        "velocity": [
            -0.001032442320138216,
            0.06031528487801552,
            -0.0014858341310173273
        ],
        "speed": 0.06032412060743679,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.81199645996094,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.3038068573223427e-05,
                -3.194842429365963e-05,
                -0.0003806663735304028
            ],
            "speed_kmh": 0.0013760176777750628,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.521254539489746,
                "transform": {
                    "location": {
                        "x": -1510.2188720703125,
                        "y": 5784.1083984375,
                        "z": 375.71697998046875
                    },
                    "rotation": {
                        "roll": -0.0010375971905887127,
                        "pitch": 0.27869901061058044,
                        "yaw": 156.43287658691406
                    }
                },
                "velocity": {
                    "x": -7.810957908630371,
                    "y": 3.4057655334472656,
                    "z": 0.038584642112255096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003822271537501365,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00014920506509952247,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571210861206055
                    }
                },
                "velocity": {
                    "x": 1.3038068573223427e-05,
                    "y": -3.194842429365963e-05,
                    "z": -0.0003806663735304028
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5687255859375,
                        "y": 5783.02099609375,
                        "z": 376.54119873046875
                    },
                    "rotation": {
                        "roll": -3.3350560091349735e-09,
                        "pitch": 0.072987399995327,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6754150390625,
                        "y": 5757.30859375,
                        "z": 376.5768127441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019002914428711,
                "transform": {
                    "location": {
                        "x": -1564.25341796875,
                        "y": 5749.02978515625,
                        "z": 376.1699523925781
                    },
                    "rotation": {
                        "roll": 0.0011509244795888662,
                        "pitch": 0.15594004094600677,
                        "yaw": -90.14456176757812
                    }
                },
                "velocity": {
                    "x": -0.020326999947428703,
                    "y": -8.018948554992676,
                    "z": 0.021382292732596397
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.944805145263672,
                "transform": {
                    "location": {
                        "x": -1540.8270263671875,
                        "y": 5797.4609375,
                        "z": 375.8777770996094
                    },
                    "rotation": {
                        "roll": 0.0003204957756679505,
                        "pitch": 0.28019484877586365,
                        "yaw": 156.4432830810547
                    }
                },
                "velocity": {
                    "x": -5.4493255615234375,
                    "y": 2.3758459091186523,
                    "z": 0.030349740758538246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0658419132232666,
                "transform": {
                    "location": {
                        "x": -1553.4974365234375,
                        "y": 5802.99072265625,
                        "z": 375.9574279785156
                    },
                    "rotation": {
                        "roll": 0.0014414855977520347,
                        "pitch": 0.31863513588905334,
                        "yaw": 156.42640686035156
                    }
                },
                "velocity": {
                    "x": -2.8097829818725586,
                    "y": 1.2264662981033325,
                    "z": 0.016969747841358185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.950836658477783,
                "transform": {
                    "location": {
                        "x": -1567.17236328125,
                        "y": 5761.77783203125,
                        "z": 376.14007568359375
                    },
                    "rotation": {
                        "roll": -0.0006408675690181553,
                        "pitch": -0.06546053290367126,
                        "yaw": 89.82825469970703
                    }
                },
                "velocity": {
                    "x": 0.008675381541252136,
                    "y": 2.950815439224243,
                    "z": -0.007063646335154772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2615065574645996,
                "transform": {
                    "location": {
                        "x": -1567.134033203125,
                        "y": 5777.77685546875,
                        "z": 376.0974426269531
                    },
                    "rotation": {
                        "roll": 0.00013552510063163936,
                        "pitch": -0.30261150002479553,
                        "yaw": 89.88697814941406
                    }
                },
                "velocity": {
                    "x": 0.005440625362098217,
                    "y": 2.2614927291870117,
                    "z": -0.005741767585277557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23173010349273682,
        "expert_target_speed": 1.2557813991318119,
        "target_point": [
            13.011767855054146,
            3.8662599753838824
        ],
        "target_point_next": [
            34.21769638854927,
            50.24846281022109
        ]
    },
    "285": {
        "acceleration": [
            0.000544888898730278,
            -0.15361547470092773,
            0.012649917043745518
        ],
        "angular_velocity": [
            -0.029825227335095406,
            -0.013792546465992928,
            0.021526159718632698
        ],
        "forward_vector": [
            -0.017458854243159294,
            0.9998445510864258,
            -0.002456543268635869
        ],
        "right_vector": [
            -0.9998475909233093,
            -0.017458776012063026,
            5.273054921417497e-05
        ],
        "location": [
            -1566.7021484375,
            5797.6083984375,
            376.04913330078125
        ],
        "rotation": [
            -0.0030212472192943096,
            -0.1407497078180313,
            91.00037384033203
        ],
        "velocity": [
            -0.0008974299416877329,
            0.05156280845403671,
            -0.0011938476236537099
        ],
        "speed": 0.05157061756628398,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.80320739746094,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                6.957799087103922e-06,
                -2.5207921225955943e-06,
                7.211561296571745e-06
            ],
            "speed_kmh": 3.719898959720388e-05,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.264622688293457,
                "transform": {
                    "location": {
                        "x": -1512.259521484375,
                        "y": 5784.99853515625,
                        "z": 375.7271423339844
                    },
                    "rotation": {
                        "roll": -0.0005493099451996386,
                        "pitch": 0.2827698290348053,
                        "yaw": 156.43418884277344
                    }
                },
                "velocity": {
                    "x": -8.491782188415527,
                    "y": 3.7042019367218018,
                    "z": 0.041820116341114044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0333053069189191e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.57120704650879
                    }
                },
                "velocity": {
                    "x": 6.957799087103922e-06,
                    "y": -2.5207921225955943e-06,
                    "z": 7.211561296571745e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.5794677734375,
                        "y": 5780.4091796875,
                        "z": 376.5445861816406
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.683837890625,
                        "y": 5755.22509765625,
                        "z": 376.58013916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034815788269043,
                "transform": {
                    "location": {
                        "x": -1564.25830078125,
                        "y": 5747.0234375,
                        "z": 376.17529296875
                    },
                    "rotation": {
                        "roll": -0.00018310846644453704,
                        "pitch": 0.15779785811901093,
                        "yaw": -90.14537811279297
                    }
                },
                "velocity": {
                    "x": -0.020391328260302544,
                    "y": -8.034761428833008,
                    "z": 0.021269110962748528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.921955585479736,
                "transform": {
                    "location": {
                        "x": -1542.1402587890625,
                        "y": 5798.03369140625,
                        "z": 375.88507080078125
                    },
                    "rotation": {
                        "roll": -0.000457764690509066,
                        "pitch": 0.2760557532310486,
                        "yaw": 156.43374633789062
                    }
                },
                "velocity": {
                    "x": -4.511206150054932,
                    "y": 1.9682562351226807,
                    "z": 0.025108985602855682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0277843475341797,
                "transform": {
                    "location": {
                        "x": -1554.1898193359375,
                        "y": 5803.29248046875,
                        "z": 375.96148681640625
                    },
                    "rotation": {
                        "roll": -0.0003967235388699919,
                        "pitch": 0.30529576539993286,
                        "yaw": 156.41650390625
                    }
                },
                "velocity": {
                    "x": -2.774970293045044,
                    "y": 1.2110852003097534,
                    "z": 0.017049532383680344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4174060821533203,
                "transform": {
                    "location": {
                        "x": -1567.169921875,
                        "y": 5762.64599609375,
                        "z": 376.13787841796875
                    },
                    "rotation": {
                        "roll": 0.0003287430736236274,
                        "pitch": -0.06469555199146271,
                        "yaw": 89.83028411865234
                    }
                },
                "velocity": {
                    "x": 0.009293593466281891,
                    "y": 3.4173824787139893,
                    "z": -0.008603019639849663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.912223219871521,
                "transform": {
                    "location": {
                        "x": -1567.133056640625,
                        "y": 5778.29541015625,
                        "z": 376.09613037109375
                    },
                    "rotation": {
                        "roll": -0.00024412914353888482,
                        "pitch": -0.2952827215194702,
                        "yaw": 89.8890380859375
                    }
                },
                "velocity": {
                    "x": 0.004858194850385189,
                    "y": 1.9122079610824585,
                    "z": -0.005926618352532387
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23189541697502136,
        "expert_target_speed": 1.2470274750918673,
        "target_point": [
            12.99771493686891,
            3.8661535814360617
        ],
        "target_point_next": [
            34.20490411772516,
            50.247780027983374
        ]
    },
    "290": {
        "acceleration": [
            0.002767586847767234,
            0.2030181884765625,
            -0.01281871646642685
        ],
        "angular_velocity": [
            0.042431771755218506,
            0.025219528004527092,
            -0.004849801771342754
        ],
        "forward_vector": [
            -0.017451228573918343,
            0.9998447895050049,
            -0.002408025087788701
        ],
        "right_vector": [
            -0.9998477101325989,
            -0.01745113730430603,
            5.858938311575912e-05
        ],
        "location": [
            -1566.7021484375,
            5797.62353515625,
            376.04913330078125
        ],
        "rotation": [
            -0.003356934292241931,
            -0.13796980679035187,
            90.99993896484375
        ],
        "velocity": [
            -0.0009529492235742509,
            0.06786864995956421,
            -0.001897735521197319
        ],
        "speed": 0.067875339848553,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.793819427490234,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                9.487866918789223e-06,
                -3.5662390018842416e-06,
                -0.00018266677216161042
            ],
            "speed_kmh": 0.0006586119797063569,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.10351848602295,
                "transform": {
                    "location": {
                        "x": -1514.4818115234375,
                        "y": 5785.9677734375,
                        "z": 375.7383117675781
                    },
                    "rotation": {
                        "roll": 3.589895277400501e-05,
                        "pitch": 0.2835962772369385,
                        "yaw": 156.4329833984375
                    }
                },
                "velocity": {
                    "x": -9.260725975036621,
                    "y": 4.039543628692627,
                    "z": 0.04615890234708786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001829477696446702,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2535024583339691,
                        "yaw": -23.57120704650879
                    }
                },
                "velocity": {
                    "x": 9.487866918789223e-06,
                    "y": -3.5662390018842416e-06,
                    "z": -0.00018266677216161042
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.591796875,
                        "y": 5777.451171875,
                        "z": 376.5484924316406
                    },
                    "rotation": {
                        "roll": 3.3350562311795784e-09,
                        "pitch": 0.07690109312534332,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6927490234375,
                        "y": 5753.1416015625,
                        "z": 376.58349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019264221191406,
                "transform": {
                    "location": {
                        "x": -1564.2630615234375,
                        "y": 5745.01806640625,
                        "z": 376.1806945800781
                    },
                    "rotation": {
                        "roll": 0.0007111561135388911,
                        "pitch": 0.15878139436244965,
                        "yaw": -90.1454086303711
                    }
                },
                "velocity": {
                    "x": -0.020312335342168808,
                    "y": -8.019209861755371,
                    "z": 0.02160666510462761
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8330134153366089,
                "transform": {
                    "location": {
                        "x": -1542.572509765625,
                        "y": 5798.22216796875,
                        "z": 375.8878479003906
                    },
                    "rotation": {
                        "roll": -0.0003356952511239797,
                        "pitch": 0.2048715054988861,
                        "yaw": 156.440673828125
                    }
                },
                "velocity": {
                    "x": -0.7630943059921265,
                    "y": 0.3340451419353485,
                    "z": 0.0034964559599757195
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.776519775390625,
                "transform": {
                    "location": {
                        "x": -1554.8477783203125,
                        "y": 5803.580078125,
                        "z": 375.9653015136719
                    },
                    "rotation": {
                        "roll": -0.00045776308979839087,
                        "pitch": 0.3177335560321808,
                        "yaw": 156.42991638183594
                    }
                },
                "velocity": {
                    "x": -2.544604778289795,
                    "y": 1.110784649848938,
                    "z": 0.014390201307833195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.145071029663086,
                "transform": {
                    "location": {
                        "x": -1567.1680908203125,
                        "y": 5763.43115234375,
                        "z": 376.1357421875
                    },
                    "rotation": {
                        "roll": -0.000640873156953603,
                        "pitch": -0.16464170813560486,
                        "yaw": 89.84601593017578
                    }
                },
                "velocity": {
                    "x": 0.008112611249089241,
                    "y": 3.145047187805176,
                    "z": -0.009166726842522621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7013435363769531,
                "transform": {
                    "location": {
                        "x": -1567.1322021484375,
                        "y": 5778.7490234375,
                        "z": 376.09490966796875
                    },
                    "rotation": {
                        "roll": 0.0005016105133108795,
                        "pitch": -0.2592466473579407,
                        "yaw": 89.87245178222656
                    }
                },
                "velocity": {
                    "x": 0.004542707931250334,
                    "y": 1.7013293504714966,
                    "z": -0.005225419998168945
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2342091202735901,
        "expert_target_speed": 10.0,
        "target_point": [
            12.982540886837203,
            3.8665509949618886
        ],
        "target_point_next": [
            34.18925456219561,
            50.24839485515194
        ]
    },
    "295": {
        "acceleration": [
            -0.0014669820666313171,
            -0.17331421375274658,
            0.004697227850556374
        ],
        "angular_velocity": [
            -0.04771583154797554,
            -0.013587708584964275,
            -0.007209912873804569
        ],
        "forward_vector": [
            -0.017438355833292007,
            0.9998450875282288,
            -0.0023957467637956142
        ],
        "right_vector": [
            -0.999847948551178,
            -0.017438286915421486,
            5.006731589674018e-05
        ],
        "location": [
            -1566.7021484375,
            5797.640625,
            376.0490417480469
        ],
        "rotation": [
            -0.0028686539735645056,
            -0.13726630806922913,
            90.99919891357422
        ],
        "velocity": [
            -0.001240246812812984,
            0.06693780422210693,
            -0.0013073348673060536
        ],
        "speed": 0.06694929309734203,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.78321838378906,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.1618435564741958e-05,
                -1.9624307242338546e-05,
                0.000458073423942551
            ],
            "speed_kmh": 0.0016511068006340682,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.938443183898926,
                "transform": {
                    "location": {
                        "x": -1516.895263671875,
                        "y": 5787.0205078125,
                        "z": 375.75048828125
                    },
                    "rotation": {
                        "roll": 0.00040864924085326493,
                        "pitch": 0.2885344922542572,
                        "yaw": 156.43287658691406
                    }
                },
                "velocity": {
                    "x": -10.02600383758545,
                    "y": 4.373363018035889,
                    "z": 0.04983046278357506
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004586407740134746,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0002229371457360685,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.57124137878418
                    }
                },
                "velocity": {
                    "x": 1.1618435564741958e-05,
                    "y": -1.9624307242338546e-05,
                    "z": 0.000458073423942551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6029052734375,
                        "y": 5774.728515625,
                        "z": 376.5521545410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0774543434381485,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.701171875,
                        "y": 5751.05859375,
                        "z": 376.58697509765625
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034730911254883,
                "transform": {
                    "location": {
                        "x": -1564.2679443359375,
                        "y": 5743.01171875,
                        "z": 376.18609619140625
                    },
                    "rotation": {
                        "roll": -0.000152592605445534,
                        "pitch": 0.15943709015846252,
                        "yaw": -90.14535522460938
                    }
                },
                "velocity": {
                    "x": -0.020379530265927315,
                    "y": -8.034677505493164,
                    "z": 0.02130449190735817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.621785044670105,
                "transform": {
                    "location": {
                        "x": -1542.8504638671875,
                        "y": 5798.34375,
                        "z": 375.8887023925781
                    },
                    "rotation": {
                        "roll": -0.0007019044714979827,
                        "pitch": 0.29295364022254944,
                        "yaw": 156.45181274414062
                    }
                },
                "velocity": {
                    "x": -1.4864017963409424,
                    "y": 0.6486425399780273,
                    "z": 0.007707996293902397
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6621809005737305,
                "transform": {
                    "location": {
                        "x": -1555.478759765625,
                        "y": 5803.85498046875,
                        "z": 375.9689025878906
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": 0.31133365631103516,
                        "yaw": 156.4209442138672
                    }
                },
                "velocity": {
                    "x": -2.4400157928466797,
                    "y": 1.064584732055664,
                    "z": 0.013749341480433941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1804280281066895,
                "transform": {
                    "location": {
                        "x": -1567.166259765625,
                        "y": 5764.27099609375,
                        "z": 376.1336364746094
                    },
                    "rotation": {
                        "roll": -0.0009460376459173858,
                        "pitch": -0.14749109745025635,
                        "yaw": 89.84452056884766
                    }
                },
                "velocity": {
                    "x": 0.008381619118154049,
                    "y": 3.180403709411621,
                    "z": -0.009192208759486675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4677999019622803,
                "transform": {
                    "location": {
                        "x": -1567.1312255859375,
                        "y": 5779.138671875,
                        "z": 376.0939025878906
                    },
                    "rotation": {
                        "roll": -0.0005188059876672924,
                        "pitch": -0.2537824809551239,
                        "yaw": 89.88016510009766
                    }
                },
                "velocity": {
                    "x": 0.0029047357384115458,
                    "y": 1.467790961265564,
                    "z": -0.004224004689604044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2342694252729416,
        "expert_target_speed": 10.0,
        "target_point": [
            12.965414002120914,
            3.8669821630571843
        ],
        "target_point_next": [
            34.17165216975258,
            50.249043432015085
        ]
    },
    "300": {
        "acceleration": [
            0.0054564280435442924,
            -0.080660879611969,
            -0.0018114084377884865
        ],
        "angular_velocity": [
            -0.027266349643468857,
            0.0022572302259504795,
            0.1525360494852066
        ],
        "forward_vector": [
            -0.017297962680459023,
            0.9998483061790466,
            -0.002047537127509713
        ],
        "right_vector": [
            -0.9998503923416138,
            -0.017297890037298203,
            5.2730432798853144e-05
        ],
        "location": [
            -1566.70263671875,
            5797.66845703125,
            376.0489501953125
        ],
        "rotation": [
            -0.003021237440407276,
            -0.11731532216072083,
            90.99114990234375
        ],
        "velocity": [
            -0.0023968934547156096,
            0.14184027910232544,
            -0.0014759826008230448
        ],
        "speed": 0.14186052965521748,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.76558303833008,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.8057991585228592e-05,
                3.369979458511807e-05,
                0.0001086607517208904
            ],
            "speed_kmh": 0.00042183161890506344,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.308477401733398,
                "transform": {
                    "location": {
                        "x": -1519.474609375,
                        "y": 5788.1455078125,
                        "z": 375.76373291015625
                    },
                    "rotation": {
                        "roll": 0.0008035307400859892,
                        "pitch": 0.2811647355556488,
                        "yaw": 156.43287658691406
                    }
                },
                "velocity": {
                    "x": -10.365166664123535,
                    "y": 4.521308898925781,
                    "z": 0.05238281190395355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011717544839484617,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00013914309965912253,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.57124137878418
                    }
                },
                "velocity": {
                    "x": 2.8057991585228592e-05,
                    "y": 3.369979458511807e-05,
                    "z": 0.0001086607517208904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6151123046875,
                        "y": 5771.845703125,
                        "z": 376.5560607910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7095947265625,
                        "y": 5748.97509765625,
                        "z": 376.5904541015625
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019356727600098,
                "transform": {
                    "location": {
                        "x": -1564.2728271484375,
                        "y": 5741.00634765625,
                        "z": 376.1915283203125
                    },
                    "rotation": {
                        "roll": 0.0005391468293964863,
                        "pitch": 0.16102169454097748,
                        "yaw": -90.14543151855469
                    }
                },
                "velocity": {
                    "x": -0.020338501781225204,
                    "y": -8.019302368164062,
                    "z": 0.021653566509485245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3596107959747314,
                "transform": {
                    "location": {
                        "x": -1543.309814453125,
                        "y": 5798.54443359375,
                        "z": 375.89111328125
                    },
                    "rotation": {
                        "roll": -0.0006713892798870802,
                        "pitch": 0.30925044417381287,
                        "yaw": 156.44700622558594
                    }
                },
                "velocity": {
                    "x": -2.162968158721924,
                    "y": 0.9429656863212585,
                    "z": 0.012161817401647568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0600273609161377,
                "transform": {
                    "location": {
                        "x": -1556.11376953125,
                        "y": 5804.13232421875,
                        "z": 375.97283935546875
                    },
                    "rotation": {
                        "roll": -0.003173828823491931,
                        "pitch": 0.2706325650215149,
                        "yaw": 156.4340057373047
                    }
                },
                "velocity": {
                    "x": -2.8053817749023438,
                    "y": 1.2220429182052612,
                    "z": 0.014551162719726562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.314612627029419,
                "transform": {
                    "location": {
                        "x": -1567.1646728515625,
                        "y": 5764.9228515625,
                        "z": 376.1318359375
                    },
                    "rotation": {
                        "roll": -0.0004882831708528101,
                        "pitch": -0.2517675757408142,
                        "yaw": 89.85780334472656
                    }
                },
                "velocity": {
                    "x": 0.005303123500198126,
                    "y": 2.3145973682403564,
                    "z": -0.006535882595926523
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6645430326461792,
                "transform": {
                    "location": {
                        "x": -1567.1300048828125,
                        "y": 5779.3740234375,
                        "z": 376.09405517578125
                    },
                    "rotation": {
                        "roll": 0.0005646818899549544,
                        "pitch": -0.44918736815452576,
                        "yaw": 89.95333862304688
                    }
                },
                "velocity": {
                    "x": 0.0025463777128607035,
                    "y": 0.6645355224609375,
                    "z": -0.001867856946773827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22523823380470276,
        "expert_target_speed": 10.0,
        "target_point": [
            12.937033603931532,
            3.868799237970375
        ],
        "target_point_next": [
            34.13674713814405,
            50.253843065124514
        ]
    },
    "305": {
        "acceleration": [
            0.003871065564453602,
            0.04805058240890503,
            -0.014646722003817558
        ],
        "angular_velocity": [
            0.13814572989940643,
            -0.00035097182262688875,
            -0.5238081216812134
        ],
        "forward_vector": [
            -0.017130732536315918,
            0.999850869178772,
            -0.002191779902204871
        ],
        "right_vector": [
            -0.999853253364563,
            -0.01713070087134838,
            3.302318145870231e-05
        ],
        "location": [
            -1566.703369140625,
            5797.7041015625,
            376.0488586425781
        ],
        "rotation": [
            -0.0018920935690402985,
            -0.1255798488855362,
            90.9815673828125
        ],
        "velocity": [
            -0.001964912284165621,
            0.17412787675857544,
            -0.002151212655007839
        ],
        "speed": 0.17413896274163948,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.742919921875,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                6.59294391880394e-06,
                1.0347198440285865e-05,
                -0.0001483518281020224
            ],
            "speed_kmh": 0.0005358899144308777,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.593169212341309,
                "transform": {
                    "location": {
                        "x": -1521.9837646484375,
                        "y": 5789.24072265625,
                        "z": 375.77679443359375
                    },
                    "rotation": {
                        "roll": 8.327046089107171e-05,
                        "pitch": 0.2596223056316376,
                        "yaw": 156.43287658691406
                    }
                },
                "velocity": {
                    "x": -9.709497451782227,
                    "y": 4.235354423522949,
                    "z": 0.05158992484211922
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00014885830751154572,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0003456149424891919,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.57124137878418
                    }
                },
                "velocity": {
                    "x": 6.59294391880394e-06,
                    "y": 1.0347198440285865e-05,
                    "z": -0.0001483518281020224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.626220703125,
                        "y": 5769.13671875,
                        "z": 376.55975341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0780007541179657,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7183837890625,
                        "y": 5746.8916015625,
                        "z": 376.5939636230469
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03454875946045,
                "transform": {
                    "location": {
                        "x": -1564.27783203125,
                        "y": 5738.9990234375,
                        "z": 376.1969909667969
                    },
                    "rotation": {
                        "roll": -0.00021363768610171974,
                        "pitch": 0.16177302598953247,
                        "yaw": -90.14535522460938
                    }
                },
                "velocity": {
                    "x": -0.02040207013487816,
                    "y": -8.034494400024414,
                    "z": 0.021321754902601242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1279995441436768,
                "transform": {
                    "location": {
                        "x": -1543.9468994140625,
                        "y": 5798.82177734375,
                        "z": 375.8947448730469
                    },
                    "rotation": {
                        "roll": -0.0003967237425968051,
                        "pitch": 0.31072577834129333,
                        "yaw": 156.44224548339844
                    }
                },
                "velocity": {
                    "x": -2.866854190826416,
                    "y": 1.2511229515075684,
                    "z": 0.01483100838959217
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.107080936431885,
                "transform": {
                    "location": {
                        "x": -1556.93408203125,
                        "y": 5804.48974609375,
                        "z": 375.9779357910156
                    },
                    "rotation": {
                        "roll": -0.006134032737463713,
                        "pitch": 0.20541109144687653,
                        "yaw": 156.42913818359375
                    }
                },
                "velocity": {
                    "x": -3.764310121536255,
                    "y": 1.6424366235733032,
                    "z": 0.022046688944101334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.164011001586914,
                "transform": {
                    "location": {
                        "x": -1567.1627197265625,
                        "y": 5765.58154296875,
                        "z": 376.1303405761719
                    },
                    "rotation": {
                        "roll": 5.4371415899368e-05,
                        "pitch": -0.07492717355489731,
                        "yaw": 89.85313415527344
                    }
                },
                "velocity": {
                    "x": 0.00789159256964922,
                    "y": 3.163994312286377,
                    "z": -0.006537046283483505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.389041781425476,
                "transform": {
                    "location": {
                        "x": -1567.129150390625,
                        "y": 5779.6240234375,
                        "z": 376.09197998046875
                    },
                    "rotation": {
                        "roll": -0.0006408677436411381,
                        "pitch": -0.07775487005710602,
                        "yaw": 89.91524505615234
                    }
                },
                "velocity": {
                    "x": 0.003400075016543269,
                    "y": 1.3890360593795776,
                    "z": -0.0021045685280114412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2326875478029251,
        "expert_target_speed": 0,
        "target_point": [
            12.900711905102213,
            3.8709166706039264
        ],
        "target_point_next": [
            34.092396246943764,
            50.259629301322946
        ]
    },
    "310": {
        "acceleration": [
            0.027011405676603317,
            0.31441301107406616,
            -0.011837959289550781
        ],
        "angular_velocity": [
            0.0162652675062418,
            -0.04643358662724495,
            -1.0211158990859985
        ],
        "forward_vector": [
            -0.01712394505739212,
            0.999851405620575,
            -0.0019702897407114506
        ],
        "right_vector": [
            -0.9998533725738525,
            -0.017123868688941002,
            5.539372796192765e-05
        ],
        "location": [
            -1566.704345703125,
            5797.7646484375,
            376.0487060546875
        ],
        "rotation": [
            -0.0031738330144435167,
            -0.1128893569111824,
            90.9811782836914
        ],
        "velocity": [
            -0.003476639511063695,
            0.2607783377170563,
            -0.0019061565399169922
        ],
        "speed": 0.26080151158450166,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.70467758178711,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.992876052856445,
                "transform": {
                    "location": {
                        "x": -1524.3372802734375,
                        "y": 5790.2666015625,
                        "z": 375.7890930175781
                    },
                    "rotation": {
                        "roll": -0.00030518052517436445,
                        "pitch": 0.26055803894996643,
                        "yaw": 156.43292236328125
                    }
                },
                "velocity": {
                    "x": -9.159282684326172,
                    "y": 3.995347261428833,
                    "z": 0.04812944307923317
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2532019317150116,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.63671875,
                        "y": 5766.6328125,
                        "z": 376.5631408691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.72705078125,
                        "y": 5744.80859375,
                        "z": 376.59771728515625
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018338203430176,
                "transform": {
                    "location": {
                        "x": -1564.2828369140625,
                        "y": 5736.99365234375,
                        "z": 376.20245361328125
                    },
                    "rotation": {
                        "roll": 0.0005023143603466451,
                        "pitch": 0.16107633709907532,
                        "yaw": -90.14754486083984
                    }
                },
                "velocity": {
                    "x": -0.02063903771340847,
                    "y": -8.01828384399414,
                    "z": 0.021198634058237076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.849263906478882,
                "transform": {
                    "location": {
                        "x": -1544.7489013671875,
                        "y": 5799.171875,
                        "z": 375.8992004394531
                    },
                    "rotation": {
                        "roll": -0.0008544865995645523,
                        "pitch": 0.31194838881492615,
                        "yaw": 156.43685913085938
                    }
                },
                "velocity": {
                    "x": -3.5282108783721924,
                    "y": 1.53890061378479,
                    "z": 0.018598061054944992
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1899566650390625,
                "transform": {
                    "location": {
                        "x": -1558.005859375,
                        "y": 5804.95751953125,
                        "z": 375.984375
                    },
                    "rotation": {
                        "roll": -0.008148196153342724,
                        "pitch": 0.18861566483974457,
                        "yaw": 156.4302520751953
                    }
                },
                "velocity": {
                    "x": -4.757009506225586,
                    "y": 2.0750081539154053,
                    "z": 0.029217766597867012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.687183380126953,
                "transform": {
                    "location": {
                        "x": -1567.1602783203125,
                        "y": 5766.5791015625,
                        "z": 376.12799072265625
                    },
                    "rotation": {
                        "roll": 6.060794476070441e-05,
                        "pitch": 0.05742139741778374,
                        "yaw": 89.8594741821289
                    }
                },
                "velocity": {
                    "x": 0.011570342816412449,
                    "y": 4.687157154083252,
                    "z": -0.010552692227065563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2004247903823853,
                "transform": {
                    "location": {
                        "x": -1567.1268310546875,
                        "y": 5779.8671875,
                        "z": 376.0916442871094
                    },
                    "rotation": {
                        "roll": -0.0032043526880443096,
                        "pitch": -0.11877698451280594,
                        "yaw": 90.16388702392578
                    }
                },
                "velocity": {
                    "x": 0.00215251580812037,
                    "y": 1.200419306755066,
                    "z": -0.002904605818912387
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.22152294218540192,
        "expert_target_speed": 0,
        "target_point": [
            12.840143341667831,
            3.8710232010788563
        ],
        "target_point_next": [
            34.03166178440959,
            50.25981161887027
        ]
    },
    "315": {
        "acceleration": [
            -0.027646757662296295,
            1.4851146936416626,
            -0.02257957123219967
        ],
        "angular_velocity": [
            0.4431741237640381,
            -0.03533071279525757,
            0.12047746032476425
        ],
        "forward_vector": [
            -0.01739869825541973,
            0.9998475909233093,
            -0.001413583173416555
        ],
        "right_vector": [
            -0.9998486042022705,
            -0.01739864982664585,
            4.633905700757168e-05
        ],
        "location": [
            -1566.7056884765625,
            5797.85498046875,
            376.0483093261719
        ],
        "rotation": [
            -0.0026550351176410913,
            -0.08099237829446793,
            90.9969253540039
        ],
        "velocity": [
            -0.007906574755907059,
            0.49040576815605164,
            -0.0023089407477527857
        ],
        "speed": 0.49046950095301317,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.64779281616211,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.265350692847278e-05,
                1.17789204523433e-05,
                -0.00033892810461111367
            ],
            "speed_kmh": 0.0012217273187281278,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.410365104675293,
                "transform": {
                    "location": {
                        "x": -1526.55712890625,
                        "y": 5791.2353515625,
                        "z": 375.8008117675781
                    },
                    "rotation": {
                        "roll": 0.001025789650157094,
                        "pitch": 0.2620675265789032,
                        "yaw": 156.43186950683594
                    }
                },
                "velocity": {
                    "x": -8.624998092651367,
                    "y": 3.763284921646118,
                    "z": 0.045502156019210815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033936870750039816,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -6.1032071243971586e-05,
                        "pitch": -0.2532019317150116,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": 1.265350692847278e-05,
                    "y": 1.17789204523433e-05,
                    "z": -0.00033892810461111367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6490478515625,
                        "y": 5763.6748046875,
                        "z": 376.5672912597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.08324634283781052,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7357177734375,
                        "y": 5742.72509765625,
                        "z": 376.6014709472656
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034963607788086,
                "transform": {
                    "location": {
                        "x": -1564.28759765625,
                        "y": 5734.98779296875,
                        "z": 376.2079162597656
                    },
                    "rotation": {
                        "roll": 0.00028315381496213377,
                        "pitch": 0.16330298781394958,
                        "yaw": -90.14749145507812
                    }
                },
                "velocity": {
                    "x": -0.02066548727452755,
                    "y": -8.03490924835205,
                    "z": 0.021120863035321236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.583801746368408,
                "transform": {
                    "location": {
                        "x": -1545.71826171875,
                        "y": 5799.5947265625,
                        "z": 375.90460205078125
                    },
                    "rotation": {
                        "roll": -0.0005188086652196944,
                        "pitch": 0.3138062059879303,
                        "yaw": 156.43675231933594
                    }
                },
                "velocity": {
                    "x": -4.201556205749512,
                    "y": 1.8323900699615479,
                    "z": 0.02260608598589897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.521271228790283,
                "transform": {
                    "location": {
                        "x": -1559.2279052734375,
                        "y": 5805.48974609375,
                        "z": 375.9908447265625
                    },
                    "rotation": {
                        "roll": -0.00183105340693146,
                        "pitch": 0.23845554888248444,
                        "yaw": 156.3997802734375
                    }
                },
                "velocity": {
                    "x": -5.0606865882873535,
                    "y": 2.2075188159942627,
                    "z": 0.027369851246476173
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.411250114440918,
                "transform": {
                    "location": {
                        "x": -1567.157470703125,
                        "y": 5767.8828125,
                        "z": 376.1250305175781
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -0.011993811465799809,
                        "yaw": 89.88127899169922
                    }
                },
                "velocity": {
                    "x": 0.011306359432637691,
                    "y": 5.411220073699951,
                    "z": -0.01398980151861906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9135550260543823,
                "transform": {
                    "location": {
                        "x": -1567.126953125,
                        "y": 5780.0,
                        "z": 376.0914306640625
                    },
                    "rotation": {
                        "roll": -0.0032653885427862406,
                        "pitch": -0.1519785374403,
                        "yaw": 90.11328125
                    }
                },
                "velocity": {
                    "x": 0.0013484940864145756,
                    "y": 0.9135518670082092,
                    "z": -0.0019653986673802137
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2345803827047348,
        "expert_target_speed": 0,
        "target_point": [
            12.750857890344102,
            3.867746779768038
        ],
        "target_point_next": [
            33.95503918492813,
            50.2507484118972
        ]
    },
    "320": {
        "acceleration": [
            -0.016168709844350815,
            0.697246789932251,
            0.00445118173956871
        ],
        "angular_velocity": [
            0.0761498436331749,
            0.028349513188004494,
            0.1611509472131729
        ],
        "forward_vector": [
            -0.017044350504875183,
            0.999854326248169,
            -0.0008921621483750641
        ],
        "right_vector": [
            -0.9998547434806824,
            -0.01704433187842369,
            2.9294720661710016e-05
        ],
        "location": [
            -1566.7078857421875,
            5797.9990234375,
            376.0478515625
        ],
        "rotation": [
            -0.0016784645849838853,
            -0.05111713334918022,
            90.97661590576172
        ],
        "velocity": [
            -0.010514515452086926,
            0.689582884311676,
            -0.0019746969919651747
        ],
        "speed": 0.6896630404558465,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.55723571777344,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.1886824015382444e-06,
                -2.0947558368789032e-05,
                0.0004363147891126573
            ],
            "speed_kmh": 0.001572562191797119,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.934035301208496,
                "transform": {
                    "location": {
                        "x": -1528.6558837890625,
                        "y": 5792.15087890625,
                        "z": 375.8117370605469
                    },
                    "rotation": {
                        "roll": 0.000601123261731118,
                        "pitch": 0.2686449885368347,
                        "yaw": 156.42718505859375
                    }
                },
                "velocity": {
                    "x": -8.188419342041016,
                    "y": 3.5727782249450684,
                    "z": 0.045124128460884094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043682282557711005,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0519371648551896e-05,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": 2.1886824015382444e-06,
                    "y": -2.0947558368789032e-05,
                    "z": 0.0004363147891126573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.660400390625,
                        "y": 5760.875,
                        "z": 376.57135009765625
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.0885055884718895,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.744140625,
                        "y": 5740.6416015625,
                        "z": 376.6053161621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019171714782715,
                "transform": {
                    "location": {
                        "x": -1564.29248046875,
                        "y": 5732.98193359375,
                        "z": 376.2134704589844
                    },
                    "rotation": {
                        "roll": 0.00048142351442947984,
                        "pitch": 0.16273607313632965,
                        "yaw": -90.14755249023438
                    }
                },
                "velocity": {
                    "x": -0.02063053473830223,
                    "y": -8.019116401672363,
                    "z": 0.021498726680874825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.525083541870117,
                "transform": {
                    "location": {
                        "x": -1546.794189453125,
                        "y": 5800.064453125,
                        "z": 375.9107360839844
                    },
                    "rotation": {
                        "roll": -0.0008239761227741838,
                        "pitch": 0.2996813654899597,
                        "yaw": 156.43450927734375
                    }
                },
                "velocity": {
                    "x": -4.14764928817749,
                    "y": 1.8090845346450806,
                    "z": 0.02451433055102825
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.433365821838379,
                "transform": {
                    "location": {
                        "x": -1560.5703125,
                        "y": 5806.07470703125,
                        "z": 376.0065002441406
                    },
                    "rotation": {
                        "roll": -0.43966683745384216,
                        "pitch": 0.5112259984016418,
                        "yaw": 156.3604278564453
                    }
                },
                "velocity": {
                    "x": -5.891373157501221,
                    "y": 2.5840487480163574,
                    "z": 0.05109657347202301
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009009691420942545,
                "transform": {
                    "location": {
                        "x": -1567.1558837890625,
                        "y": 5768.4912109375,
                        "z": 376.1221008300781
                    },
                    "rotation": {
                        "roll": -0.01171867921948433,
                        "pitch": -0.7720298767089844,
                        "yaw": 90.16979217529297
                    }
                },
                "velocity": {
                    "x": -4.241755959810689e-05,
                    "y": -0.0008549424237571657,
                    "z": 0.00028110420680604875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.39755022525787354,
                "transform": {
                    "location": {
                        "x": -1567.12744140625,
                        "y": 5780.1708984375,
                        "z": 376.0915832519531
                    },
                    "rotation": {
                        "roll": 0.00031375244725495577,
                        "pitch": -0.2888418436050415,
                        "yaw": 89.97367095947266
                    }
                },
                "velocity": {
                    "x": 0.0011604020837694407,
                    "y": 0.39754611253738403,
                    "z": -0.0013872813433408737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2233659327030182,
        "expert_target_speed": 0,
        "target_point": [
            12.605431906848157,
            3.8725069682607263
        ],
        "target_point_next": [
            33.79323413872573,
            50.26299286097937
        ]
    },
    "325": {
        "acceleration": [
            -0.033968426287174225,
            2.0150208473205566,
            0.008208274841308594
        ],
        "angular_velocity": [
            0.29533815383911133,
            0.02829558029770851,
            -0.19682486355304718
        ],
        "forward_vector": [
            -0.01689298450946808,
            0.9998573064804077,
            0.00017309187387581915
        ],
        "right_vector": [
            -0.9998573064804077,
            -0.016892997547984123,
            7.297060801647604e-05
        ],
        "location": [
            -1566.7117919921875,
            5798.22607421875,
            376.04705810546875
        ],
        "rotation": [
            -0.004180907737463713,
            0.009917434304952621,
            90.96794128417969
        ],
        "velocity": [
            -0.01830422878265381,
            1.1293081045150757,
            -0.001549844746477902
        ],
        "speed": 1.1294564355099141,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.414649963378906,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.732617602101527e-05,
                1.6571431842749007e-05,
                0.0005422987160272896
            ],
            "speed_kmh": 0.001954182353694878,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.412928581237793,
                "transform": {
                    "location": {
                        "x": -1530.640625,
                        "y": 5793.017578125,
                        "z": 375.82244873046875
                    },
                    "rotation": {
                        "roll": 0.00035087147261947393,
                        "pitch": 0.26975831389427185,
                        "yaw": 156.42662048339844
                    }
                },
                "velocity": {
                    "x": -7.710781097412109,
                    "y": 3.364457607269287,
                    "z": 0.04067538306117058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005428284057416022,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -3.0519371648551896e-05,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.571269989013672
                    }
                },
                "velocity": {
                    "x": 1.732617602101527e-05,
                    "y": 1.6571431842749007e-05,
                    "z": 0.0005422987160272896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6702880859375,
                        "y": 5758.5458984375,
                        "z": 376.5749206542969
                    },
                    "rotation": {
                        "roll": -3.335057119357998e-09,
                        "pitch": 0.0885055884718895,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7530517578125,
                        "y": 5738.55859375,
                        "z": 376.6092224121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033775329589844,
                "transform": {
                    "location": {
                        "x": -1564.2974853515625,
                        "y": 5730.97607421875,
                        "z": 376.2189636230469
                    },
                    "rotation": {
                        "roll": 0.0005905336001887918,
                        "pitch": 0.16309808194637299,
                        "yaw": -90.14752197265625
                    }
                },
                "velocity": {
                    "x": -0.020704975351691246,
                    "y": -8.033719062805176,
                    "z": 0.021814832463860512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.20134162902832,
                "transform": {
                    "location": {
                        "x": -1547.78857421875,
                        "y": 5800.498046875,
                        "z": 375.91650390625
                    },
                    "rotation": {
                        "roll": -0.0007934592431411147,
                        "pitch": 0.28940877318382263,
                        "yaw": 156.4324493408203
                    }
                },
                "velocity": {
                    "x": -3.8508334159851074,
                    "y": 1.6798473596572876,
                    "z": 0.021578606218099594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.918203353881836,
                "transform": {
                    "location": {
                        "x": -1562.248291015625,
                        "y": 5806.81005859375,
                        "z": 376.0169372558594
                    },
                    "rotation": {
                        "roll": -0.372833251953125,
                        "pitch": 0.37541449069976807,
                        "yaw": 156.4126434326172
                    }
                },
                "velocity": {
                    "x": -7.25724458694458,
                    "y": 3.1667373180389404,
                    "z": 0.04604737088084221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.977103590965271,
                "transform": {
                    "location": {
                        "x": -1567.15576171875,
                        "y": 5768.80712890625,
                        "z": 376.1222229003906
                    },
                    "rotation": {
                        "roll": -0.0023498565424233675,
                        "pitch": -0.11608588695526123,
                        "yaw": 90.15245056152344
                    }
                },
                "velocity": {
                    "x": 0.0010856522712856531,
                    "y": 1.977098822593689,
                    "z": -0.004194831941276789
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2127989530563354,
                "transform": {
                    "location": {
                        "x": -1567.1273193359375,
                        "y": 5780.38720703125,
                        "z": 376.08990478515625
                    },
                    "rotation": {
                        "roll": 0.0008797466871328652,
                        "pitch": 0.0012226038379594684,
                        "yaw": 89.96290588378906
                    }
                },
                "velocity": {
                    "x": 0.003068692982196808,
                    "y": 1.2127934694290161,
                    "z": -0.0019832418765872717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22635026276111603,
        "expert_target_speed": 10.0,
        "target_point": [
            12.377762034757428,
            3.8743421836807324
        ],
        "target_point_next": [
            33.55855176034133,
            50.26803023906476
        ]
    },
    "330": {
        "acceleration": [
            -0.02858024090528488,
            1.6709494590759277,
            -0.013288306072354317
        ],
        "angular_velocity": [
            0.0669887512922287,
            -0.031891725957393646,
            -0.2024741917848587
        ],
        "forward_vector": [
            -0.016940772533416748,
            0.9998559951782227,
            0.0009548662346787751
        ],
        "right_vector": [
            -0.9998564720153809,
            -0.016940822824835777,
            4.580631139106117e-05
        ],
        "location": [
            -1566.71728515625,
            5798.56982421875,
            376.04608154296875
        ],
        "rotation": [
            -0.002624509623274207,
            0.05470981076359749,
            90.9706802368164
        ],
        "velocity": [
            -0.026162125170230865,
            1.602872371673584,
            -0.002839164575561881
        ],
        "speed": 1.603085866904179,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.20029830932617,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.580013097031042e-05,
                3.360943810548633e-05,
                0.0004585812275763601
            ],
            "speed_kmh": 0.0016579240346040823,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0677521228790283,
                "transform": {
                    "location": {
                        "x": -1500.1275634765625,
                        "y": 5779.705078125,
                        "z": 375.7610168457031
                    },
                    "rotation": {
                        "roll": -0.000488283287268132,
                        "pitch": 0.25594767928123474,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -0.004033613484352827,
                    "y": 0.002070471178740263,
                    "z": -1.0677424669265747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.99706506729126,
                "transform": {
                    "location": {
                        "x": -1532.51806640625,
                        "y": 5793.8369140625,
                        "z": 375.8324279785156
                    },
                    "rotation": {
                        "roll": 0.00017246085917577147,
                        "pitch": 0.2705574333667755,
                        "yaw": 156.42652893066406
                    }
                },
                "velocity": {
                    "x": -7.329599380493164,
                    "y": 3.1981868743896484,
                    "z": 0.040340032428503036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004605344729498029,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00024413829669356346,
                        "pitch": -0.25359809398651123,
                        "yaw": -23.571298599243164
                    }
                },
                "velocity": {
                    "x": 2.580013097031042e-05,
                    "y": 3.360943810548633e-05,
                    "z": 0.0004585812275763601
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.6788330078125,
                        "y": 5756.462890625,
                        "z": 376.5781555175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7618408203125,
                        "y": 5736.47509765625,
                        "z": 376.61322021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019530296325684,
                "transform": {
                    "location": {
                        "x": -1564.3023681640625,
                        "y": 5728.9697265625,
                        "z": 376.2245178222656
                    },
                    "rotation": {
                        "roll": 0.0006888113566674292,
                        "pitch": 0.16272924840450287,
                        "yaw": -90.14755249023438
                    }
                },
                "velocity": {
                    "x": -0.02062922716140747,
                    "y": -8.019474029541016,
                    "z": 0.02149261347949505
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.016636371612549,
                "transform": {
                    "location": {
                        "x": -1548.7298583984375,
                        "y": 5800.90869140625,
                        "z": 375.9217529296875
                    },
                    "rotation": {
                        "roll": -0.0008850078447721899,
                        "pitch": 0.29186761379241943,
                        "yaw": 156.42868041992188
                    }
                },
                "velocity": {
                    "x": -3.6813933849334717,
                    "y": 1.6063064336776733,
                    "z": 0.02215033397078514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.87547492980957,
                "transform": {
                    "location": {
                        "x": -1564.176513671875,
                        "y": 5807.65185546875,
                        "z": 376.02734375
                    },
                    "rotation": {
                        "roll": -0.1408996284008026,
                        "pitch": -0.0766005665063858,
                        "yaw": 156.4082489013672
                    }
                },
                "velocity": {
                    "x": -8.136127471923828,
                    "y": 3.5464651584625244,
                    "z": -0.0084393210709095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1813485622406006,
                "transform": {
                    "location": {
                        "x": -1567.1551513671875,
                        "y": 5769.38671875,
                        "z": 376.120849609375
                    },
                    "rotation": {
                        "roll": -0.00042724775266833603,
                        "pitch": -0.10784868150949478,
                        "yaw": 90.08089447021484
                    }
                },
                "velocity": {
                    "x": 0.0020810337737202644,
                    "y": 2.1813406944274902,
                    "z": -0.005450992379337549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.87177574634552,
                "transform": {
                    "location": {
                        "x": -1567.1265869140625,
                        "y": 5780.80224609375,
                        "z": 376.0885009765625
                    },
                    "rotation": {
                        "roll": 0.001512610469944775,
                        "pitch": 0.1279977411031723,
                        "yaw": 89.93043518066406
                    }
                },
                "velocity": {
                    "x": 0.004202876705676317,
                    "y": 1.8717658519744873,
                    "z": -0.004413099028170109
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20973576605319977,
        "expert_target_speed": 10.0,
        "target_point": [
            12.034145645870856,
            3.874105865567712
        ],
        "target_point_next": [
            33.21705908376171,
            50.26682429273584
        ]
    },
    "335": {
        "acceleration": [
            -0.038931891322135925,
            2.5411367416381836,
            -0.02500457689166069
        ],
        "angular_velocity": [
            0.21934279799461365,
            -0.0025136161129921675,
            0.007960104383528233
        ],
        "forward_vector": [
            -0.016706546768546104,
            0.9998592138290405,
            0.001536249415948987
        ],
        "right_vector": [
            -0.999860405921936,
            -0.016706621274352074,
            3.4621039958437905e-05
        ],
        "location": [
            -1566.7249755859375,
            5799.04052734375,
            376.04498291015625
        ],
        "rotation": [
            -0.001983641879633069,
            0.08802064508199692,
            90.95726013183594
        ],
        "velocity": [
            -0.0346931517124176,
            2.1669158935546875,
            -0.005559911485761404
        ],
        "speed": 2.167193601069284,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.908992767333984,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.9847435143892653e-05,
                3.939604357583448e-05,
                0.00029923926922492683
            ],
            "speed_kmh": 0.0010918572572133894,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.013600804843008518,
                "transform": {
                    "location": {
                        "x": -1500.1278076171875,
                        "y": 5779.705078125,
                        "z": 375.7000732421875
                    },
                    "rotation": {
                        "roll": -0.00033569647348485887,
                        "pitch": 0.2567399740219116,
                        "yaw": 156.428955078125
                    }
                },
                "velocity": {
                    "x": 1.4390572687261738e-05,
                    "y": -0.0001392979029333219,
                    "z": 0.013600083068013191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.522611141204834,
                "transform": {
                    "location": {
                        "x": -1534.2940673828125,
                        "y": 5794.61181640625,
                        "z": 375.8420715332031
                    },
                    "rotation": {
                        "roll": -0.0005798290367238224,
                        "pitch": 0.2759191393852234,
                        "yaw": 156.426513671875
                    }
                },
                "velocity": {
                    "x": -6.894741535186768,
                    "y": 3.00846004486084,
                    "z": 0.03725292161107063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003032936656381935,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00024413829669356346,
                        "pitch": -0.25359809398651123,
                        "yaw": -23.571298599243164
                    }
                },
                "velocity": {
                    "x": 2.9847435143892653e-05,
                    "y": 3.939604357583448e-05,
                    "z": 0.00029923926922492683
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.687255859375,
                        "y": 5754.37939453125,
                        "z": 376.58148193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.09373068064451218,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7703857421875,
                        "y": 5734.3916015625,
                        "z": 376.6173400878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.3978271484375,
                        "y": 5726.904296875,
                        "z": 376.2342834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15832377970218658,
                        "yaw": -90.14044952392578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.789668083190918,
                "transform": {
                    "location": {
                        "x": -1549.622802734375,
                        "y": 5801.298828125,
                        "z": 375.9267883300781
                    },
                    "rotation": {
                        "roll": 7.972215098561719e-05,
                        "pitch": 0.292694091796875,
                        "yaw": 156.42848205566406
                    }
                },
                "velocity": {
                    "x": -3.473395586013794,
                    "y": 1.5154683589935303,
                    "z": 0.02149617113173008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.744590759277344,
                "transform": {
                    "location": {
                        "x": -1566.3143310546875,
                        "y": 5808.5849609375,
                        "z": 376.0328674316406
                    },
                    "rotation": {
                        "roll": -0.005554198287427425,
                        "pitch": 0.049956001341342926,
                        "yaw": 156.46644592285156
                    }
                },
                "velocity": {
                    "x": -8.935189247131348,
                    "y": 3.8881969451904297,
                    "z": 0.037103451788425446
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5865458846092224,
                "transform": {
                    "location": {
                        "x": -1567.1549072265625,
                        "y": 5769.54248046875,
                        "z": 376.12017822265625
                    },
                    "rotation": {
                        "roll": -0.0003662067756522447,
                        "pitch": -0.28753045201301575,
                        "yaw": 89.98583984375
                    }
                },
                "velocity": {
                    "x": 0.002146228449419141,
                    "y": 0.5865387916564941,
                    "z": -0.0019328974885866046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4756481349468231,
                "transform": {
                    "location": {
                        "x": -1567.1258544921875,
                        "y": 5780.96923828125,
                        "z": 376.09027099609375
                    },
                    "rotation": {
                        "roll": -0.0021667699329555035,
                        "pitch": -0.44687193632125854,
                        "yaw": 89.96026611328125
                    }
                },
                "velocity": {
                    "x": -0.000565828348044306,
                    "y": 0.4756448268890381,
                    "z": -0.0016877460293471813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2114507108926773,
        "expert_target_speed": 10.0,
        "target_point": [
            11.562474219225269,
            3.8770913086406553
        ],
        "target_point_next": [
            32.734547410713596,
            50.274757861539015
        ]
    },
    "340": {
        "acceleration": [
            -0.048512592911720276,
            2.146453857421875,
            0.0001585017889738083
        ],
        "angular_velocity": [
            -0.013607128523290157,
            -0.03394018113613129,
            -0.0723179280757904
        ],
        "forward_vector": [
            -0.016468022018671036,
            0.9998619556427002,
            0.0021992900874465704
        ],
        "right_vector": [
            -0.999864399433136,
            -0.016468141227960587,
            3.5153698263457045e-05
        ],
        "location": [
            -1566.7349853515625,
            5799.66748046875,
            376.0431823730469
        ],
        "rotation": [
            -0.002014163648709655,
            0.12601014971733093,
            90.94359588623047
        ],
        "velocity": [
            -0.04546741023659706,
            2.7915823459625244,
            -0.005973729770630598
        ],
        "speed": 2.791952592664004,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.525474548339844,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -9.175390005111694e-06,
                -3.376636595930904e-05,
                -0.0004353826807346195
            ],
            "speed_kmh": 0.0015724313478826914,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23292657732963562,
                "transform": {
                    "location": {
                        "x": -1500.1314697265625,
                        "y": 5779.7060546875,
                        "z": 375.70501708984375
                    },
                    "rotation": {
                        "roll": -0.0009155320003628731,
                        "pitch": 0.26652762293815613,
                        "yaw": 156.4284210205078
                    }
                },
                "velocity": {
                    "x": -0.21315595507621765,
                    "y": 0.09289120137691498,
                    "z": 0.013804130256175995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.239771366119385,
                "transform": {
                    "location": {
                        "x": -1535.9771728515625,
                        "y": 5795.34619140625,
                        "z": 375.8511657714844
                    },
                    "rotation": {
                        "roll": -0.002319339895620942,
                        "pitch": 0.27784526348114014,
                        "yaw": 156.4267578125
                    }
                },
                "velocity": {
                    "x": -6.635496616363525,
                    "y": 2.8953561782836914,
                    "z": 0.03722316771745682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004367864748928696,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00026468574651516974,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.571331024169922
                    }
                },
                "velocity": {
                    "x": -9.175390005111694e-06,
                    "y": -3.376636595930904e-05,
                    "z": -0.0004353826807346195
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.696044921875,
                        "y": 5752.2958984375,
                        "z": 376.5848693847656
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7791748046875,
                        "y": 5732.30859375,
                        "z": 376.6214294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.406494140625,
                        "y": 5724.8203125,
                        "z": 376.240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16088509559631348,
                        "yaw": -90.14043426513672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6017677783966064,
                "transform": {
                    "location": {
                        "x": -1550.468505859375,
                        "y": 5801.66748046875,
                        "z": 375.9316711425781
                    },
                    "rotation": {
                        "roll": 3.592566281440668e-05,
                        "pitch": 0.29369813203811646,
                        "yaw": 156.42849731445312
                    }
                },
                "velocity": {
                    "x": -3.3012166023254395,
                    "y": 1.4402588605880737,
                    "z": 0.018799619749188423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.592724800109863,
                "transform": {
                    "location": {
                        "x": -1568.6502685546875,
                        "y": 5809.6025390625,
                        "z": 376.04248046875
                    },
                    "rotation": {
                        "roll": 0.011444798670709133,
                        "pitch": 0.23084671795368195,
                        "yaw": 156.44161987304688
                    }
                },
                "velocity": {
                    "x": -9.709671020507812,
                    "y": 4.233776569366455,
                    "z": 0.05698751285672188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5225167274475098,
                "transform": {
                    "location": {
                        "x": -1567.1541748046875,
                        "y": 5769.8193359375,
                        "z": 376.1197509765625
                    },
                    "rotation": {
                        "roll": 0.0004947888082824647,
                        "pitch": -0.06177222728729248,
                        "yaw": 89.94817352294922
                    }
                },
                "velocity": {
                    "x": 0.004314932972192764,
                    "y": 1.5225086212158203,
                    "z": -0.002459344919770956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3068703413009644,
                "transform": {
                    "location": {
                        "x": -1567.1251220703125,
                        "y": 5781.1962890625,
                        "z": 376.0880432128906
                    },
                    "rotation": {
                        "roll": 0.001135025406256318,
                        "pitch": -0.024745773524045944,
                        "yaw": 90.00562286376953
                    }
                },
                "velocity": {
                    "x": 0.0030490471981465816,
                    "y": 1.3068645000457764,
                    "z": -0.0024589060340076685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20284821093082428,
        "expert_target_speed": 3.4087079895505816,
        "target_point": [
            10.934521198325195,
            3.8801502976647995
        ],
        "target_point_next": [
            32.09558703876817,
            50.28283812149803
        ]
    },
    "345": {
        "acceleration": [
            -0.07226929068565369,
            1.8406438827514648,
            -0.0024688709527254105
        ],
        "angular_velocity": [
            -0.12286406755447388,
            0.03366914018988609,
            0.4655943810939789
        ],
        "forward_vector": [
            -0.017503222450613976,
            0.9998453855514526,
            0.0016744128661230206
        ],
        "right_vector": [
            -0.9998467564582825,
            -0.01750369183719158,
            0.0002668483357410878
        ],
        "location": [
            -1566.7490234375,
            5800.4267578125,
            376.0414733886719
        ],
        "rotation": [
            -0.015289305709302425,
            0.0959368348121643,
            91.00291442871094
        ],
        "velocity": [
            -0.06748013198375702,
            3.2587649822235107,
            -0.006619481835514307
        ],
        "speed": 3.2594635720588663,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.066165924072266,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.1574439668038394e-05,
                -4.725269718619529e-06,
                4.0410457586403936e-05
            ],
            "speed_kmh": 0.00015228046424973127,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5167020559310913,
                "transform": {
                    "location": {
                        "x": -1500.3612060546875,
                        "y": 5779.806640625,
                        "z": 375.706787109375
                    },
                    "rotation": {
                        "roll": 0.001087215612642467,
                        "pitch": 0.36205464601516724,
                        "yaw": 156.42478942871094
                    }
                },
                "velocity": {
                    "x": -1.3898789882659912,
                    "y": 0.607067883014679,
                    "z": 0.009497737511992455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.789443492889404,
                "transform": {
                    "location": {
                        "x": -1537.4779052734375,
                        "y": 5796.0009765625,
                        "z": 375.8594970703125
                    },
                    "rotation": {
                        "roll": -0.0012207052204757929,
                        "pitch": 0.2575732469558716,
                        "yaw": 156.42893981933594
                    }
                },
                "velocity": {
                    "x": -5.30634069442749,
                    "y": 2.3150718212127686,
                    "z": 0.02916187234222889
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.230012928019278e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00021361556719057262,
                        "pitch": -0.2532634139060974,
                        "yaw": -23.57132911682129
                    }
                },
                "velocity": {
                    "x": 1.1574439668038394e-05,
                    "y": -4.725269718619529e-06,
                    "z": 4.0410457586403936e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.70458984375,
                        "y": 5750.212890625,
                        "z": 376.5883483886719
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.78759765625,
                        "y": 5730.22509765625,
                        "z": 376.6256103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.416259765625,
                        "y": 5722.7373046875,
                        "z": 376.2462463378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.16088509559631348,
                        "yaw": -90.14043426513672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.544471263885498,
                "transform": {
                    "location": {
                        "x": -1551.2762451171875,
                        "y": 5802.02001953125,
                        "z": 375.9361572265625
                    },
                    "rotation": {
                        "roll": 0.0001622725249035284,
                        "pitch": 0.29696977138519287,
                        "yaw": 156.42855834960938
                    }
                },
                "velocity": {
                    "x": -3.248680353164673,
                    "y": 1.417407512664795,
                    "z": 0.017574815079569817
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.408427238464355,
                "transform": {
                    "location": {
                        "x": -1571.17626953125,
                        "y": 5810.70361328125,
                        "z": 376.0572814941406
                    },
                    "rotation": {
                        "roll": 0.002131703309714794,
                        "pitch": 0.20880569517612457,
                        "yaw": 156.45433044433594
                    }
                },
                "velocity": {
                    "x": -10.457597732543945,
                    "y": 4.5593390464782715,
                    "z": 0.057327039539813995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3685436248779297,
                "transform": {
                    "location": {
                        "x": -1567.1531982421875,
                        "y": 5770.33349609375,
                        "z": 376.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0010986332781612873,
                        "pitch": -0.019377246499061584,
                        "yaw": 89.99597930908203
                    }
                },
                "velocity": {
                    "x": 0.004149348940700293,
                    "y": 2.368532419204712,
                    "z": -0.005996617954224348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.134554624557495,
                "transform": {
                    "location": {
                        "x": -1567.1243896484375,
                        "y": 5781.62109375,
                        "z": 376.08642578125
                    },
                    "rotation": {
                        "roll": 0.001453834236599505,
                        "pitch": 0.14237529039382935,
                        "yaw": 89.97369384765625
                    }
                },
                "velocity": {
                    "x": 0.004703535698354244,
                    "y": 2.1345462799072266,
                    "z": -0.003726634895429015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17686989903450012,
        "expert_target_speed": 4.039888827166563,
        "target_point": [
            10.179125383181718,
            3.8680823011998924
        ],
        "target_point_next": [
            31.38821656373933,
            50.24883904442775
        ]
    },
    "350": {
        "acceleration": [
            -0.07016599178314209,
            1.9562959671020508,
            -0.020387843251228333
        ],
        "angular_velocity": [
            -0.02142094448208809,
            0.037946801632642746,
            0.4284347593784332
        ],
        "forward_vector": [
            -0.01945411041378975,
            0.999809741973877,
            0.0014350408455356956
        ],
        "right_vector": [
            -0.9998106956481934,
            -0.019454529508948326,
            0.0002790988946799189
        ],
        "location": [
            -1566.767822265625,
            5801.30322265625,
            376.03955078125
        ],
        "rotation": [
            -0.015991205349564552,
            0.08222181349992752,
            91.11470794677734
        ],
        "velocity": [
            -0.08494620770215988,
            3.7381277084350586,
            -0.009149818681180477
        ],
        "speed": 3.7390927539675882,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.543209075927734,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.7714648492983542e-05,
                2.335149656573776e-05,
                0.0007112165912985802
            ],
            "speed_kmh": 0.002562553083563917,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4966659545898438,
                "transform": {
                    "location": {
                        "x": -1500.8233642578125,
                        "y": 5780.0087890625,
                        "z": 375.7093811035156
                    },
                    "rotation": {
                        "roll": -0.0006103537161834538,
                        "pitch": 0.3635026514530182,
                        "yaw": 156.46444702148438
                    }
                },
                "velocity": {
                    "x": -2.288893461227417,
                    "y": 0.9970974326133728,
                    "z": 0.010253362357616425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6462321281433105,
                "transform": {
                    "location": {
                        "x": -1538.2720947265625,
                        "y": 5796.34716796875,
                        "z": 375.8638916015625
                    },
                    "rotation": {
                        "roll": 2.3802447685739025e-05,
                        "pitch": 0.21905098855495453,
                        "yaw": 156.442138671875
                    }
                },
                "velocity": {
                    "x": -2.425739288330078,
                    "y": 1.0574195384979248,
                    "z": 0.014034681022167206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007118203211575747,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": -0.00021361556719057262,
                        "pitch": -0.2532634139060974,
                        "yaw": -23.57132911682129
                    }
                },
                "velocity": {
                    "x": 1.7714648492983542e-05,
                    "y": 2.335149656573776e-05,
                    "z": 0.0007112165912985802
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.71337890625,
                        "y": 5748.12939453125,
                        "z": 376.59185791015625
                    },
                    "rotation": {
                        "roll": -3.3350582295810227e-09,
                        "pitch": 0.09896260499954224,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.79638671875,
                        "y": 5728.1416015625,
                        "z": 376.6297912597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4455,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1564.423095703125,
                        "y": 5720.65380859375,
                        "z": 376.25213623046875
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16344641149044037,
                        "yaw": -90.14044189453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5453362464904785,
                "transform": {
                    "location": {
                        "x": -1552.109619140625,
                        "y": 5802.3837890625,
                        "z": 375.94091796875
                    },
                    "rotation": {
                        "roll": -0.0003356910601723939,
                        "pitch": 0.2997974753379822,
                        "yaw": 156.4267120361328
                    }
                },
                "velocity": {
                    "x": -3.249396800994873,
                    "y": 1.4179238080978394,
                    "z": 0.017940111458301544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.603759765625,
                "transform": {
                    "location": {
                        "x": -1573.832275390625,
                        "y": 5811.86181640625,
                        "z": 376.0715637207031
                    },
                    "rotation": {
                        "roll": -0.0004882798530161381,
                        "pitch": 0.25267601013183594,
                        "yaw": 156.4306182861328
                    }
                },
                "velocity": {
                    "x": -10.636472702026367,
                    "y": 4.637828350067139,
                    "z": 0.05682728812098503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012678960338234901,
                "transform": {
                    "location": {
                        "x": -1567.152587890625,
                        "y": 5770.66259765625,
                        "z": 376.11724853515625
                    },
                    "rotation": {
                        "roll": -0.005584716331213713,
                        "pitch": -0.42913392186164856,
                        "yaw": 90.12802124023438
                    }
                },
                "velocity": {
                    "x": -0.00014761033526156098,
                    "y": 7.780209125485271e-05,
                    "z": -0.001256868476048112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9224324226379395,
                "transform": {
                    "location": {
                        "x": -1567.1229248046875,
                        "y": 5782.29248046875,
                        "z": 376.08447265625
                    },
                    "rotation": {
                        "roll": 0.0024257772602140903,
                        "pitch": 0.23071011900901794,
                        "yaw": 89.93141174316406
                    }
                },
                "velocity": {
                    "x": 0.0066049061715602875,
                    "y": 2.9224190711975098,
                    "z": -0.005834846291691065
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15056897699832916,
        "expert_target_speed": 4.628910585734535,
        "target_point": [
            9.309989701171968,
            3.846466357047875
        ],
        "target_point_next": [
            30.609550449544432,
            50.185746203697136
        ]
    },
    "355": {
        "acceleration": [
            -0.08462995290756226,
            1.8665504455566406,
            0.008820518851280212
        ],
        "angular_velocity": [
            -0.004180957563221455,
            0.020573271438479424,
            0.5731147527694702
        ],
        "forward_vector": [
            -0.021681420505046844,
            0.9997639656066895,
            0.0014021391980350018
        ],
        "right_vector": [
            -0.9997648596763611,
            -0.021681861951947212,
            0.00030146961216814816
        ],
        "location": [
            -1566.791259765625,
            5802.30126953125,
            376.03704833984375
        ],
        "rotation": [
            -0.0172729529440403,
            0.08033668249845505,
            91.24235534667969
        ],
        "velocity": [
            -0.10513027012348175,
            4.2202277183532715,
            -0.009807701222598553
        ],
        "speed": 4.221536967557372,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.95859909057617,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.7067641238099895e-05,
                2.016065627685748e-05,
                -0.00011141996219521388
            ],
            "speed_kmh": 0.00041223009450099045,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8420145511627197,
                "transform": {
                    "location": {
                        "x": -1501.55322265625,
                        "y": 5780.32666015625,
                        "z": 375.7125549316406
                    },
                    "rotation": {
                        "roll": 0.00025751220528036356,
                        "pitch": 0.3934462070465088,
                        "yaw": 156.4536590576172
                    }
                },
                "velocity": {
                    "x": -3.5221993923187256,
                    "y": 1.5345622301101685,
                    "z": 0.017477598041296005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3131775856018066,
                "transform": {
                    "location": {
                        "x": -1538.9556884765625,
                        "y": 5796.6455078125,
                        "z": 375.8671875
                    },
                    "rotation": {
                        "roll": -0.0009460533619858325,
                        "pitch": 0.2908909022808075,
                        "yaw": 156.46437072753906
                    }
                },
                "velocity": {
                    "x": -3.0376052856445312,
                    "y": 1.3228203058242798,
                    "z": 0.015674667432904243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011450835881987587,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0003473691758699715,
                        "pitch": -0.2532360851764679,
                        "yaw": -23.571331024169922
                    }
                },
                "velocity": {
                    "x": 1.7067641238099895e-05,
                    "y": 2.016065627685748e-05,
                    "z": -0.00011141996219521388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7218017578125,
                        "y": 5746.0458984375,
                        "z": 376.5954895019531
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.804931640625,
                        "y": 5726.05859375,
                        "z": 376.63397216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.291804552078247,
                "transform": {
                    "location": {
                        "x": -1552.888427734375,
                        "y": 5802.72314453125,
                        "z": 375.9453430175781
                    },
                    "rotation": {
                        "roll": 1.1599468052736484e-05,
                        "pitch": 0.2940328121185303,
                        "yaw": 156.42514038085938
                    }
                },
                "velocity": {
                    "x": -3.016958475112915,
                    "y": 1.3166760206222534,
                    "z": 0.017401790246367455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.443012237548828,
                "transform": {
                    "location": {
                        "x": -1576.468994140625,
                        "y": 5813.01171875,
                        "z": 376.0855407714844
                    },
                    "rotation": {
                        "roll": -0.0014953574864193797,
                        "pitch": 0.29403963685035706,
                        "yaw": 156.44418334960938
                    }
                },
                "velocity": {
                    "x": -10.488460540771484,
                    "y": 4.5750956535339355,
                    "z": 0.05672071501612663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1771916151046753,
                "transform": {
                    "location": {
                        "x": -1567.152587890625,
                        "y": 5770.8349609375,
                        "z": 376.1171875
                    },
                    "rotation": {
                        "roll": -0.00067138735903427,
                        "pitch": -0.10543762147426605,
                        "yaw": 90.09918212890625
                    }
                },
                "velocity": {
                    "x": -0.0004862881323788315,
                    "y": 1.1771904230117798,
                    "z": -0.0016486644744873047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9558234214782715,
                "transform": {
                    "location": {
                        "x": -1567.12109375,
                        "y": 5783.0087890625,
                        "z": 376.0835876464844
                    },
                    "rotation": {
                        "roll": 0.000710112217348069,
                        "pitch": 0.006878000218421221,
                        "yaw": 89.91481018066406
                    }
                },
                "velocity": {
                    "x": 0.006486848462373018,
                    "y": 2.9558098316192627,
                    "z": -0.006154060363769531
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1495671421289444,
        "expert_target_speed": 5.164347330906467,
        "target_point": [
            8.320217996803299,
            3.8239172684764116
        ],
        "target_point_next": [
            29.722992784449918,
            50.11561605096831
        ]
    },
    "360": {
        "acceleration": [
            -0.2924194931983948,
            0.3298759460449219,
            -0.03451766446232796
        ],
        "angular_velocity": [
            -0.5114185810089111,
            0.3537462651729584,
            1.8437029123306274
        ],
        "forward_vector": [
            -0.0266110859811306,
            0.9996456503868103,
            0.0006946324720047414
        ],
        "right_vector": [
            -0.9996453523635864,
            -0.026611777022480965,
            0.0010098700877279043
        ],
        "location": [
            -1566.8233642578125,
            5803.404296875,
            376.0345764160156
        ],
        "rotation": [
            -0.057861316949129105,
            0.039799511432647705,
            91.52488708496094
        ],
        "velocity": [
            -0.16470608115196228,
            4.522881507873535,
            -0.011859082616865635
        ],
        "speed": 4.52587949767035,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.323387145996094,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.319496161362622e-05,
                1.858770815488242e-06,
                0.0006633943994529545
            ],
            "speed_kmh": 0.0023896885430666017,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.145763397216797,
                "transform": {
                    "location": {
                        "x": -1502.590087890625,
                        "y": 5780.77880859375,
                        "z": 375.71771240234375
                    },
                    "rotation": {
                        "roll": -0.0004577738873194903,
                        "pitch": 0.39993488788604736,
                        "yaw": 156.4448699951172
                    }
                },
                "velocity": {
                    "x": -4.716938018798828,
                    "y": 2.0563483238220215,
                    "z": 0.028449658304452896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.646876811981201,
                "transform": {
                    "location": {
                        "x": -1539.75244140625,
                        "y": 5796.9931640625,
                        "z": 375.87152099609375
                    },
                    "rotation": {
                        "roll": -0.0004272394871804863,
                        "pitch": 0.29919642210006714,
                        "yaw": 156.45997619628906
                    }
                },
                "velocity": {
                    "x": -3.34268856048584,
                    "y": 1.4580247402191162,
                    "z": 0.017560500651597977
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000663802376948297,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 2.319496161362622e-05,
                    "y": 1.858770815488242e-06,
                    "z": 0.0006633943994529545
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.730712890625,
                        "y": 5743.962890625,
                        "z": 376.5992431640625
                    },
                    "rotation": {
                        "roll": 3.3350586736702326e-09,
                        "pitch": 0.10421501845121384,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8133544921875,
                        "y": 5723.97509765625,
                        "z": 376.6383056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.152932643890381,
                "transform": {
                    "location": {
                        "x": -1553.6273193359375,
                        "y": 5803.04541015625,
                        "z": 375.94952392578125
                    },
                    "rotation": {
                        "roll": 1.994388185266871e-06,
                        "pitch": 0.2944630980491638,
                        "yaw": 156.42539978027344
                    }
                },
                "velocity": {
                    "x": -2.8897862434387207,
                    "y": 1.2608836889266968,
                    "z": 0.01712363213300705
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.475435256958008,
                "transform": {
                    "location": {
                        "x": -1579.0931396484375,
                        "y": 5814.15673828125,
                        "z": 376.0999450683594
                    },
                    "rotation": {
                        "roll": 8.313722355524078e-05,
                        "pitch": 0.28411537408828735,
                        "yaw": 156.41485595703125
                    }
                },
                "velocity": {
                    "x": -10.517630577087402,
                    "y": 4.589321613311768,
                    "z": 0.0564153753221035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0465855598449707,
                "transform": {
                    "location": {
                        "x": -1567.152099609375,
                        "y": 5771.24169921875,
                        "z": 376.1163635253906
                    },
                    "rotation": {
                        "roll": 0.0012729524169117212,
                        "pitch": -0.025210225954651833,
                        "yaw": 90.04610443115234
                    }
                },
                "velocity": {
                    "x": 0.003106777323409915,
                    "y": 2.0465762615203857,
                    "z": -0.005350818391889334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2673532962799072,
                "transform": {
                    "location": {
                        "x": -1567.119140625,
                        "y": 5783.765625,
                        "z": 376.0818176269531
                    },
                    "rotation": {
                        "roll": 6.54366594972089e-05,
                        "pitch": -0.013790151104331017,
                        "yaw": 89.89156341552734
                    }
                },
                "velocity": {
                    "x": 0.007482660934329033,
                    "y": 3.267338275909424,
                    "z": -0.006530332379043102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2873569428920746,
        "expert_target_speed": 5.503895347248716,
        "target_point": [
            7.235484950564778,
            3.7800974882462195
        ],
        "target_point_next": [
            28.86630578017337,
            49.96567678543653
        ]
    },
    "365": {
        "acceleration": [
            -0.3354012966156006,
            -1.4531707763671875,
            0.014665983617305756
        ],
        "angular_velocity": [
            -1.0658364295959473,
            0.3304610252380371,
            3.4509894847869873
        ],
        "forward_vector": [
            -0.03867260739207268,
            0.9992454648017883,
            -0.003585688304156065
        ],
        "right_vector": [
            -0.9992483258247375,
            -0.03866259381175041,
            0.0028213304467499256
        ],
        "location": [
            -1566.8736572265625,
            5804.5068359375,
            376.0308837890625
        ],
        "rotation": [
            -0.1616515815258026,
            -0.20544524490833282,
            92.21634674072266
        ],
        "velocity": [
            -0.24754634499549866,
            4.264345645904541,
            -0.021051853895187378
        ],
        "speed": 4.271524666985507,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.69042205810547,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.276059240102768e-05,
                4.274379534763284e-06,
                0.0005678374436683953
            ],
            "speed_kmh": 0.002045914166833617,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.430133819580078,
                "transform": {
                    "location": {
                        "x": -1503.80908203125,
                        "y": 5781.31005859375,
                        "z": 375.7244873046875
                    },
                    "rotation": {
                        "roll": -0.000579841376747936,
                        "pitch": 0.3198782205581665,
                        "yaw": 156.35325622558594
                    }
                },
                "velocity": {
                    "x": -4.976504802703857,
                    "y": 2.1725926399230957,
                    "z": 0.024350175634026527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.317507743835449,
                "transform": {
                    "location": {
                        "x": -1540.6663818359375,
                        "y": 5797.39111328125,
                        "z": 375.87640380859375
                    },
                    "rotation": {
                        "roll": -0.0005188016220927238,
                        "pitch": 0.3064022660255432,
                        "yaw": 156.44920349121094
                    }
                },
                "velocity": {
                    "x": -3.9571125507354736,
                    "y": 1.7267409563064575,
                    "z": 0.022318782284855843
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005683095077984035,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 2.276059240102768e-05,
                    "y": 4.274379534763284e-06,
                    "z": 0.0005678374436683953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.739013671875,
                        "y": 5741.87939453125,
                        "z": 376.6029968261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8221435546875,
                        "y": 5721.8916015625,
                        "z": 376.64263916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.96751070022583,
                "transform": {
                    "location": {
                        "x": -1554.3267822265625,
                        "y": 5803.35107421875,
                        "z": 375.95355224609375
                    },
                    "rotation": {
                        "roll": 0.0004282798327039927,
                        "pitch": 0.2943947911262512,
                        "yaw": 156.42544555664062
                    }
                },
                "velocity": {
                    "x": -2.719778060913086,
                    "y": 1.1868643760681152,
                    "z": 0.016752224415540695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.491082191467285,
                "transform": {
                    "location": {
                        "x": -1581.7257080078125,
                        "y": 5815.3056640625,
                        "z": 376.11419677734375
                    },
                    "rotation": {
                        "roll": -0.0004882774665020406,
                        "pitch": 0.2765543460845947,
                        "yaw": 156.43557739257812
                    }
                },
                "velocity": {
                    "x": -10.531803131103516,
                    "y": 4.595965385437012,
                    "z": 0.05640442669391632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0183002948760986,
                "transform": {
                    "location": {
                        "x": -1567.1510009765625,
                        "y": 5771.77734375,
                        "z": 376.1148986816406
                    },
                    "rotation": {
                        "roll": 0.000535830738954246,
                        "pitch": -0.1174587532877922,
                        "yaw": 89.98523712158203
                    }
                },
                "velocity": {
                    "x": 0.0040707094594836235,
                    "y": 2.0182886123657227,
                    "z": -0.005580263212323189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.529707193374634,
                "transform": {
                    "location": {
                        "x": -1567.1171875,
                        "y": 5784.642578125,
                        "z": 376.0798034667969
                    },
                    "rotation": {
                        "roll": 0.00043656930211000144,
                        "pitch": 0.013346188701689243,
                        "yaw": 89.88653564453125
                    }
                },
                "velocity": {
                    "x": 0.008105170913040638,
                    "y": 3.529686450958252,
                    "z": -0.008985958062112331
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4994944632053375,
        "expert_target_speed": 5.304091309934148,
        "target_point": [
            28.363493692420647,
            49.60608519158189
        ],
        "target_point_next": [
            28.79854138826542,
            50.50643778753995
        ]
    },
    "370": {
        "acceleration": [
            -0.8063286542892456,
            -1.227874755859375,
            0.19799917936325073
        ],
        "angular_velocity": [
            -0.003754162462428212,
            0.6387218236923218,
            6.337497234344482
        ],
        "forward_vector": [
            -0.05941542610526085,
            0.9982134699821472,
            -0.006301956716924906
        ],
        "right_vector": [
            -0.9982196688652039,
            -0.059380438178777695,
            0.005601019598543644
        ],
        "location": [
            -1566.9483642578125,
            5805.52490234375,
            376.0274963378906
        ],
        "rotation": [
            -0.3209228515625,
            -0.3610779345035553,
            93.40632629394531
        ],
        "velocity": [
            -0.3863738477230072,
            3.9221739768981934,
            -0.00486927991732955
        ],
        "speed": 3.9411588974896294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.097412109375,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -2.780035174509976e-06,
                -6.474871042883024e-06,
                0.0002835850464180112
            ],
            "speed_kmh": 0.0010212212782195577,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.806517124176025,
                "transform": {
                    "location": {
                        "x": -1505.1436767578125,
                        "y": 5781.89306640625,
                        "z": 375.7304992675781
                    },
                    "rotation": {
                        "roll": -0.0013427683152258396,
                        "pitch": 0.37866565585136414,
                        "yaw": 156.37806701660156
                    }
                },
                "velocity": {
                    "x": -6.237794876098633,
                    "y": 2.7235400676727295,
                    "z": 0.03036344423890114
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.079583644866943,
                "transform": {
                    "location": {
                        "x": -1541.74462890625,
                        "y": 5797.861328125,
                        "z": 375.882568359375
                    },
                    "rotation": {
                        "roll": -0.00030517514096572995,
                        "pitch": 0.3087245225906372,
                        "yaw": 156.44512939453125
                    }
                },
                "velocity": {
                    "x": -4.656250953674316,
                    "y": 2.02993106842041,
                    "z": 0.029554499313235283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002836725616361946,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": -2.780035174509976e-06,
                    "y": -6.474871042883024e-06,
                    "z": 0.0002835850464180112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.74755859375,
                        "y": 5739.7958984375,
                        "z": 376.60687255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8306884765625,
                        "y": 5719.80859375,
                        "z": 376.64697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.825420379638672,
                "transform": {
                    "location": {
                        "x": -1554.9901123046875,
                        "y": 5803.640625,
                        "z": 375.95745849609375
                    },
                    "rotation": {
                        "roll": -0.0029907289426773787,
                        "pitch": 0.2960681915283203,
                        "yaw": 156.4240264892578
                    }
                },
                "velocity": {
                    "x": -2.5894713401794434,
                    "y": 1.1302295923233032,
                    "z": 0.014819192700088024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.478536605834961,
                "transform": {
                    "location": {
                        "x": -1584.3570556640625,
                        "y": 5816.45361328125,
                        "z": 376.1282653808594
                    },
                    "rotation": {
                        "roll": -0.0003967293305322528,
                        "pitch": 0.2797030508518219,
                        "yaw": 156.41131591796875
                    }
                },
                "velocity": {
                    "x": -10.51901626586914,
                    "y": 4.593902587890625,
                    "z": 0.05615180730819702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6693451404571533,
                "transform": {
                    "location": {
                        "x": -1567.1500244140625,
                        "y": 5772.33935546875,
                        "z": 376.1135559082031
                    },
                    "rotation": {
                        "roll": 0.00024087770725600421,
                        "pitch": -0.06442233920097351,
                        "yaw": 89.95758056640625
                    }
                },
                "velocity": {
                    "x": 0.005375600885599852,
                    "y": 2.669330596923828,
                    "z": -0.0069967457093298435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2044520378112793,
                "transform": {
                    "location": {
                        "x": -1567.115234375,
                        "y": 5785.486328125,
                        "z": 376.07843017578125
                    },
                    "rotation": {
                        "roll": 0.0008859008667059243,
                        "pitch": -0.1733638495206833,
                        "yaw": 89.8713607788086
                    }
                },
                "velocity": {
                    "x": 0.008040998131036758,
                    "y": 3.2044286727905273,
                    "z": -0.00921553559601307
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.73862224817276,
        "expert_target_speed": 5.016539005749823,
        "target_point": [
            28.366858867835994,
            48.99226674008278
        ],
        "target_point_next": [
            28.820510710420542,
            49.88339035688793
        ]
    },
    "375": {
        "acceleration": [
            -1.147085428237915,
            -1.4941883087158203,
            -0.015000533312559128
        ],
        "angular_velocity": [
            0.4703253507614136,
            0.7180356979370117,
            11.827861785888672
        ],
        "forward_vector": [
            -0.10034160315990448,
            0.9949422478675842,
            -0.004631740506738424
        ],
        "right_vector": [
            -0.9949188828468323,
            -0.10029850900173187,
            0.00875147432088852
        ],
        "location": [
            -1567.0731201171875,
            5806.466796875,
            376.0277404785156
        ],
        "rotation": [
            -0.501434326171875,
            -0.2653801441192627,
            95.75890350341797
        ],
        "velocity": [
            -0.6553946733474731,
            3.603780508041382,
            0.0019977570045739412
        ],
        "speed": 3.6628917712636886,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.51399612426758,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                1.9388497094041668e-05,
                -2.3889726890047314e-06,
                0.0005684520001523197
            ],
            "speed_kmh": 0.0020476352447237095,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.599806785583496,
                "transform": {
                    "location": {
                        "x": -1506.9586181640625,
                        "y": 5782.685546875,
                        "z": 375.73883056640625
                    },
                    "rotation": {
                        "roll": -0.0009765599388629198,
                        "pitch": 0.446571409702301,
                        "yaw": 156.41006469726562
                    }
                },
                "velocity": {
                    "x": -7.881165027618408,
                    "y": 3.4412953853607178,
                    "z": 0.03737276792526245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.591823101043701,
                "transform": {
                    "location": {
                        "x": -1542.96826171875,
                        "y": 5798.39697265625,
                        "z": 375.8895263671875
                    },
                    "rotation": {
                        "roll": 9.048794163390994e-05,
                        "pitch": 0.3044351637363434,
                        "yaw": 156.66061401367188
                    }
                },
                "velocity": {
                    "x": -5.127894401550293,
                    "y": 2.2298800945281982,
                    "z": 0.028647325932979584
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005687875673174858,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00027945684269070625,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571361541748047
                    }
                },
                "velocity": {
                    "x": 1.9388497094041668e-05,
                    "y": -2.3889726890047314e-06,
                    "z": 0.0005684520001523197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7567138671875,
                        "y": 5737.712890625,
                        "z": 376.61077880859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.10947426408529282,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8394775390625,
                        "y": 5717.72509765625,
                        "z": 376.65142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12185056507587433,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7017598152160645,
                "transform": {
                    "location": {
                        "x": -1555.6190185546875,
                        "y": 5803.9150390625,
                        "z": 375.9609375
                    },
                    "rotation": {
                        "roll": -0.0029296898283064365,
                        "pitch": 0.29660093784332275,
                        "yaw": 156.4249725341797
                    }
                },
                "velocity": {
                    "x": -2.476229190826416,
                    "y": 1.0805623531341553,
                    "z": 0.013450984843075275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.480937957763672,
                "transform": {
                    "location": {
                        "x": -1586.9873046875,
                        "y": 5817.6015625,
                        "z": 376.1423645019531
                    },
                    "rotation": {
                        "roll": -0.0002441421092953533,
                        "pitch": 0.2793615460395813,
                        "yaw": 156.43991088867188
                    }
                },
                "velocity": {
                    "x": -10.522868156433105,
                    "y": 4.591066360473633,
                    "z": 0.057389430701732635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.230857849121094,
                "transform": {
                    "location": {
                        "x": -1567.1480712890625,
                        "y": 5773.2099609375,
                        "z": 376.1115417480469
                    },
                    "rotation": {
                        "roll": 0.0006832428043708205,
                        "pitch": 0.06535124778747559,
                        "yaw": 89.91427612304688
                    }
                },
                "velocity": {
                    "x": 0.009668130427598953,
                    "y": 4.230834007263184,
                    "z": -0.010438136756420135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6225202083587646,
                "transform": {
                    "location": {
                        "x": -1567.1134033203125,
                        "y": 5786.330078125,
                        "z": 376.0758972167969
                    },
                    "rotation": {
                        "roll": -0.0006713899783790112,
                        "pitch": -0.06524196267127991,
                        "yaw": 89.87500762939453
                    }
                },
                "velocity": {
                    "x": 0.008245991542935371,
                    "y": 3.62249755859375,
                    "z": -0.00978053081780672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9764565825462341,
        "expert_target_speed": 4.767230601828573,
        "target_point": [
            29.40432408774497,
            47.75695914399416
        ],
        "target_point_next": [
            29.894172387168254,
            48.628710219852614
        ]
    },
    "380": {
        "acceleration": [
            -1.107187271118164,
            -2.644639015197754,
            0.00287818955257535
        ],
        "angular_velocity": [
            0.3491783142089844,
            0.4482048451900482,
            17.316972732543945
        ],
        "forward_vector": [
            -0.16433605551719666,
            0.9864007234573364,
            -0.002691980917006731
        ],
        "right_vector": [
            -0.9863429665565491,
            -0.1642947494983673,
            0.011607883498072624
        ],
        "location": [
            -1567.2633056640625,
            5807.2998046875,
            376.0270690917969
        ],
        "rotation": [
            -0.66510009765625,
            -0.15423932671546936,
            99.45870208740234
        ],
        "velocity": [
            -0.944350004196167,
            3.020362377166748,
            -0.0014993667136877775
        ],
        "speed": 3.164551440540929,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.93863296508789,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                7.805861059750896e-06,
                -1.7135413145297207e-05,
                1.3049517292529345e-05
            ],
            "speed_kmh": 8.247408700539753e-05,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.704120635986328,
                "transform": {
                    "location": {
                        "x": -1509.086181640625,
                        "y": 5783.6142578125,
                        "z": 375.7496032714844
                    },
                    "rotation": {
                        "roll": -0.00042724402737803757,
                        "pitch": 0.3995797038078308,
                        "yaw": 156.41177368164062
                    }
                },
                "velocity": {
                    "x": -8.893200874328613,
                    "y": 3.883173704147339,
                    "z": 0.043467845767736435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0407023429870605,
                "transform": {
                    "location": {
                        "x": -1544.1959228515625,
                        "y": 5798.93115234375,
                        "z": 375.8965148925781
                    },
                    "rotation": {
                        "roll": 0.0011374140158295631,
                        "pitch": 0.2861849069595337,
                        "yaw": 156.9132843017578
                    }
                },
                "velocity": {
                    "x": -4.626683712005615,
                    "y": 2.000450372695923,
                    "z": 0.025937775149941444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.290946758876089e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.0005291513516567647,
                        "pitch": -0.2534751296043396,
                        "yaw": -23.571392059326172
                    }
                },
                "velocity": {
                    "x": 7.805861059750896e-06,
                    "y": -1.7135413145297207e-05,
                    "z": 1.3049517292529345e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7652587890625,
                        "y": 5735.62939453125,
                        "z": 376.6148681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.847900390625,
                        "y": 5715.6416015625,
                        "z": 376.6559143066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12502659857273102,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2356457710266113,
                "transform": {
                    "location": {
                        "x": -1556.2913818359375,
                        "y": 5804.2080078125,
                        "z": 375.9646301269531
                    },
                    "rotation": {
                        "roll": -0.003387455828487873,
                        "pitch": 0.3086493909358978,
                        "yaw": 156.4232635498047
                    }
                },
                "velocity": {
                    "x": -2.9654629230499268,
                    "y": 1.294297456741333,
                    "z": 0.015079707838594913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.482259750366211,
                "transform": {
                    "location": {
                        "x": -1589.6182861328125,
                        "y": 5818.75,
                        "z": 376.15643310546875
                    },
                    "rotation": {
                        "roll": -0.0001830998808145523,
                        "pitch": 0.2768958508968353,
                        "yaw": 156.42007446289062
                    }
                },
                "velocity": {
                    "x": -10.524245262145996,
                    "y": 4.5912275314331055,
                    "z": 0.05627480521798134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.32738733291626,
                "transform": {
                    "location": {
                        "x": -1567.14501953125,
                        "y": 5774.44189453125,
                        "z": 376.10888671875
                    },
                    "rotation": {
                        "roll": 0.0014441786333918571,
                        "pitch": 0.0513971708714962,
                        "yaw": 89.87664794921875
                    }
                },
                "velocity": {
                    "x": 0.013908571563661098,
                    "y": 5.327354431152344,
                    "z": -0.012632112018764019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.159912347793579,
                "transform": {
                    "location": {
                        "x": -1567.111572265625,
                        "y": 5787.1640625,
                        "z": 376.0744323730469
                    },
                    "rotation": {
                        "roll": -0.001342788222245872,
                        "pitch": -0.21255546808242798,
                        "yaw": 89.8653335571289
                    }
                },
                "velocity": {
                    "x": 0.007116060703992844,
                    "y": 3.15989351272583,
                    "z": -0.008217467926442623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.999065637588501,
        "expert_target_speed": 4.297043412564312,
        "target_point": [
            31.571818623531783,
            45.709283594116386
        ],
        "target_point_next": [
            32.116899336138665,
            46.547608299378155
        ]
    },
    "385": {
        "acceleration": [
            -0.40045976638793945,
            -2.2769689559936523,
            0.042972370982170105
        ],
        "angular_velocity": [
            0.4574606418609619,
            -0.2679602801799774,
            18.5972957611084
        ],
        "forward_vector": [
            -0.24289090931415558,
            0.9700530171394348,
            -0.0010514255845919251
        ],
        "right_vector": [
            -0.9699867367744446,
            -0.2428613156080246,
            0.011998310685157776
        ],
        "location": [
            -1567.5067138671875,
            5807.97607421875,
            376.02685546875
        ],
        "rotation": [
            -0.6874694228172302,
            -0.060242265462875366,
            104.05723571777344
        ],
        "velocity": [
            -1.0994181632995605,
            2.404606580734253,
            0.003174371551722288
        ],
        "speed": 2.6440221455017077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.39985275268555,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                2.137284718628507e-05,
                -5.572866484726546e-06,
                -1.5423594959429465e-05
            ],
            "speed_kmh": 9.698260483478141e-05,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.145560264587402,
                "transform": {
                    "location": {
                        "x": -1511.4547119140625,
                        "y": 5784.64794921875,
                        "z": 375.76129150390625
                    },
                    "rotation": {
                        "roll": -0.0003357021196279675,
                        "pitch": 0.41968095302581787,
                        "yaw": 156.41673278808594
                    }
                },
                "velocity": {
                    "x": -10.214599609375,
                    "y": 4.459036350250244,
                    "z": 0.04954489693045616
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.8218607902526855,
                "transform": {
                    "location": {
                        "x": -1545.3277587890625,
                        "y": 5799.4208984375,
                        "z": 375.9024658203125
                    },
                    "rotation": {
                        "roll": 0.0011674434645101428,
                        "pitch": 0.28852084279060364,
                        "yaw": 156.76409912109375
                    }
                },
                "velocity": {
                    "x": -4.420242786407471,
                    "y": 1.9264363050460815,
                    "z": 0.0252586267888546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6939611416310072e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00013669182953890413,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571392059326172
                    }
                },
                "velocity": {
                    "x": 2.137284718628507e-05,
                    "y": -5.572866484726546e-06,
                    "z": -1.5423594959429465e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.77392578125,
                        "y": 5733.5458984375,
                        "z": 376.6189270019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11467886716127396,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.856689453125,
                        "y": 5713.55859375,
                        "z": 376.6604309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12502659857273102,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.259932279586792,
                "transform": {
                    "location": {
                        "x": -1557.0565185546875,
                        "y": 5804.54248046875,
                        "z": 375.9690246582031
                    },
                    "rotation": {
                        "roll": -0.0067138695158064365,
                        "pitch": 0.30300766229629517,
                        "yaw": 156.42279052734375
                    }
                },
                "velocity": {
                    "x": -2.987668037414551,
                    "y": 1.3041030168533325,
                    "z": 0.0177113339304924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.481242179870605,
                "transform": {
                    "location": {
                        "x": -1592.2490234375,
                        "y": 5819.8984375,
                        "z": 376.17041015625
                    },
                    "rotation": {
                        "roll": -0.0007019034819677472,
                        "pitch": 0.27596011757850647,
                        "yaw": 156.4426727294922
                    }
                },
                "velocity": {
                    "x": -10.524190902709961,
                    "y": 4.588809967041016,
                    "z": 0.056190796196460724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0363531112670898,
                "transform": {
                    "location": {
                        "x": -1567.13720703125,
                        "y": 5775.33935546875,
                        "z": 376.1053771972656
                    },
                    "rotation": {
                        "roll": 0.006763001438230276,
                        "pitch": -0.5968902111053467,
                        "yaw": 91.05671691894531
                    }
                },
                "velocity": {
                    "x": 0.046942394226789474,
                    "y": 1.0352864265441895,
                    "z": -0.002455434761941433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0490801334381104,
                "transform": {
                    "location": {
                        "x": -1567.1094970703125,
                        "y": 5787.9423828125,
                        "z": 376.0724792480469
                    },
                    "rotation": {
                        "roll": 0.00037712370976805687,
                        "pitch": -0.21222080290317535,
                        "yaw": 89.87067413330078
                    }
                },
                "velocity": {
                    "x": 0.00706077367067337,
                    "y": 3.049064874649048,
                    "z": -0.006631660275161266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.999833881855011,
        "expert_target_speed": 3.796332541147026,
        "target_point": [
            34.41969659435807,
            42.959078795014946
        ],
        "target_point_next": [
            35.030233637265646,
            43.751004179092206
        ]
    },
    "390": {
        "acceleration": [
            -0.540316104888916,
            -1.5033864974975586,
            -0.0017021037638187408
        ],
        "angular_velocity": [
            0.34196707606315613,
            -0.11817477643489838,
            20.324195861816406
        ],
        "forward_vector": [
            -0.32527685165405273,
            0.9456188082695007,
            0.00010585784184513614
        ],
        "right_vector": [
            -0.9455626010894775,
            -0.325258731842041,
            0.010870276018977165
        ],
        "location": [
            -1567.781982421875,
            5808.5166015625,
            376.0285949707031
        ],
        "rotation": [
            -0.6228331923484802,
            0.0060652075335383415,
            108.98234558105469
        ],
        "velocity": [
            -1.2350941896438599,
            1.9366145133972168,
            0.00974368117749691
        ],
        "speed": 2.296940014626582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.90162658691406,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                3.5985931390314363e-06,
                -1.779446392902173e-05,
                -0.0006661867955699563
            ],
            "speed_kmh": 0.0023991628404018044,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.86069393157959,
                "transform": {
                    "location": {
                        "x": -1514.123291015625,
                        "y": 5785.8125,
                        "z": 375.7750549316406
                    },
                    "rotation": {
                        "roll": -0.000701909710187465,
                        "pitch": 0.36747780442237854,
                        "yaw": 156.43064880371094
                    }
                },
                "velocity": {
                    "x": -10.871068000793457,
                    "y": 4.742679119110107,
                    "z": 0.05410517752170563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.545642375946045,
                "transform": {
                    "location": {
                        "x": -1546.3992919921875,
                        "y": 5799.88720703125,
                        "z": 375.9085388183594
                    },
                    "rotation": {
                        "roll": 0.00043658408685587347,
                        "pitch": 0.29080894589424133,
                        "yaw": 156.58384704589844
                    }
                },
                "velocity": {
                    "x": -4.165747165679932,
                    "y": 1.8190089464187622,
                    "z": 0.024905767291784286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006664341199211776,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00013669182953890413,
                        "pitch": -0.25335901975631714,
                        "yaw": -23.571392059326172
                    }
                },
                "velocity": {
                    "x": 3.5985931390314363e-06,
                    "y": -1.779446392902173e-05,
                    "z": -0.0006661867955699563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7825927734375,
                        "y": 5731.462890625,
                        "z": 376.62310791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.865234375,
                        "y": 5711.47509765625,
                        "z": 376.6649475097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.252161741256714,
                "transform": {
                    "location": {
                        "x": -1557.795166015625,
                        "y": 5804.8642578125,
                        "z": 375.9732666015625
                    },
                    "rotation": {
                        "roll": -0.009735108353197575,
                        "pitch": 0.29762548208236694,
                        "yaw": 156.4224395751953
                    }
                },
                "velocity": {
                    "x": -2.980597496032715,
                    "y": 1.3008854389190674,
                    "z": 0.01704375259578228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.481454849243164,
                "transform": {
                    "location": {
                        "x": -1594.8800048828125,
                        "y": 5821.0458984375,
                        "z": 376.1843566894531
                    },
                    "rotation": {
                        "roll": -0.0007934550521895289,
                        "pitch": 0.27634260058403015,
                        "yaw": 156.4212646484375
                    }
                },
                "velocity": {
                    "x": -10.522493362426758,
                    "y": 4.593226432800293,
                    "z": 0.056551046669483185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.084928274154663,
                "transform": {
                    "location": {
                        "x": -1567.1368408203125,
                        "y": 5775.45361328125,
                        "z": 376.10552978515625
                    },
                    "rotation": {
                        "roll": -0.01321412157267332,
                        "pitch": -0.27048230171203613,
                        "yaw": 91.10826110839844
                    }
                },
                "velocity": {
                    "x": -0.0052987015806138515,
                    "y": 1.0849130153656006,
                    "z": -0.002247114200145006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7990193367004395,
                "transform": {
                    "location": {
                        "x": -1567.107421875,
                        "y": 5788.68408203125,
                        "z": 376.07080078125
                    },
                    "rotation": {
                        "roll": 0.0005344399833120406,
                        "pitch": -0.2326020747423172,
                        "yaw": 89.86354064941406
                    }
                },
                "velocity": {
                    "x": 0.006422075442969799,
                    "y": 2.7990050315856934,
                    "z": -0.00620906800031662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9991386532783508,
        "expert_target_speed": 3.4604852385791247,
        "target_point": [
            37.38015073029965,
            39.760912189886454
        ],
        "target_point_next": [
            38.056423532876074,
            40.49749646286795
        ]
    },
    "395": {
        "acceleration": [
            -0.8065295219421387,
            -0.5629396438598633,
            0.0158529169857502
        ],
        "angular_velocity": [
            0.48726487159729004,
            0.006555833853781223,
            22.134170532226562
        ],
        "forward_vector": [
            -0.4117879867553711,
            0.9112781882286072,
            0.0016641608672216535
        ],
        "right_vector": [
            -0.9112239480018616,
            -0.41178232431411743,
            0.010307833552360535
        ],
        "location": [
            -1568.0938720703125,
            5808.9716796875,
            376.031005859375
        ],
        "rotation": [
            -0.5906066298484802,
            0.09534943848848343,
            114.3172378540039
        ],
        "velocity": [
            -1.4118337631225586,
            1.6922132968902588,
            0.010078257881104946
        ],
        "speed": 2.203828581551887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.413307189941406,
        "front_vehicle_info": {
            "id": 4458,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1606.541259765625,
                5829.13232421875,
                376.2801208496094
            ],
            "velocity": [
                -1.7962865968002006e-05,
                2.4299135930050397e-06,
                -0.00027453756774775684
            ],
            "speed_kmh": 0.000990487157411774,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.551488876342773,
                "transform": {
                    "location": {
                        "x": -1516.8082275390625,
                        "y": 5786.9833984375,
                        "z": 375.7895202636719
                    },
                    "rotation": {
                        "roll": -0.0008544900338165462,
                        "pitch": 0.26915040612220764,
                        "yaw": 156.4352569580078
                    }
                },
                "velocity": {
                    "x": -10.58808422088623,
                    "y": 4.618073463439941,
                    "z": 0.0525609590113163
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.317103385925293,
                "transform": {
                    "location": {
                        "x": -1547.4136962890625,
                        "y": 5800.3291015625,
                        "z": 375.9143981933594
                    },
                    "rotation": {
                        "roll": -0.00143432489130646,
                        "pitch": 0.29113680124282837,
                        "yaw": 156.49856567382812
                    }
                },
                "velocity": {
                    "x": -3.956125020980835,
                    "y": 1.7279882431030273,
                    "z": 0.02264418639242649
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002751353313215077,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00039544442552141845,
                        "pitch": -0.25363221764564514,
                        "yaw": -23.571422576904297
                    }
                },
                "velocity": {
                    "x": -1.7962865968002006e-05,
                    "y": 2.4299135930050397e-06,
                    "z": -0.00027453756774775684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.791015625,
                        "y": 5729.37939453125,
                        "z": 376.6272888183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.11661181598901749,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8741455078125,
                        "y": 5709.3916015625,
                        "z": 376.6695556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12822996079921722,
                        "yaw": -90.23778533935547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2455244064331055,
                "transform": {
                    "location": {
                        "x": -1558.5430908203125,
                        "y": 5805.19091796875,
                        "z": 375.97747802734375
                    },
                    "rotation": {
                        "roll": -0.0026855473406612873,
                        "pitch": 0.29609552025794983,
                        "yaw": 156.4221649169922
                    }
                },
                "velocity": {
                    "x": -2.9745922088623047,
                    "y": 1.298041820526123,
                    "z": 0.017806215211749077
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.481701850891113,
                "transform": {
                    "location": {
                        "x": -1597.5107421875,
                        "y": 5822.19482421875,
                        "z": 376.1982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2719986140727997,
                        "yaw": 156.44276428222656
                    }
                },
                "velocity": {
                    "x": -10.523844718933105,
                    "y": 4.590760231018066,
                    "z": 0.055608585476875305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.00134539604187,
                "transform": {
                    "location": {
                        "x": -1567.138427734375,
                        "y": 5775.84423828125,
                        "z": 376.1049499511719
                    },
                    "rotation": {
                        "roll": 0.00041231614886783063,
                        "pitch": -0.05106249079108238,
                        "yaw": 90.86851501464844
                    }
                },
                "velocity": {
                    "x": -0.008280912414193153,
                    "y": 2.001319646835327,
                    "z": -0.005803442094475031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.841238498687744,
                "transform": {
                    "location": {
                        "x": -1567.1055908203125,
                        "y": 5789.40234375,
                        "z": 376.06884765625
                    },
                    "rotation": {
                        "roll": 6.388653855537996e-05,
                        "pitch": -0.16287268698215485,
                        "yaw": 89.87198638916016
                    }
                },
                "velocity": {
                    "x": 0.006460108794271946,
                    "y": 2.8412258625030518,
                    "z": -0.005456380546092987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0012812614440918,
        "expert_target_speed": 3.3729846514918895,
        "target_point": [
            40.37195361421158,
            36.01635044446757
        ],
        "target_point_next": [
            41.113782553339774,
            36.68686600713572
        ]
    },
    "400": {
        "acceleration": [
            -1.60400390625,
            0.06302833557128906,
            0.0061780959367752075
        ],
        "angular_velocity": [
            0.38512492179870605,
            0.40077266097068787,
            25.363073348999023
        ],
        "forward_vector": [
            -0.5038599967956543,
            0.8637770414352417,
            0.0037854816764593124
        ],
        "right_vector": [
            -0.8637148141860962,
            -0.5038699507713318,
            0.010573008097708225
        ],
        "location": [
            -1568.4656982421875,
            5809.3935546875,
            376.0333557128906
        ],
        "rotation": [
            -0.6058043837547302,
            0.21689264476299286,
            120.25595092773438
        ],
        "velocity": [
            -1.7328076362609863,
            1.634825587272644,
            0.010473784990608692
        ],
        "speed": 2.382283989176297,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.611473083496094,
        "front_vehicle_info": {
            "id": 4452,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1600.1414794921875,
                5823.34228515625,
                376.2119445800781
            ],
            "velocity": [
                -10.523355484008789,
                4.591913223266602,
                0.053600769490003586
            ],
            "speed_kmh": 41.33413816120674,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.081048011779785,
                "transform": {
                    "location": {
                        "x": -1519.4039306640625,
                        "y": 5788.11572265625,
                        "z": 375.8030700683594
                    },
                    "rotation": {
                        "roll": -6.103530176915228e-05,
                        "pitch": 0.231031134724617,
                        "yaw": 156.44546508789062
                    }
                },
                "velocity": {
                    "x": -10.157660484313965,
                    "y": 4.4281840324401855,
                    "z": 0.05250590294599533
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.088272571563721,
                "transform": {
                    "location": {
                        "x": -1548.375244140625,
                        "y": 5800.7490234375,
                        "z": 375.9197692871094
                    },
                    "rotation": {
                        "roll": -0.0005798331694677472,
                        "pitch": 0.29155343770980835,
                        "yaw": 156.44851684570312
                    }
                },
                "velocity": {
                    "x": -3.746131181716919,
                    "y": 1.637077808380127,
                    "z": 0.021223077550530434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.662143277935684e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -6.575435236300109e-06,
                    "y": -3.20859435305465e-05,
                    "z": -5.8014400565298274e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.7999267578125,
                        "y": 5727.2958984375,
                        "z": 376.6314697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8828125,
                        "y": 5707.30859375,
                        "z": 376.6742248535156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2487823963165283,
                "transform": {
                    "location": {
                        "x": -1559.286376953125,
                        "y": 5805.515625,
                        "z": 375.9830322265625
                    },
                    "rotation": {
                        "roll": 0.008980448357760906,
                        "pitch": 0.36727291345596313,
                        "yaw": 156.4236297607422
                    }
                },
                "velocity": {
                    "x": -2.977621078491211,
                    "y": 1.2983758449554443,
                    "z": 0.05079949274659157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.481704711914062,
                "transform": {
                    "location": {
                        "x": -1600.1414794921875,
                        "y": 5823.34228515625,
                        "z": 376.2119445800781
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": 0.2672926187515259,
                        "yaw": 156.42437744140625
                    }
                },
                "velocity": {
                    "x": -10.523355484008789,
                    "y": 4.591913223266602,
                    "z": 0.053600769490003586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.495864152908325,
                "transform": {
                    "location": {
                        "x": -1567.1397705078125,
                        "y": 5776.52490234375,
                        "z": 376.1033935546875
                    },
                    "rotation": {
                        "roll": 0.005814561620354652,
                        "pitch": 0.06205909699201584,
                        "yaw": 90.55770111083984
                    }
                },
                "velocity": {
                    "x": -0.006868860684335232,
                    "y": 3.4958488941192627,
                    "z": -0.007725581992417574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.330488443374634,
                "transform": {
                    "location": {
                        "x": -1567.1041259765625,
                        "y": 5790.02880859375,
                        "z": 376.06793212890625
                    },
                    "rotation": {
                        "roll": -6.103226769482717e-05,
                        "pitch": -0.29196324944496155,
                        "yaw": 89.86210632324219
                    }
                },
                "velocity": {
                    "x": 0.005623362492769957,
                    "y": 2.330474853515625,
                    "z": -0.005632238462567329
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.999316394329071,
        "expert_target_speed": 3.5526360380801716,
        "target_point": [
            43.329926860082246,
            31.537398775997474
        ],
        "target_point_next": [
            44.13714884854862,
            32.127563122637156
        ]
    },
    "405": {
        "acceleration": [
            -2.445077896118164,
            0.2972292900085449,
            -0.016767308115959167
        ],
        "angular_velocity": [
            0.11661792546510696,
            0.6056010723114014,
            29.37160873413086
        ],
        "forward_vector": [
            -0.602843701839447,
            0.7978370189666748,
            0.005961263552308083
        ],
        "right_vector": [
            -0.79775470495224,
            -0.6028688549995422,
            0.011690267361700535
        ],
        "location": [
            -1568.9405517578125,
            5809.82275390625,
            376.03607177734375
        ],
        "rotation": [
            -0.6698301434516907,
            0.34155726432800293,
            127.07460021972656
        ],
        "velocity": [
            -2.2452025413513184,
            1.6883845329284668,
            0.01366250030696392
        ],
        "speed": 2.809195041773087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.87485122680664,
        "front_vehicle_info": {
            "id": 4452,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1602.7724609375,
                5824.48974609375,
                376.2254333496094
            ],
            "velocity": [
                -10.524198532104492,
                4.589852333068848,
                0.05321406200528145
            ],
            "speed_kmh": 41.3339469287563,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1501.6734619140625,
                        "y": 5780.37939453125,
                        "z": 375.8221740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.171929359436035,
                "transform": {
                    "location": {
                        "x": -1521.8756103515625,
                        "y": 5789.19287109375,
                        "z": 375.816162109375
                    },
                    "rotation": {
                        "roll": 0.0009279040386900306,
                        "pitch": 0.19755637645721436,
                        "yaw": 156.4436798095703
                    }
                },
                "velocity": {
                    "x": -9.32413101196289,
                    "y": 4.065266132354736,
                    "z": 0.04838832840323448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.875542163848877,
                "transform": {
                    "location": {
                        "x": -1549.2864990234375,
                        "y": 5801.1474609375,
                        "z": 375.9248352050781
                    },
                    "rotation": {
                        "roll": -6.103226769482717e-05,
                        "pitch": 0.2923252582550049,
                        "yaw": 156.4264678955078
                    }
                },
                "velocity": {
                    "x": -3.5513134002685547,
                    "y": 1.5516293048858643,
                    "z": 0.021125096827745438
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029278217698447406,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -4.7218800318660215e-06,
                    "y": -2.2102054572314955e-05,
                    "z": 0.0002919085673056543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.891357421875,
                        "y": 5705.22509765625,
                        "z": 376.67889404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.248674154281616,
                "transform": {
                    "location": {
                        "x": -1560.0321044921875,
                        "y": 5805.84033203125,
                        "z": 375.99237060546875
                    },
                    "rotation": {
                        "roll": -0.37249746918678284,
                        "pitch": 0.573585569858551,
                        "yaw": 156.4291534423828
                    }
                },
                "velocity": {
                    "x": -2.972764015197754,
                    "y": 1.3097920417785645,
                    "z": 0.03168116509914398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4452,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.48165225982666,
                "transform": {
                    "location": {
                        "x": -1602.7724609375,
                        "y": 5824.48974609375,
                        "z": 376.2254333496094
                    },
                    "rotation": {
                        "roll": -0.00024414187646470964,
                        "pitch": 0.2677229046821594,
                        "yaw": 156.4477081298828
                    }
                },
                "velocity": {
                    "x": -10.524198532104492,
                    "y": 4.589852333068848,
                    "z": 0.05321406200528145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.968350887298584,
                "transform": {
                    "location": {
                        "x": -1567.1402587890625,
                        "y": 5777.5966796875,
                        "z": 376.1007995605469
                    },
                    "rotation": {
                        "roll": 0.007058839313685894,
                        "pitch": 0.09052049368619919,
                        "yaw": 90.23700714111328
                    }
                },
                "velocity": {
                    "x": 0.0002517737739253789,
                    "y": 4.968338966369629,
                    "z": -0.01078060083091259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0291972160339355,
                "transform": {
                    "location": {
                        "x": -1567.102783203125,
                        "y": 5790.681640625,
                        "z": 376.0653076171875
                    },
                    "rotation": {
                        "roll": 3.48813300661277e-05,
                        "pitch": -0.04129531979560852,
                        "yaw": 89.86784362792969
                    }
                },
                "velocity": {
                    "x": 0.0070642330683767796,
                    "y": 3.0291824340820312,
                    "z": -0.006322984583675861
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9997752904891968,
        "expert_target_speed": 3.975089695121706,
        "target_point": [
            46.13910911545096,
            26.049744476230707
        ],
        "target_point_next": [
            47.010690417823355,
            26.53989478793424
        ]
    },
    "410": {
        "acceleration": [
            -3.9057540893554688,
            -0.1209712028503418,
            0.030390731990337372
        ],
        "angular_velocity": [
            -0.28411439061164856,
            1.0132958889007568,
            36.60053253173828
        ],
        "forward_vector": [
            -0.7106830477714539,
            0.7034633755683899,
            0.008298659697175026
        ],
        "right_vector": [
            -0.7033243179321289,
            -0.7107163667678833,
            0.014736359938979149
        ],
        "location": [
            -1569.583984375,
            5810.27197265625,
            376.03961181640625
        ],
        "rotation": [
            -0.844390869140625,
            0.47548359632492065,
            135.29251098632812
        ],
        "velocity": [
            -3.0930495262145996,
            1.732499361038208,
            0.017865771427750587
        ],
        "speed": 3.5452093601949883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1503.8690185546875,
                        "y": 5781.33740234375,
                        "z": 375.736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2554968595504761,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.257233619689941,
                "transform": {
                    "location": {
                        "x": -1524.0455322265625,
                        "y": 5790.13916015625,
                        "z": 375.8276062011719
                    },
                    "rotation": {
                        "roll": 0.0001288904168177396,
                        "pitch": 0.17936758697032928,
                        "yaw": 156.43716430664062
                    }
                },
                "velocity": {
                    "x": -8.48460865020752,
                    "y": 3.702131509780884,
                    "z": 0.04481754079461098
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6720964908599854,
                "transform": {
                    "location": {
                        "x": -1550.1500244140625,
                        "y": 5801.5244140625,
                        "z": 375.9298095703125
                    },
                    "rotation": {
                        "roll": -0.0009155307780019939,
                        "pitch": 0.2934454083442688,
                        "yaw": 156.40911865234375
                    }
                },
                "velocity": {
                    "x": -3.364881753921509,
                    "y": 1.4701873064041138,
                    "z": 0.020326508209109306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.841149636078626e-05,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 4.506595359998755e-06,
                    "y": -2.593174485809868e-06,
                    "z": 7.823892519809306e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2567222118377686,
                "transform": {
                    "location": {
                        "x": -1560.77685546875,
                        "y": 5806.16650390625,
                        "z": 375.99658203125
                    },
                    "rotation": {
                        "roll": -0.3619689643383026,
                        "pitch": 0.5689957141876221,
                        "yaw": 156.39996337890625
                    }
                },
                "velocity": {
                    "x": -2.983549118041992,
                    "y": 1.3055552244186401,
                    "z": 0.014130554161965847
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.696173191070557,
                "transform": {
                    "location": {
                        "x": -1567.138916015625,
                        "y": 5778.90283203125,
                        "z": 376.09765625
                    },
                    "rotation": {
                        "roll": 0.0055074989795684814,
                        "pitch": -0.10201569646596909,
                        "yaw": 90.01278686523438
                    }
                },
                "velocity": {
                    "x": 0.007933259010314941,
                    "y": 4.696136474609375,
                    "z": -0.016780871897935867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4894678592681885,
                "transform": {
                    "location": {
                        "x": -1567.1009521484375,
                        "y": 5791.40673828125,
                        "z": 376.0641784667969
                    },
                    "rotation": {
                        "roll": -0.00015258608618751168,
                        "pitch": -0.1766355186700821,
                        "yaw": 89.85940551757812
                    }
                },
                "velocity": {
                    "x": 0.0058981808833777905,
                    "y": 2.4894537925720215,
                    "z": -0.005911970045417547
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.999977707862854,
        "expert_target_speed": 10.0,
        "target_point": [
            48.61551818142901,
            19.053851891784667
        ],
        "target_point_next": [
            49.54821080181502,
            19.414387286143878
        ]
    },
    "415": {
        "acceleration": [
            -3.861970901489258,
            -1.698150634765625,
            0.045052170753479004
        ],
        "angular_velocity": [
            -0.7731999158859253,
            0.6250402331352234,
            44.014686584472656
        ],
        "forward_vector": [
            -0.8234978318214417,
            0.5672374963760376,
            0.009642690420150757
        ],
        "right_vector": [
            -0.567009687423706,
            -0.8234909176826477,
            0.019045421853661537
        ],
        "location": [
            -1570.464599609375,
            5810.70654296875,
            376.04425048828125
        ],
        "rotation": [
            -1.0913389921188354,
            0.5524939894676208,
            145.4403533935547
        ],
        "velocity": [
            -4.089324951171875,
            1.4773889780044556,
            0.022073421627283096
        ],
        "speed": 4.348017565351583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1506.1419677734375,
                        "y": 5782.32861328125,
                        "z": 375.7082214355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25982722640037537,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.568458557128906,
                "transform": {
                    "location": {
                        "x": -1526.2193603515625,
                        "y": 5791.08740234375,
                        "z": 375.8381652832031
                    },
                    "rotation": {
                        "roll": 0.0013892997521907091,
                        "pitch": 0.28016752004623413,
                        "yaw": 156.44290161132812
                    }
                },
                "velocity": {
                    "x": -8.770157814025879,
                    "y": 3.825909376144409,
                    "z": 0.04637822136282921
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4871366024017334,
                "transform": {
                    "location": {
                        "x": -1550.9681396484375,
                        "y": 5801.8818359375,
                        "z": 375.93450927734375
                    },
                    "rotation": {
                        "roll": -0.000183110183570534,
                        "pitch": 0.2944357693195343,
                        "yaw": 156.40711975097656
                    }
                },
                "velocity": {
                    "x": -3.1954710483551025,
                    "y": 1.3959858417510986,
                    "z": 0.017620600759983063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031903167837299407,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 1.739371509756893e-05,
                    "y": 2.155592710550991e-06,
                    "z": -0.00031854986445978284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6567578315734863,
                "transform": {
                    "location": {
                        "x": -1561.556884765625,
                        "y": 5806.5078125,
                        "z": 376.00042724609375
                    },
                    "rotation": {
                        "roll": -0.3506774604320526,
                        "pitch": 0.5681350827217102,
                        "yaw": 156.38555908203125
                    }
                },
                "velocity": {
                    "x": -3.350175142288208,
                    "y": 1.4655734300613403,
                    "z": 0.01729070581495762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4449,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.21494551002979279,
                "transform": {
                    "location": {
                        "x": -1567.137451171875,
                        "y": 5779.54931640625,
                        "z": 376.0951232910156
                    },
                    "rotation": {
                        "roll": -0.0015563730848953128,
                        "pitch": -0.6620775461196899,
                        "yaw": 89.88230895996094
                    }
                },
                "velocity": {
                    "x": 0.00012269083526916802,
                    "y": 0.21494527161121368,
                    "z": -0.00028985977405682206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4448,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002696934388950467,
                "transform": {
                    "location": {
                        "x": -1567.1009521484375,
                        "y": 5791.64599609375,
                        "z": 376.0663146972656
                    },
                    "rotation": {
                        "roll": 0.0012813536450266838,
                        "pitch": -0.9043579697608948,
                        "yaw": 89.79312133789062
                    }
                },
                "velocity": {
                    "x": -0.0002933747018687427,
                    "y": -0.0021139075979590416,
                    "z": -0.001648872857913375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6827212572097778,
        "expert_target_speed": 10.0,
        "target_point": [
            50.24033651733619,
            10.048616246722467
        ],
        "target_point_next": [
            51.22196075174317,
            10.239181608562351
        ]
    },
    "420": {
        "acceleration": [
            -2.1651840209960938,
            -1.6246294975280762,
            0.012935474514961243
        ],
        "angular_velocity": [
            0.4072757661342621,
            -0.529021680355072,
            38.5776481628418
        ],
        "forward_vector": [
            -0.9140129685401917,
            0.4055769741535187,
            0.009358029812574387
        ],
        "right_vector": [
            -0.40536925196647644,
            -0.913968563079834,
            0.018363850191235542
        ],
        "location": [
            -1571.57373046875,
            5811.05712890625,
            376.0501403808594
        ],
        "rotation": [
            -1.052276372909546,
            0.5361834764480591,
            156.07159423828125
        ],
        "velocity": [
            -4.836464881896973,
            1.0978420972824097,
            0.024585390463471413
        ],
        "speed": 4.9595009652573045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1617.3563232421875,
                        "y": 5833.85107421875,
                        "z": 376.5797424316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2351975440979004,
                        "yaw": -23.571086883544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.027979373931885,
                "transform": {
                    "location": {
                        "x": -1508.329833984375,
                        "y": 5783.28369140625,
                        "z": 375.7101135253906
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": -0.007506377529352903,
                        "yaw": 156.43296813964844
                    }
                },
                "velocity": {
                    "x": -6.440840721130371,
                    "y": 2.8121156692504883,
                    "z": -0.00854105968028307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.746054649353027,
                "transform": {
                    "location": {
                        "x": -1528.3218994140625,
                        "y": 5792.0048828125,
                        "z": 375.8497619628906
                    },
                    "rotation": {
                        "roll": -0.0009765573195181787,
                        "pitch": 0.21833381056785583,
                        "yaw": 156.41552734375
                    }
                },
                "velocity": {
                    "x": -8.016119003295898,
                    "y": 3.497624158859253,
                    "z": 0.04404066130518913
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6865038871765137,
                "transform": {
                    "location": {
                        "x": -1551.7906494140625,
                        "y": 5802.2412109375,
                        "z": 375.9390869140625
                    },
                    "rotation": {
                        "roll": 0.00022613312467001379,
                        "pitch": 0.3033286929130554,
                        "yaw": 156.4010467529297
                    }
                },
                "velocity": {
                    "x": -3.3782601356506348,
                    "y": 1.4755744934082031,
                    "z": 0.018692616373300552
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006573313730768859,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": 2.8215235943207517e-05,
                    "y": 1.0482798643351998e-05,
                    "z": -0.000656641845125705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.360970497131348,
                "transform": {
                    "location": {
                        "x": -1562.4759521484375,
                        "y": 5806.90966796875,
                        "z": 376.0106506347656
                    },
                    "rotation": {
                        "roll": -0.3867492079734802,
                        "pitch": 0.2941693961620331,
                        "yaw": 156.3979034423828
                    }
                },
                "velocity": {
                    "x": -3.9952797889709473,
                    "y": 1.7478519678115845,
                    "z": 0.02861066721379757
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12029685825109482,
        "expert_target_speed": 10.0,
        "target_point": [
            50.07579763640499,
            0.4780456940060951
        ],
        "target_point_next": [
            51.075729076721395,
            0.48424322375764817
        ]
    },
    "425": {
        "acceleration": [
            -0.49826622009277344,
            -0.6379282474517822,
            -0.025300756096839905
        ],
        "angular_velocity": [
            2.0342154502868652,
            -1.439640760421753,
            27.553403854370117
        ],
        "forward_vector": [
            -0.9635639190673828,
            0.2673882246017456,
            0.00693875877186656
        ],
        "right_vector": [
            -0.2672768235206604,
            -0.9635208249092102,
            0.013809848576784134
        ],
        "location": [
            -1572.80810546875,
            5811.306640625,
            376.05718994140625
        ],
        "rotation": [
            -0.7912902235984802,
            0.3975647985935211,
            164.49070739746094
        ],
        "velocity": [
            -5.006619930267334,
            0.708409309387207,
            0.02460009604692459
        ],
        "speed": 5.056489580309302,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10622148960828781,
                "transform": {
                    "location": {
                        "x": -1617.3568115234375,
                        "y": 5833.85107421875,
                        "z": 376.2344970703125
                    },
                    "rotation": {
                        "roll": -0.0011291549308225513,
                        "pitch": -0.23305970430374146,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": -0.0003591814311221242,
                    "y": 0.0002155975525965914,
                    "z": -0.10622067004442215
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.074861526489258,
                "transform": {
                    "location": {
                        "x": -1509.94775390625,
                        "y": 5783.98974609375,
                        "z": 375.7117614746094
                    },
                    "rotation": {
                        "roll": 0.00015322976105380803,
                        "pitch": 0.17814499139785767,
                        "yaw": 156.43557739257812
                    }
                },
                "velocity": {
                    "x": -6.484797954559326,
                    "y": 2.828519821166992,
                    "z": 0.023232420906424522
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.19276237487793,
                "transform": {
                    "location": {
                        "x": -1530.2467041015625,
                        "y": 5792.8447265625,
                        "z": 375.8600769042969
                    },
                    "rotation": {
                        "roll": -0.0011291538830846548,
                        "pitch": 0.21977499127388,
                        "yaw": 156.43911743164062
                    }
                },
                "velocity": {
                    "x": -7.508998394012451,
                    "y": 3.276383399963379,
                    "z": 0.040192145854234695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.369124412536621,
                "transform": {
                    "location": {
                        "x": -1552.594970703125,
                        "y": 5802.59228515625,
                        "z": 375.94366455078125
                    },
                    "rotation": {
                        "roll": 0.00034103370853699744,
                        "pitch": 0.2944357693195343,
                        "yaw": 156.40867614746094
                    }
                },
                "velocity": {
                    "x": -3.087413787841797,
                    "y": 1.3485441207885742,
                    "z": 0.017459964379668236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000488918274641037,
                "transform": {
                    "location": {
                        "x": -1606.541259765625,
                        "y": 5829.13232421875,
                        "z": 376.2801208496094
                    },
                    "rotation": {
                        "roll": 0.00019886114750988781,
                        "pitch": -0.25342050194740295,
                        "yaw": -23.57142448425293
                    }
                },
                "velocity": {
                    "x": -3.973021875935956e-07,
                    "y": -1.5493611499550752e-05,
                    "z": 0.0004886725801043212
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.9268479347229,
                "transform": {
                    "location": {
                        "x": -1563.5562744140625,
                        "y": 5807.38232421875,
                        "z": 376.0156555175781
                    },
                    "rotation": {
                        "roll": -0.19671630859375,
                        "pitch": 0.11502037942409515,
                        "yaw": 156.4202423095703
                    }
                },
                "velocity": {
                    "x": -4.517345905303955,
                    "y": 1.9665745496749878,
                    "z": 0.0009547805530019104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.46509578824043274,
        "expert_target_speed": 10.0,
        "target_point": [
            48.34999813147676,
            -6.948537709973364
        ],
        "target_point_next": [
            49.340061130772376,
            -7.088810844015594
        ]
    },
    "430": {
        "acceleration": [
            0.07555007934570312,
            -0.25731682777404785,
            -0.005154013633728027
        ],
        "angular_velocity": [
            1.0607985258102417,
            -0.25554734468460083,
            15.693680763244629
        ],
        "forward_vector": [
            -0.9836822152137756,
            0.1798299103975296,
            0.005522461608052254
        ],
        "right_vector": [
            -0.17978958785533905,
            -0.9836795330047607,
            0.007094493135809898
        ],
        "location": [
            -1574.0633544921875,
            5811.48193359375,
            376.0634765625
        ],
        "rotation": [
            -0.4064941108226776,
            0.31641533970832825,
            169.63998413085938
        ],
        "velocity": [
            -5.084571838378906,
            0.553357720375061,
            0.024439411237835884
        ],
        "speed": 5.114594367722091,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.17798450589179993,
                "transform": {
                    "location": {
                        "x": -1617.3568115234375,
                        "y": 5833.85107421875,
                        "z": 376.28070068359375
                    },
                    "rotation": {
                        "roll": -0.0005493144853971899,
                        "pitch": -0.23285479843616486,
                        "yaw": -23.571054458618164
                    }
                },
                "velocity": {
                    "x": 0.0006825945456512272,
                    "y": -0.0002580787113402039,
                    "z": 0.17798300087451935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.0270843505859375,
                "transform": {
                    "location": {
                        "x": -1511.5174560546875,
                        "y": 5784.67431640625,
                        "z": 375.7185363769531
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.19579419493675232,
                        "yaw": 156.4201202392578
                    }
                },
                "velocity": {
                    "x": -5.524087429046631,
                    "y": 2.410292625427246,
                    "z": 0.026433534920215607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.930861949920654,
                "transform": {
                    "location": {
                        "x": -1532.0963134765625,
                        "y": 5793.65185546875,
                        "z": 375.86968994140625
                    },
                    "rotation": {
                        "roll": 0.00019679662364069372,
                        "pitch": 0.24577751755714417,
                        "yaw": 156.40969848632812
                    }
                },
                "velocity": {
                    "x": -7.267907619476318,
                    "y": 3.174030303955078,
                    "z": 0.04027719423174858
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2145867347717285,
                "transform": {
                    "location": {
                        "x": -1553.3465576171875,
                        "y": 5802.92041015625,
                        "z": 375.9479675292969
                    },
                    "rotation": {
                        "roll": -9.1555091785267e-05,
                        "pitch": 0.2944699227809906,
                        "yaw": 156.40115356445312
                    }
                },
                "velocity": {
                    "x": -2.9455082416534424,
                    "y": 1.2873387336730957,
                    "z": 0.01758498139679432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.15984271466732025,
                "transform": {
                    "location": {
                        "x": -1606.5396728515625,
                        "y": 5829.1318359375,
                        "z": 376.2800598144531
                    },
                    "rotation": {
                        "roll": -0.0005187991191633046,
                        "pitch": -0.24954095482826233,
                        "yaw": -23.57096290588379
                    }
                },
                "velocity": {
                    "x": 0.14731208980083466,
                    "y": -0.06203589215874672,
                    "z": -0.0006255817133933306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.677328109741211,
                "transform": {
                    "location": {
                        "x": -1564.65185546875,
                        "y": 5807.8603515625,
                        "z": 376.0182800292969
                    },
                    "rotation": {
                        "roll": -0.2040099799633026,
                        "pitch": 0.00045079246046952903,
                        "yaw": 156.45559692382812
                    }
                },
                "velocity": {
                    "x": -4.286965370178223,
                    "y": 1.8705118894577026,
                    "z": 0.022622661665081978
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9766002297401428,
        "expert_target_speed": 10.0,
        "target_point": [
            46.264928257128446,
            -11.313230041589982
        ],
        "target_point_next": [
            47.238406061445666,
            -11.54179569782466
        ]
    },
    "435": {
        "acceleration": [
            -4.312353134155273,
            0.6056332588195801,
            0.27538418769836426
        ],
        "angular_velocity": [
            2.854012966156006,
            2.874924898147583,
            2.947004556655884
        ],
        "forward_vector": [
            -0.9898078441619873,
            0.14119023084640503,
            0.018596172332763672
        ],
        "right_vector": [
            -0.14056240022182465,
            -0.9895676374435425,
            0.03159407526254654
        ],
        "location": [
            -1575.3287353515625,
            5811.62109375,
            376.08624267578125
        ],
        "rotation": [
            -1.810821771621704,
            1.0655436515808105,
            171.88186645507812
        ],
        "velocity": [
            -5.124871253967285,
            0.6349815130233765,
            0.12066375464200974
        ],
        "speed": 5.164059148733839,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1959885358810425,
                "transform": {
                    "location": {
                        "x": -1617.310302734375,
                        "y": 5833.83154296875,
                        "z": 376.3008117675781
                    },
                    "rotation": {
                        "roll": 0.0031160940416157246,
                        "pitch": -0.315062940120697,
                        "yaw": -23.564800262451172
                    }
                },
                "velocity": {
                    "x": 1.104356050491333,
                    "y": -0.4589150846004486,
                    "z": 0.013535470701754093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.358882427215576,
                "transform": {
                    "location": {
                        "x": -1512.7740478515625,
                        "y": 5785.22314453125,
                        "z": 375.7245178222656
                    },
                    "rotation": {
                        "roll": -0.0002746568061411381,
                        "pitch": 0.21036981046199799,
                        "yaw": 156.48439025878906
                    }
                },
                "velocity": {
                    "x": -4.9124956130981445,
                    "y": 2.1411168575286865,
                    "z": 0.025009440258145332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.431307792663574,
                "transform": {
                    "location": {
                        "x": -1533.85595703125,
                        "y": 5794.42041015625,
                        "z": 375.87933349609375
                    },
                    "rotation": {
                        "roll": -0.0007018980104476213,
                        "pitch": 0.23716464638710022,
                        "yaw": 156.43333435058594
                    }
                },
                "velocity": {
                    "x": -6.810928821563721,
                    "y": 2.9722368717193604,
                    "z": 0.037308938801288605
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0342857837677,
                "transform": {
                    "location": {
                        "x": -1554.0618896484375,
                        "y": 5803.23291015625,
                        "z": 375.9520263671875
                    },
                    "rotation": {
                        "roll": 0.00022775380057282746,
                        "pitch": 0.2944630980491638,
                        "yaw": 156.4108123779297
                    }
                },
                "velocity": {
                    "x": -2.7806191444396973,
                    "y": 1.2143995761871338,
                    "z": 0.01673934981226921
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.354455828666687,
                "transform": {
                    "location": {
                        "x": -1606.3375244140625,
                        "y": 5829.04736328125,
                        "z": 376.2782287597656
                    },
                    "rotation": {
                        "roll": -0.005554201081395149,
                        "pitch": -0.15591271221637726,
                        "yaw": -23.54621124267578
                    }
                },
                "velocity": {
                    "x": 1.2513893842697144,
                    "y": -0.5182083249092102,
                    "z": -0.0059255026280879974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.705604076385498,
                "transform": {
                    "location": {
                        "x": -1565.7265625,
                        "y": 5808.3291015625,
                        "z": 376.0215148925781
                    },
                    "rotation": {
                        "roll": -0.04315185546875,
                        "pitch": 0.13496452569961548,
                        "yaw": 156.46253967285156
                    }
                },
                "velocity": {
                    "x": -4.315106391906738,
                    "y": 1.8767757415771484,
                    "z": 0.01662430725991726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.000449776649475,
        "expert_target_speed": 10.0,
        "target_point": [
            44.5146099146606,
            -13.155301176260666
        ],
        "target_point_next": [
            45.47840150058529,
            -13.421772701210365
        ]
    },
    "440": {
        "acceleration": [
            0.8427238464355469,
            1.2186992168426514,
            -0.20730972290039062
        ],
        "angular_velocity": [
            -1.8166707754135132,
            1.7751972675323486,
            -4.359734058380127
        ],
        "forward_vector": [
            -0.9879786968231201,
            0.1521724909543991,
            0.02723321132361889
        ],
        "right_vector": [
            -0.15104788541793823,
            -0.9877386093139648,
            0.0394575260579586
        ],
        "location": [
            -1576.59765625,
            5811.8115234375,
            376.1063537597656
        ],
        "rotation": [
            -2.262176275253296,
            1.560541033744812,
            171.24388122558594
        ],
        "velocity": [
            -5.041711807250977,
            0.9421309232711792,
            0.06228988617658615
        ],
        "speed": 5.128983195912979,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.922968626022339,
                "transform": {
                    "location": {
                        "x": -1616.7840576171875,
                        "y": 5833.609375,
                        "z": 376.2995910644531
                    },
                    "rotation": {
                        "roll": 0.002811982063576579,
                        "pitch": -0.4104260504245758,
                        "yaw": -23.37064552307129
                    }
                },
                "velocity": {
                    "x": 2.695699691772461,
                    "y": -1.1299195289611816,
                    "z": -0.015188932418823242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.770971775054932,
                "transform": {
                    "location": {
                        "x": -1514.05419921875,
                        "y": 5785.78125,
                        "z": 375.73052978515625
                    },
                    "rotation": {
                        "roll": -0.00030517755658365786,
                        "pitch": 0.27452579140663147,
                        "yaw": 156.4216766357422
                    }
                },
                "velocity": {
                    "x": -5.288815975189209,
                    "y": 2.30908465385437,
                    "z": 0.025868024677038193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.037344455718994,
                "transform": {
                    "location": {
                        "x": -1535.5078125,
                        "y": 5795.14111328125,
                        "z": 375.88818359375
                    },
                    "rotation": {
                        "roll": -0.0003356928064022213,
                        "pitch": 0.24308641254901886,
                        "yaw": 156.40760803222656
                    }
                },
                "velocity": {
                    "x": -6.4497857093811035,
                    "y": 2.8148117065429688,
                    "z": 0.0362703800201416
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.881132125854492,
                "transform": {
                    "location": {
                        "x": -1554.7384033203125,
                        "y": 5803.52880859375,
                        "z": 375.9559326171875
                    },
                    "rotation": {
                        "roll": -0.0006713817128911614,
                        "pitch": 0.29496854543685913,
                        "yaw": 156.40432739257812
                    }
                },
                "velocity": {
                    "x": -2.640312433242798,
                    "y": 1.1530120372772217,
                    "z": 0.015367803163826466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.301725387573242,
                "transform": {
                    "location": {
                        "x": -1605.9212646484375,
                        "y": 5828.86962890625,
                        "z": 376.2762451171875
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": -0.15179412066936493,
                        "yaw": -23.43259620666504
                    }
                },
                "velocity": {
                    "x": 2.1183388233184814,
                    "y": -0.9002650380134583,
                    "z": -0.010180225595831871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.746222972869873,
                "transform": {
                    "location": {
                        "x": -1566.8074951171875,
                        "y": 5808.7998046875,
                        "z": 376.0232849121094
                    },
                    "rotation": {
                        "roll": 0.0135760847479105,
                        "pitch": 0.3034038245677948,
                        "yaw": 156.467041015625
                    }
                },
                "velocity": {
                    "x": -4.351473331451416,
                    "y": 1.8950092792510986,
                    "z": 0.015880469232797623
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9979839324951172,
        "expert_target_speed": 10.0,
        "target_point": [
            43.3752059315318,
            -12.66379786808571
        ],
        "target_point_next": [
            44.34190477175603,
            -12.919521639013231
        ]
    },
    "445": {
        "acceleration": [
            2.83447265625,
            3.129696846008301,
            3.789515733718872
        ],
        "angular_velocity": [
            -18.434011459350586,
            -6.726849555969238,
            -12.905656814575195
        ],
        "forward_vector": [
            -0.9793009161949158,
            0.2011842578649521,
            0.02224142476916313
        ],
        "right_vector": [
            -0.19959884881973267,
            -0.9781021475791931,
            0.058962032198905945
        ],
        "location": [
            -1577.837158203125,
            5812.0771484375,
            376.1271057128906
        ],
        "rotation": [
            -3.381073474884033,
            1.2744449377059937,
            168.390869140625
        ],
        "velocity": [
            -4.818085670471191,
            1.4087355136871338,
            0.22853723168373108
        ],
        "speed": 5.019809286768092,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.059337139129639,
                "transform": {
                    "location": {
                        "x": -1615.9754638671875,
                        "y": 5833.2685546875,
                        "z": 376.29510498046875
                    },
                    "rotation": {
                        "roll": 0.0006761950789950788,
                        "pitch": -0.35607823729515076,
                        "yaw": -23.14643669128418
                    }
                },
                "velocity": {
                    "x": 3.744129180908203,
                    "y": -1.5682519674301147,
                    "z": -0.017383059486746788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.922021389007568,
                "transform": {
                    "location": {
                        "x": -1515.622314453125,
                        "y": 5786.46435546875,
                        "z": 375.7375183105469
                    },
                    "rotation": {
                        "roll": -0.0003356938832439482,
                        "pitch": 0.3821968734264374,
                        "yaw": 156.3628387451172
                    }
                },
                "velocity": {
                    "x": -7.26070499420166,
                    "y": 3.1684749126434326,
                    "z": 0.0367424376308918
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.716479778289795,
                "transform": {
                    "location": {
                        "x": -1537.0831298828125,
                        "y": 5795.82861328125,
                        "z": 375.89678955078125
                    },
                    "rotation": {
                        "roll": -0.0010375982383266091,
                        "pitch": 0.25055864453315735,
                        "yaw": 156.44198608398438
                    }
                },
                "velocity": {
                    "x": -6.156506061553955,
                    "y": 2.684662103652954,
                    "z": 0.033514395356178284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7262613773345947,
                "transform": {
                    "location": {
                        "x": -1555.3800048828125,
                        "y": 5803.80859375,
                        "z": 375.9595947265625
                    },
                    "rotation": {
                        "roll": -0.0029907289426773787,
                        "pitch": 0.29625943303108215,
                        "yaw": 156.4110870361328
                    }
                },
                "velocity": {
                    "x": -2.4982850551605225,
                    "y": 1.0912790298461914,
                    "z": 0.013508185744285583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.628875255584717,
                "transform": {
                    "location": {
                        "x": -1605.242919921875,
                        "y": 5828.58056640625,
                        "z": 376.2726135253906
                    },
                    "rotation": {
                        "roll": -0.003906248603016138,
                        "pitch": -0.12341468036174774,
                        "yaw": -23.296180725097656
                    }
                },
                "velocity": {
                    "x": 3.3398585319519043,
                    "y": -1.4190822839736938,
                    "z": -0.016927432268857956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.871588230133057,
                "transform": {
                    "location": {
                        "x": -1567.9112548828125,
                        "y": 5809.2802734375,
                        "z": 376.0293273925781
                    },
                    "rotation": {
                        "roll": 0.007346492726355791,
                        "pitch": 0.30513185262680054,
                        "yaw": 156.46435546875
                    }
                },
                "velocity": {
                    "x": -4.466170787811279,
                    "y": 1.945512056350708,
                    "z": 0.025923145934939384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9994133114814758,
        "expert_target_speed": 10.0,
        "target_point": [
            42.684168067559156,
            -10.478397980132147
        ],
        "target_point_next": [
            43.66239700727524,
            -10.685688684724074
        ]
    },
    "450": {
        "acceleration": [
            -0.7379913330078125,
            2.1662282943725586,
            -0.2309764176607132
        ],
        "angular_velocity": [
            -1.6203724145889282,
            -0.037614382803440094,
            -19.33279037475586
        ],
        "forward_vector": [
            -0.9606627225875854,
            0.27761247754096985,
            0.0076445783488452435
        ],
        "right_vector": [
            -0.27613565325737,
            -0.9577622413635254,
            0.0802529826760292
        ],
        "location": [
            -1579.05078125,
            5812.45849609375,
            376.1590881347656
        ],
        "rotation": [
            -4.60324239730835,
            0.43800634145736694,
            163.8817596435547
        ],
        "velocity": [
            -4.795396327972412,
            1.8371562957763672,
            0.05629650130867958
        ],
        "speed": 5.135267198251912,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.479443550109863,
                "transform": {
                    "location": {
                        "x": -1614.9403076171875,
                        "y": 5832.83056640625,
                        "z": 376.2900390625
                    },
                    "rotation": {
                        "roll": -0.010437008924782276,
                        "pitch": -0.2964165210723877,
                        "yaw": -23.051523208618164
                    }
                },
                "velocity": {
                    "x": 4.1179280281066895,
                    "y": -1.7628895044326782,
                    "z": -0.017494259402155876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.3012056350708,
                "transform": {
                    "location": {
                        "x": -1517.606689453125,
                        "y": 5787.3310546875,
                        "z": 375.747802734375
                    },
                    "rotation": {
                        "roll": 0.00022994339815340936,
                        "pitch": 0.3709748685359955,
                        "yaw": 156.40806579589844
                    }
                },
                "velocity": {
                    "x": -8.524765014648438,
                    "y": 3.7200851440429688,
                    "z": 0.04214439168572426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.3317389488220215,
                "transform": {
                    "location": {
                        "x": -1538.5765380859375,
                        "y": 5796.47998046875,
                        "z": 375.9048767089844
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": 0.24898770451545715,
                        "yaw": 156.41563415527344
                    }
                },
                "velocity": {
                    "x": -5.80336332321167,
                    "y": 2.531959295272827,
                    "z": 0.0327928252518177
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9737932682037354,
                "transform": {
                    "location": {
                        "x": -1556.016845703125,
                        "y": 5804.0859375,
                        "z": 375.9631652832031
                    },
                    "rotation": {
                        "roll": -0.0033874541986733675,
                        "pitch": 0.3032398819923401,
                        "yaw": 156.40182495117188
                    }
                },
                "velocity": {
                    "x": -2.7251827716827393,
                    "y": 1.1902196407318115,
                    "z": 0.014242591336369514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.956122875213623,
                "transform": {
                    "location": {
                        "x": -1604.2471923828125,
                        "y": 5828.15625,
                        "z": 376.26751708984375
                    },
                    "rotation": {
                        "roll": -0.0034484839998185635,
                        "pitch": -0.12011569738388062,
                        "yaw": -23.167890548706055
                    }
                },
                "velocity": {
                    "x": 4.5618414878845215,
                    "y": -1.9370744228363037,
                    "z": -0.02236018143594265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.950369358062744,
                "transform": {
                    "location": {
                        "x": -1569.036865234375,
                        "y": 5809.77099609375,
                        "z": 376.035888671875
                    },
                    "rotation": {
                        "roll": 0.002574608661234379,
                        "pitch": 0.29629358649253845,
                        "yaw": 156.45904541015625
                    }
                },
                "velocity": {
                    "x": -4.537725448608398,
                    "y": 1.9785311222076416,
                    "z": 0.02491341531276703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0019361972808838,
        "expert_target_speed": 10.0,
        "target_point": [
            42.104056210357136,
            -7.0607945820904945
        ],
        "target_point_next": [
            43.095554117990964,
            -7.19053738098896
        ]
    },
    "455": {
        "acceleration": [
            1.3764381408691406,
            1.748518943786621,
            -0.03493368625640869
        ],
        "angular_velocity": [
            -0.6902918815612793,
            -0.32296568155288696,
            -19.66368293762207
        ],
        "forward_vector": [
            -0.933712363243103,
            0.3579859733581543,
            0.005227183923125267
        ],
        "right_vector": [
            -0.35622167587280273,
            -0.9303758144378662,
            0.08664308488368988
        ],
        "location": [
            -1580.2427978515625,
            5812.95068359375,
            376.16986083984375
        ],
        "rotation": [
            -4.970583438873291,
            0.29949694871902466,
            159.0231475830078
        ],
        "velocity": [
            -4.548511028289795,
            2.192513942718506,
            0.03027373179793358
        ],
        "speed": 5.049363322587209,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0953564643859863,
                "transform": {
                    "location": {
                        "x": -1614.076171875,
                        "y": 5832.4619140625,
                        "z": 376.28472900390625
                    },
                    "rotation": {
                        "roll": -0.0036926288157701492,
                        "pitch": -0.1317133605480194,
                        "yaw": -23.09458351135254
                    }
                },
                "velocity": {
                    "x": 2.8459877967834473,
                    "y": -1.21712327003479,
                    "z": -0.014003695920109749
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4461,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.437323570251465,
                "transform": {
                    "location": {
                        "x": -1519.87841796875,
                        "y": 5788.322265625,
                        "z": 375.7594909667969
                    },
                    "rotation": {
                        "roll": -3.0523002351401374e-05,
                        "pitch": 0.35767650604248047,
                        "yaw": 156.41650390625
                    }
                },
                "velocity": {
                    "x": -9.566133499145508,
                    "y": 4.174258708953857,
                    "z": 0.04869462922215462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4460,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.003057479858398,
                "transform": {
                    "location": {
                        "x": -1539.986572265625,
                        "y": 5797.095703125,
                        "z": 375.9126892089844
                    },
                    "rotation": {
                        "roll": -0.0013427723897621036,
                        "pitch": 0.2552783191204071,
                        "yaw": 156.45101928710938
                    }
                },
                "velocity": {
                    "x": -5.503109455108643,
                    "y": 2.3982391357421875,
                    "z": 0.030568275600671768
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4459,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6784310340881348,
                "transform": {
                    "location": {
                        "x": -1556.7803955078125,
                        "y": 5804.419921875,
                        "z": 375.9673767089844
                    },
                    "rotation": {
                        "roll": -0.0049133277498185635,
                        "pitch": 0.31440725922584534,
                        "yaw": 156.40696716308594
                    }
                },
                "velocity": {
                    "x": -3.370746612548828,
                    "y": 1.472610592842102,
                    "z": 0.018428897485136986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.406318187713623,
                "transform": {
                    "location": {
                        "x": -1603.036865234375,
                        "y": 5827.642578125,
                        "z": 376.2624816894531
                    },
                    "rotation": {
                        "roll": -0.0017700206954032183,
                        "pitch": -0.20373770594596863,
                        "yaw": -23.191082000732422
                    }
                },
                "velocity": {
                    "x": 4.976271629333496,
                    "y": -2.112888813018799,
                    "z": -0.02644515410065651
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4454,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0063300132751465,
                "transform": {
                    "location": {
                        "x": -1570.177978515625,
                        "y": 5810.2685546875,
                        "z": 376.0423889160156
                    },
                    "rotation": {
                        "roll": 0.0027766746934503317,
                        "pitch": 0.29240721464157104,
                        "yaw": 156.45623779296875
                    }
                },
                "velocity": {
                    "x": -4.589524745941162,
                    "y": 1.999778389930725,
                    "z": 0.022148532792925835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0000885725021362,
        "expert_target_speed": 10.0,
        "target_point": [
            41.26158206345616,
            -3.4364694637748645
        ],
        "target_point_next": [
            42.260506132043766,
            -3.4817684693339643
        ]
    },
    "460": {
        "acceleration": [
            1.8496131896972656,
            0.6546163558959961,
            -0.01315440982580185
        ],
        "angular_velocity": [
            -1.1880065202713013,
            -0.06516801565885544,
            -19.632591247558594
        ],
        "forward_vector": [
            -0.9003778696060181,
            0.43506893515586853,
            0.005892480723559856
        ],
        "right_vector": [
            -0.4328780770301819,
            -0.8970491886138916,
            0.08899051696062088
        ],
        "location": [
            -1581.412353515625,
            5813.55810546875,
            376.1769714355469
        ],
        "rotation": [
            -5.105623722076416,
            0.3376162350177765,
            154.2098388671875
        ],
        "velocity": [
            -4.546622276306152,
            2.6651501655578613,
            0.027810726314783096
        ],
        "speed": 5.270180217827132,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9212065935134888,
                "transform": {
                    "location": {
                        "x": -1613.51025390625,
                        "y": 5832.2197265625,
                        "z": 376.2820129394531
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.1243845671415329,
                        "yaw": -23.099008560180664
                    }
                },
                "velocity": {
                    "x": 1.7667402029037476,
                    "y": -0.754703938961029,
                    "z": -0.009246797300875187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.393858909606934,
                "transform": {
                    "location": {
                        "x": -1601.7333984375,
                        "y": 5827.08837890625,
                        "z": 376.2555236816406
                    },
                    "rotation": {
                        "roll": -0.0017395063769072294,
                        "pitch": -0.18724963068962097,
                        "yaw": -23.090526580810547
                    }
                },
                "velocity": {
                    "x": 5.885011672973633,
                    "y": -2.4994378089904785,
                    "z": -0.02966434322297573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9992225766181946,
        "expert_target_speed": 10.0,
        "target_point": [
            40.0870852607598,
            0.0759582729769388
        ],
        "target_point_next": [
            41.086287522413016,
            0.114638177518529
        ]
    },
    "465": {
        "acceleration": [
            1.7140388488769531,
            0.951385498046875,
            0.19110414385795593
        ],
        "angular_velocity": [
            -1.0911487340927124,
            1.0602036714553833,
            -18.317180633544922
        ],
        "forward_vector": [
            -0.8611257076263428,
            0.5083730220794678,
            0.004398212768137455
        ],
        "right_vector": [
            -0.5058697462081909,
            -0.8576821684837341,
            0.09207095205783844
        ],
        "location": [
            -1582.5052490234375,
            5814.23876953125,
            376.1844787597656
        ],
        "rotation": [
            -5.282809734344482,
            0.2519998252391815,
            149.44415283203125
        ],
        "velocity": [
            -4.127540111541748,
            2.8998374938964844,
            0.038449421525001526
        ],
        "speed": 5.044367637612658,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8174774646759033,
                "transform": {
                    "location": {
                        "x": -1613.113037109375,
                        "y": 5832.0498046875,
                        "z": 376.28076171875
                    },
                    "rotation": {
                        "roll": -0.0020141624845564365,
                        "pitch": -0.2123710662126541,
                        "yaw": -23.120708465576172
                    }
                },
                "velocity": {
                    "x": 1.6710723638534546,
                    "y": -0.7146156430244446,
                    "z": -0.008124017156660557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.346302032470703,
                "transform": {
                    "location": {
                        "x": -1599.9703369140625,
                        "y": 5826.33349609375,
                        "z": 376.24560546875
                    },
                    "rotation": {
                        "roll": 0.007061638869345188,
                        "pitch": -0.08480362594127655,
                        "yaw": -23.191049575805664
                    }
                },
                "velocity": {
                    "x": 7.666585445404053,
                    "y": -3.298903703689575,
                    "z": -0.03824545815587044
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8529460430145264,
        "expert_target_speed": 10.0,
        "target_point": [
            38.655022163316175,
            3.4366996164013504
        ],
        "target_point_next": [
            39.64755644725034,
            3.558260259388918
        ]
    },
    "470": {
        "acceleration": [
            2.409076690673828,
            0.16022682189941406,
            1.136426568031311
        ],
        "angular_velocity": [
            0.45017945766448975,
            -4.075031280517578,
            -17.477462768554688
        ],
        "forward_vector": [
            -0.8204855918884277,
            0.5713932514190674,
            -0.01769736222922802
        ],
        "right_vector": [
            -0.5715451240539551,
            -0.8192772269248962,
            0.04605342820286751
        ],
        "location": [
            -1583.5286865234375,
            5814.99609375,
            376.1593017578125
        ],
        "rotation": [
            -2.640014410018921,
            -1.0140371322631836,
            145.1463165283203
        ],
        "velocity": [
            -4.007215976715088,
            3.1225388050079346,
            -0.06062938645482063
        ],
        "speed": 5.080160280229457,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6320860385894775,
                "transform": {
                    "location": {
                        "x": -1612.6033935546875,
                        "y": 5831.83251953125,
                        "z": 376.2791748046875
                    },
                    "rotation": {
                        "roll": -0.0011901847319677472,
                        "pitch": -0.31198254227638245,
                        "yaw": -23.117198944091797
                    }
                },
                "velocity": {
                    "x": 2.420168399810791,
                    "y": -1.0346766710281372,
                    "z": -0.01032490748912096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.021947860717773,
                "transform": {
                    "location": {
                        "x": -1598.0732421875,
                        "y": 5825.51806640625,
                        "z": 376.23724365234375
                    },
                    "rotation": {
                        "roll": 0.002511548576876521,
                        "pitch": -0.2473689466714859,
                        "yaw": -23.282089233398438
                    }
                },
                "velocity": {
                    "x": 7.3673553466796875,
                    "y": -3.1736958026885986,
                    "z": -0.037263721227645874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.47274306416511536,
        "expert_target_speed": 10.0,
        "target_point": [
            37.01612887385051,
            6.360473394476587
        ],
        "target_point_next": [
            37.99676225889036,
            6.556073647169557
        ]
    },
    "475": {
        "acceleration": [
            -0.5205821990966797,
            -2.136049270629883,
            -2.1186420917510986
        ],
        "angular_velocity": [
            13.5747709274292,
            -1.290573239326477,
            -9.098640441894531
        ],
        "forward_vector": [
            -0.7852959632873535,
            0.6189395189285278,
            -0.014975463971495628
        ],
        "right_vector": [
            -0.6190623641014099,
            -0.7846605777740479,
            0.03270530700683594
        ],
        "location": [
            -1584.5318603515625,
            5815.81298828125,
            376.15234375
        ],
        "rotation": [
            -1.874420404434204,
            -0.8580629825592041,
            141.75621032714844
        ],
        "velocity": [
            -4.159478187561035,
            3.3780858516693115,
            -0.11552566289901733
        ],
        "speed": 5.358425404355687,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.646278142929077,
                "transform": {
                    "location": {
                        "x": -1611.8814697265625,
                        "y": 5831.5234375,
                        "z": 376.276123046875
                    },
                    "rotation": {
                        "roll": -0.001068117213435471,
                        "pitch": -0.3489679992198944,
                        "yaw": -23.13273048400879
                    }
                },
                "velocity": {
                    "x": 3.3532204627990723,
                    "y": -1.4321430921554565,
                    "z": -0.014942826703190804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.836440563201904,
                "transform": {
                    "location": {
                        "x": -1596.2684326171875,
                        "y": 5824.73974609375,
                        "z": 376.2282409667969
                    },
                    "rotation": {
                        "roll": 0.0038564850110560656,
                        "pitch": -0.2897912561893463,
                        "yaw": -23.33957862854004
                    }
                },
                "velocity": {
                    "x": 7.190796852111816,
                    "y": -3.1146159172058105,
                    "z": -0.037583623081445694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.009107358753681183,
        "expert_target_speed": 10.0,
        "target_point": [
            35.28168824043696,
            8.558868116386025
        ],
        "target_point_next": [
            36.24903886914721,
            8.812115141723202
        ]
    },
    "480": {
        "acceleration": [
            0.5624866485595703,
            -0.9532403945922852,
            0.2312316745519638
        ],
        "angular_velocity": [
            2.658747434616089,
            -0.49790239334106445,
            3.242694616317749
        ],
        "forward_vector": [
            -0.7807806730270386,
            0.6248028874397278,
            -0.0016921749338507652
        ],
        "right_vector": [
            -0.6247526407241821,
            -0.7806770205497742,
            0.015081952325999737
        ],
        "location": [
            -1585.556884765625,
            5816.6337890625,
            376.1353454589844
        ],
        "rotation": [
            -0.8641662001609802,
            -0.09695453196763992,
            141.33221435546875
        ],
        "velocity": [
            -4.061660289764404,
            3.1186435222625732,
            -0.01807759329676628
        ],
        "speed": 5.120841896446264,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1570.9779052734375,
                        "y": 5810.6162109375,
                        "z": 376.334716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.28906041383743286,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.774147033691406,
                "transform": {
                    "location": {
                        "x": -1610.9073486328125,
                        "y": 5831.10693359375,
                        "z": 376.27166748046875
                    },
                    "rotation": {
                        "roll": -0.0015563939232379198,
                        "pitch": -0.3637348711490631,
                        "yaw": -23.13779640197754
                    }
                },
                "velocity": {
                    "x": 4.390196323394775,
                    "y": -1.8756890296936035,
                    "z": -0.02107888087630272
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.614954948425293,
                "transform": {
                    "location": {
                        "x": -1594.4844970703125,
                        "y": 5823.96728515625,
                        "z": 376.2190246582031
                    },
                    "rotation": {
                        "roll": 0.0019734776578843594,
                        "pitch": -0.29830849170684814,
                        "yaw": -23.42368507385254
                    }
                },
                "velocity": {
                    "x": 6.985867023468018,
                    "y": -3.0304906368255615,
                    "z": -0.03644181787967682
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27167263627052307,
        "expert_target_speed": 10.0,
        "target_point": [
            33.90422702086483,
            8.820144576496377
        ],
        "target_point_next": [
            34.869677143414414,
            9.080543031901257
        ]
    },
    "485": {
        "acceleration": [
            -1.5675830841064453,
            -0.08410930633544922,
            0.002839658409357071
        ],
        "angular_velocity": [
            0.8844095468521118,
            0.515483021736145,
            7.053369998931885
        ],
        "forward_vector": [
            -0.7952296733856201,
            0.6063047051429749,
            0.0020761475898325443
        ],
        "right_vector": [
            -0.6062636375427246,
            -0.7952080368995667,
            0.00941198505461216
        ],
        "location": [
            -1586.570556640625,
            5817.39404296875,
            376.134765625
        ],
        "rotation": [
            -0.539276123046875,
            0.11895456910133362,
            142.6771240234375
        ],
        "velocity": [
            -4.135499477386475,
            2.9467108249664307,
            0.00933730136603117
        ],
        "speed": 5.0779386185181625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.22193513810634613,
                "transform": {
                    "location": {
                        "x": -1570.978515625,
                        "y": 5810.6162109375,
                        "z": 375.9924011230469
                    },
                    "rotation": {
                        "roll": 0.00011117210669908673,
                        "pitch": 0.2924550175666809,
                        "yaw": 156.4288330078125
                    }
                },
                "velocity": {
                    "x": -0.0010060140630230308,
                    "y": 0.00044058795901946723,
                    "z": -0.22193241119384766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.256691932678223,
                "transform": {
                    "location": {
                        "x": -1609.72119140625,
                        "y": 5830.5966796875,
                        "z": 376.2657470703125
                    },
                    "rotation": {
                        "roll": -0.004089349880814552,
                        "pitch": -0.31310951709747314,
                        "yaw": -23.261695861816406
                    }
                },
                "velocity": {
                    "x": 4.825165748596191,
                    "y": -2.085688829421997,
                    "z": -0.022156523540616035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.113129138946533,
                "transform": {
                    "location": {
                        "x": -1592.7999267578125,
                        "y": 5823.236328125,
                        "z": 376.2102966308594
                    },
                    "rotation": {
                        "roll": -9.154871077043936e-05,
                        "pitch": -0.3286140561103821,
                        "yaw": -23.45578956604004
                    }
                },
                "velocity": {
                    "x": 6.525216579437256,
                    "y": -2.8314077854156494,
                    "z": -0.03583774343132973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.49437040090560913,
        "expert_target_speed": 10.0,
        "target_point": [
            32.83485142674303,
            8.011943615723627
        ],
        "target_point_next": [
            33.80614730960488,
            8.249610615207894
        ]
    },
    "490": {
        "acceleration": [
            -0.2716064453125,
            -1.1940574645996094,
            -0.0011005252599716187
        ],
        "angular_velocity": [
            -0.0127787496894598,
            -0.19756048917770386,
            9.999908447265625
        ],
        "forward_vector": [
            -0.81873619556427,
            0.5741526484489441,
            0.004452332854270935
        ],
        "right_vector": [
            -0.5741097927093506,
            -0.8187380433082581,
            0.008116614073514938
        ],
        "location": [
            -1587.660888671875,
            5818.14111328125,
            376.1391296386719
        ],
        "rotation": [
            -0.46505746245384216,
            0.25510072708129883,
            144.95928955078125
        ],
        "velocity": [
            -4.379262447357178,
            2.8123793601989746,
            0.0215799231082201
        ],
        "speed": 5.204557353753148,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.22959163784980774,
                "transform": {
                    "location": {
                        "x": -1570.981201171875,
                        "y": 5810.6171875,
                        "z": 376.0121154785156
                    },
                    "rotation": {
                        "roll": -0.0004272398364264518,
                        "pitch": 0.30897724628448486,
                        "yaw": 156.42848205566406
                    }
                },
                "velocity": {
                    "x": -0.16412478685379028,
                    "y": 0.07047345489263535,
                    "z": 0.14425279200077057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.87587308883667,
                "transform": {
                    "location": {
                        "x": -1608.422607421875,
                        "y": 5830.0361328125,
                        "z": 376.2593994140625
                    },
                    "rotation": {
                        "roll": -0.0018615730805322528,
                        "pitch": -0.3049064576625824,
                        "yaw": -23.284799575805664
                    }
                },
                "velocity": {
                    "x": 5.393592357635498,
                    "y": -2.331183910369873,
                    "z": -0.025110553950071335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.815944671630859,
                "transform": {
                    "location": {
                        "x": -1591.2105712890625,
                        "y": 5822.5458984375,
                        "z": 376.2017517089844
                    },
                    "rotation": {
                        "roll": 0.0015839537372812629,
                        "pitch": -0.3135671317577362,
                        "yaw": -23.490217208862305
                    }
                },
                "velocity": {
                    "x": 6.249789237976074,
                    "y": -2.7195913791656494,
                    "z": -0.03262530267238617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.639954149723053,
        "expert_target_speed": 0,
        "target_point": [
            31.806215526864385,
            6.6836900355286435
        ],
        "target_point_next": [
            32.78620526000354,
            6.8824899793165795
        ]
    },
    "495": {
        "acceleration": [
            0.354156494140625,
            -1.1352062225341797,
            -0.0089963898062706
        ],
        "angular_velocity": [
            0.23886261880397797,
            -0.27148890495300293,
            10.567683219909668
        ],
        "forward_vector": [
            -0.8435583114624023,
            0.5370234847068787,
            0.003894199850037694
        ],
        "right_vector": [
            -0.5369874238967896,
            -0.8435564041137695,
            0.007554193492978811
        ],
        "location": [
            -1588.7457275390625,
            5818.8125,
            376.14501953125
        ],
        "rotation": [
            -0.432830810546875,
            0.223121777176857,
            147.5184783935547
        ],
        "velocity": [
            -4.361475944519043,
            2.5123720169067383,
            0.021958189085125923
        ],
        "speed": 5.033337418249874,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4918525218963623,
                "transform": {
                    "location": {
                        "x": -1571.2181396484375,
                        "y": 5810.71875,
                        "z": 376.03662109375
                    },
                    "rotation": {
                        "roll": -0.009948721155524254,
                        "pitch": 0.6586760878562927,
                        "yaw": 156.4724884033203
                    }
                },
                "velocity": {
                    "x": -1.3711307048797607,
                    "y": 0.5842109322547913,
                    "z": 0.06574232131242752
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.585284233093262,
                "transform": {
                    "location": {
                        "x": -1606.887939453125,
                        "y": 5829.373046875,
                        "z": 376.2528076171875
                    },
                    "rotation": {
                        "roll": -0.0012512162793427706,
                        "pitch": -0.4039919972419739,
                        "yaw": -23.345745086669922
                    }
                },
                "velocity": {
                    "x": 6.962366104125977,
                    "y": -3.010122299194336,
                    "z": -0.033994510769844055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.608616352081299,
                "transform": {
                    "location": {
                        "x": -1589.66796875,
                        "y": 5821.875,
                        "z": 376.1934814453125
                    },
                    "rotation": {
                        "roll": 0.0013317993143573403,
                        "pitch": -0.30785709619522095,
                        "yaw": -23.509986877441406
                    }
                },
                "velocity": {
                    "x": 6.05912971496582,
                    "y": -2.638131618499756,
                    "z": -0.03184400498867035
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7293655276298523,
        "expert_target_speed": 0,
        "target_point": [
            30.797244298056178,
            5.240601186300072
        ],
        "target_point_next": [
            31.78513331967752,
            5.39544489998676
        ]
    },
    "500": {
        "acceleration": [
            0.9172725677490234,
            -0.8886861801147461,
            0.0030530989170074463
        ],
        "angular_velocity": [
            0.5701313018798828,
            -0.5980068445205688,
            9.987196922302246
        ],
        "forward_vector": [
            -0.868224024772644,
            0.4961368143558502,
            0.005944693461060524
        ],
        "right_vector": [
            -0.49609750509262085,
            -0.8682388067245483,
            0.006973573472350836
        ],
        "location": [
            -1589.8836669921875,
            5819.43994140625,
            376.1507873535156
        ],
        "rotation": [
            -0.3995665907859802,
            0.3406078517436981,
            150.2546844482422
        ],
        "velocity": [
            -4.7028303146362305,
            2.442615509033203,
            0.025440625846385956
        ],
        "speed": 5.299338024058386,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.472125291824341,
                "transform": {
                    "location": {
                        "x": -1571.6751708984375,
                        "y": 5810.91357421875,
                        "z": 376.0470275878906
                    },
                    "rotation": {
                        "roll": -0.011199955828487873,
                        "pitch": 0.70449298620224,
                        "yaw": 156.62045288085938
                    }
                },
                "velocity": {
                    "x": -2.274636745452881,
                    "y": 0.9677779078483582,
                    "z": 0.028948163613677025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.289209365844727,
                "transform": {
                    "location": {
                        "x": -1605.039306640625,
                        "y": 5828.57275390625,
                        "z": 376.24334716796875
                    },
                    "rotation": {
                        "roll": -0.004028319381177425,
                        "pitch": -0.35085996985435486,
                        "yaw": -23.41053009033203
                    }
                },
                "velocity": {
                    "x": 7.603241443634033,
                    "y": -3.301558494567871,
                    "z": -0.0376824289560318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.163182735443115,
                "transform": {
                    "location": {
                        "x": -1588.20751953125,
                        "y": 5821.2392578125,
                        "z": 376.1857604980469
                    },
                    "rotation": {
                        "roll": -0.0007934616296552122,
                        "pitch": -0.32067736983299255,
                        "yaw": -23.52109146118164
                    }
                },
                "velocity": {
                    "x": 5.651033401489258,
                    "y": -2.459623098373413,
                    "z": -0.029966697096824646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7370281219482422,
        "expert_target_speed": 6.340894022942695,
        "target_point": [
            29.712998411721397,
            3.7446415986083963
        ],
        "target_point_next": [
            30.70715296439809,
            3.8521498313185543
        ]
    },
    "505": {
        "acceleration": [
            0.050945281982421875,
            -0.09819507598876953,
            0.01847095787525177
        ],
        "angular_velocity": [
            0.4586539566516876,
            -0.3758253753185272,
            4.552100658416748
        ],
        "forward_vector": [
            -0.8835774064064026,
            0.4682627320289612,
            0.004574640654027462
        ],
        "right_vector": [
            -0.4682491719722748,
            -0.8835885524749756,
            0.0037544758524745703
        ],
        "location": [
            -1591.040283203125,
            5820.0380859375,
            376.1573486328125
        ],
        "rotation": [
            -0.2151183784008026,
            0.2621085047721863,
            152.07809448242188
        ],
        "velocity": [
            -4.596030235290527,
            2.324023962020874,
            0.025596732273697853
        ],
        "speed": 5.150202063973015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8566622734069824,
                "transform": {
                    "location": {
                        "x": -1572.4049072265625,
                        "y": 5811.22509765625,
                        "z": 376.0526428222656
                    },
                    "rotation": {
                        "roll": -0.00958250928670168,
                        "pitch": 0.8309812545776367,
                        "yaw": 156.7627716064453
                    }
                },
                "velocity": {
                    "x": -3.5494942665100098,
                    "y": 1.5081125497817993,
                    "z": 0.023021725937724113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006101608276367,
                "transform": {
                    "location": {
                        "x": -1603.1663818359375,
                        "y": 5827.759765625,
                        "z": 376.233154296875
                    },
                    "rotation": {
                        "roll": -0.0012207016116008162,
                        "pitch": -0.2552441656589508,
                        "yaw": -23.464120864868164
                    }
                },
                "velocity": {
                    "x": 7.342525482177734,
                    "y": -3.191171884536743,
                    "z": -0.03751148283481598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.981332778930664,
                "transform": {
                    "location": {
                        "x": -1586.8193359375,
                        "y": 5820.634765625,
                        "z": 376.1783142089844
                    },
                    "rotation": {
                        "roll": 0.00045856324140913785,
                        "pitch": -0.31082141399383545,
                        "yaw": -23.53326988220215
                    }
                },
                "velocity": {
                    "x": 5.483207702636719,
                    "y": -2.3895485401153564,
                    "z": -0.028935221955180168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7650958895683289,
        "expert_target_speed": 6.204529777375841,
        "target_point": [
            28.515042111282813,
            2.7842079265139503
        ],
        "target_point_next": [
            29.512114092160417,
            2.860028501934183
        ]
    },
    "510": {
        "acceleration": [
            0.35881996154785156,
            -0.5445718765258789,
            -0.009035877883434296
        ],
        "angular_velocity": [
            -0.06489971280097961,
            -0.011601822450757027,
            2.9489963054656982
        ],
        "forward_vector": [
            -0.8895266056060791,
            0.45686253905296326,
            0.004367456305772066
        ],
        "right_vector": [
            -0.45685726404190063,
            -0.8895373344421387,
            0.002196019282564521
        ],
        "location": [
            -1592.17578125,
            5820.61474609375,
            376.1635437011719
        ],
        "rotation": [
            -0.1258239448070526,
            0.2502376139163971,
            152.81488037109375
        ],
        "velocity": [
            -4.528458595275879,
            2.254596471786499,
            0.02523959055542946
        ],
        "speed": 5.05867003269833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.161179542541504,
                "transform": {
                    "location": {
                        "x": -1573.4498291015625,
                        "y": 5811.66845703125,
                        "z": 376.0588073730469
                    },
                    "rotation": {
                        "roll": -0.007690428290516138,
                        "pitch": 0.8777885437011719,
                        "yaw": 156.8907470703125
                    }
                },
                "velocity": {
                    "x": -4.751223564147949,
                    "y": 2.015632390975952,
                    "z": 0.02958841249346733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.943385601043701,
                "transform": {
                    "location": {
                        "x": -1601.3494873046875,
                        "y": 5826.97119140625,
                        "z": 376.2238464355469
                    },
                    "rotation": {
                        "roll": 0.0009652380831539631,
                        "pitch": -0.26464250683784485,
                        "yaw": -23.479806900024414
                    }
                },
                "velocity": {
                    "x": 7.285549163818359,
                    "y": -3.164931297302246,
                    "z": -0.0369056798517704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.678114414215088,
                "transform": {
                    "location": {
                        "x": -1585.4813232421875,
                        "y": 5820.0517578125,
                        "z": 376.1711730957031
                    },
                    "rotation": {
                        "roll": -0.001373288338072598,
                        "pitch": -0.3109443485736847,
                        "yaw": -23.54169273376465
                    }
                },
                "velocity": {
                    "x": 5.205368995666504,
                    "y": -2.26810359954834,
                    "z": -0.028611889109015465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8148678541183472,
        "expert_target_speed": 6.1200764886710255,
        "target_point": [
            27.27496431279739,
            2.4114912622635796
        ],
        "target_point_next": [
            28.27292883156028,
            2.4744842301140224
        ]
    },
    "515": {
        "acceleration": [
            -0.6824398040771484,
            -0.5611038208007812,
            -0.004814751446247101
        ],
        "angular_velocity": [
            -0.30453014373779297,
            0.3061717450618744,
            5.605077743530273
        ],
        "forward_vector": [
            -0.8980450630187988,
            0.43987882137298584,
            0.004659039434045553
        ],
        "right_vector": [
            -0.43986794352531433,
            -0.8980567455291748,
            0.003195220371708274
        ],
        "location": [
            -1593.3143310546875,
            5821.1650390625,
            376.1697082519531
        ],
        "rotation": [
            -0.1830749362707138,
            0.2669442594051361,
            153.90354919433594
        ],
        "velocity": [
            -4.596801280975342,
            2.120187520980835,
            0.02565930224955082
        ],
        "speed": 5.062190942753879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.412395000457764,
                "transform": {
                    "location": {
                        "x": -1574.687255859375,
                        "y": 5812.1943359375,
                        "z": 376.0667419433594
                    },
                    "rotation": {
                        "roll": -0.004882796201854944,
                        "pitch": 0.6119166016578674,
                        "yaw": 156.9987030029297
                    }
                },
                "velocity": {
                    "x": -4.983516216278076,
                    "y": 2.111354112625122,
                    "z": 0.02775609865784645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.476215839385986,
                "transform": {
                    "location": {
                        "x": -1599.56494140625,
                        "y": 5826.1943359375,
                        "z": 376.21441650390625
                    },
                    "rotation": {
                        "roll": 0.0007242191350087523,
                        "pitch": -0.22634562849998474,
                        "yaw": -23.514930725097656
                    }
                },
                "velocity": {
                    "x": 6.854044437408447,
                    "y": -2.985724925994873,
                    "z": -0.036365557461977005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.417590141296387,
                "transform": {
                    "location": {
                        "x": -1584.2122802734375,
                        "y": 5819.49853515625,
                        "z": 376.1643371582031
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -0.31539762020111084,
                        "yaw": -23.548442840576172
                    }
                },
                "velocity": {
                    "x": 4.966344833374023,
                    "y": -2.164479970932007,
                    "z": -0.02695378288626671
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7984033823013306,
        "expert_target_speed": 6.1225176022763,
        "target_point": [
            26.05131294533944,
            1.8862121473597142
        ],
        "target_point_next": [
            27.05029415464652,
            1.9302330305814888
        ]
    },
    "520": {
        "acceleration": [
            0.10769844055175781,
            -0.4710578918457031,
            -0.004845447838306427
        ],
        "angular_velocity": [
            0.1914490908384323,
            -0.10966489464044571,
            6.7383036613464355
        ],
        "forward_vector": [
            -0.9101463556289673,
            0.41425812244415283,
            0.004886130336672068
        ],
        "right_vector": [
            -0.41424211859703064,
            -0.9101580381393433,
            0.003974442835897207
        ],
        "location": [
            -1594.468994140625,
            5821.6787109375,
            376.1758117675781
        ],
        "rotation": [
            -0.22772212326526642,
            0.27995577454566956,
            155.52708435058594
        ],
        "velocity": [
            -4.6573286056518555,
            1.9636962413787842,
            0.024884041398763657
        ],
        "speed": 5.0543854888035815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.035303115844727,
                "transform": {
                    "location": {
                        "x": -1576.129638671875,
                        "y": 5812.80712890625,
                        "z": 376.0738220214844
                    },
                    "rotation": {
                        "roll": 0.022116292268037796,
                        "pitch": 0.8173072338104248,
                        "yaw": 156.96388244628906
                    }
                },
                "velocity": {
                    "x": -6.467867851257324,
                    "y": 2.7678489685058594,
                    "z": 0.03449427708983421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.026612758636475,
                "transform": {
                    "location": {
                        "x": -1598.2083740234375,
                        "y": 5825.603515625,
                        "z": 376.2062072753906
                    },
                    "rotation": {
                        "roll": -0.0007934566237963736,
                        "pitch": -0.07824664562940598,
                        "yaw": -23.51868438720703
                    }
                },
                "velocity": {
                    "x": 4.608042240142822,
                    "y": -2.0080368518829346,
                    "z": -0.023976081982254982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.160468578338623,
                "transform": {
                    "location": {
                        "x": -1583.00341796875,
                        "y": 5818.9716796875,
                        "z": 376.1578063964844
                    },
                    "rotation": {
                        "roll": -0.0007629377068951726,
                        "pitch": -0.3072150647640228,
                        "yaw": -23.549419403076172
                    }
                },
                "velocity": {
                    "x": 4.73020076751709,
                    "y": -2.0627753734588623,
                    "z": -0.024351486936211586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7538605332374573,
        "expert_target_speed": 6.114589828658959,
        "target_point": [
            24.830575384052246,
            1.1365502331099417
        ],
        "target_point_next": [
            25.830402774337333,
            1.1522500529800013
        ]
    },
    "525": {
        "acceleration": [
            -0.34198760986328125,
            0.48058509826660156,
            -0.007759295403957367
        ],
        "angular_velocity": [
            0.7470522522926331,
            -0.22424544394016266,
            1.8088279962539673
        ],
        "forward_vector": [
            -0.9182392358779907,
            0.39599382877349854,
            0.0050657764077186584
        ],
        "right_vector": [
            -0.3959910571575165,
            -0.9182530045509338,
            0.0015739070950075984
        ],
        "location": [
            -1595.6380615234375,
            5822.17236328125,
            376.18194580078125
        ],
        "rotation": [
            -0.0901794284582138,
            0.2902488708496094,
            156.6717071533203
        ],
        "velocity": [
            -4.69745397567749,
            1.9801278114318848,
            0.025150012224912643
        ],
        "speed": 5.097742637993241,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.114727973937988,
                "transform": {
                    "location": {
                        "x": -1577.913818359375,
                        "y": 5813.57177734375,
                        "z": 376.08331298828125
                    },
                    "rotation": {
                        "roll": 0.022281911224126816,
                        "pitch": 0.8426950573921204,
                        "yaw": 156.7985382080078
                    }
                },
                "velocity": {
                    "x": -7.455610275268555,
                    "y": 3.203275680541992,
                    "z": 0.04140465706586838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.602062225341797,
                "transform": {
                    "location": {
                        "x": -1597.171875,
                        "y": 5825.15234375,
                        "z": 376.2015686035156
                    },
                    "rotation": {
                        "roll": 0.0002920390688814223,
                        "pitch": -0.20108075439929962,
                        "yaw": -23.526195526123047
                    }
                },
                "velocity": {
                    "x": 4.219460487365723,
                    "y": -1.83702552318573,
                    "z": -0.021616538986563683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.1309685707092285,
                "transform": {
                    "location": {
                        "x": -1581.8343505859375,
                        "y": 5818.4619140625,
                        "z": 376.15142822265625
                    },
                    "rotation": {
                        "roll": -0.0005188010982237756,
                        "pitch": -0.29602038860321045,
                        "yaw": -23.55408477783203
                    }
                },
                "velocity": {
                    "x": 4.702853679656982,
                    "y": -2.0516645908355713,
                    "z": -0.026064595207571983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6845151782035828,
        "expert_target_speed": 0,
        "target_point": [
            23.57934120708944,
            0.630660387668847
        ],
        "target_point_next": [
            24.57928271223191,
            0.6263847588664184
        ]
    },
    "530": {
        "acceleration": [
            0.3827476501464844,
            0.3203153610229492,
            0.0019067898392677307
        ],
        "angular_velocity": [
            0.3102110028266907,
            -0.21836550533771515,
            -2.540128231048584
        ],
        "forward_vector": [
            -0.9170392751693726,
            0.3987646996974945,
            0.005078412592411041
        ],
        "right_vector": [
            -0.3987745940685272,
            -0.9170483946800232,
            -0.001073281979188323
        ],
        "location": [
            -1596.80810546875,
            5822.6806640625,
            376.18798828125
        ],
        "rotation": [
            0.0614953376352787,
            0.29097285866737366,
            156.4987030029297
        ],
        "velocity": [
            -4.6650776863098145,
            2.08331561088562,
            0.024984311312437057
        ],
        "speed": 5.109124558460623,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.722979545593262,
                "transform": {
                    "location": {
                        "x": -1579.9620361328125,
                        "y": 5814.4521484375,
                        "z": 376.09417724609375
                    },
                    "rotation": {
                        "roll": 0.015442284755408764,
                        "pitch": 0.9256954789161682,
                        "yaw": 156.72976684570312
                    }
                },
                "velocity": {
                    "x": -8.930912017822266,
                    "y": 3.843546152114868,
                    "z": 0.04778653010725975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.481814384460449,
                "transform": {
                    "location": {
                        "x": -1596.07763671875,
                        "y": 5824.67529296875,
                        "z": 376.1964111328125
                    },
                    "rotation": {
                        "roll": -0.000183109674253501,
                        "pitch": -0.26201969385147095,
                        "yaw": -23.537879943847656
                    }
                },
                "velocity": {
                    "x": 4.10830020904541,
                    "y": -1.7911089658737183,
                    "z": -0.02149226702749729
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9897851943969727,
                "transform": {
                    "location": {
                        "x": -1580.8843994140625,
                        "y": 5818.04736328125,
                        "z": 376.1466369628906
                    },
                    "rotation": {
                        "roll": 0.00045899231918156147,
                        "pitch": -0.3578813970088959,
                        "yaw": -23.55741310119629
                    }
                },
                "velocity": {
                    "x": 3.6572036743164062,
                    "y": -1.5946345329284668,
                    "z": -0.019721221178770065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7047621011734009,
        "expert_target_speed": 0,
        "target_point": [
            22.30164485085662,
            0.7013998085531927
        ],
        "target_point_next": [
            23.301594707011446,
            0.7001428741096163
        ]
    },
    "535": {
        "acceleration": [
            -0.4205513000488281,
            0.268707275390625,
            -0.002396218478679657
        ],
        "angular_velocity": [
            -0.17831967771053314,
            0.12357217818498611,
            -2.308703660964966
        ],
        "forward_vector": [
            -0.9117350578308105,
            0.4107478857040405,
            0.005038358736783266
        ],
        "right_vector": [
            -0.41075918078422546,
            -0.9117428064346313,
            -0.0014125091256573796
        ],
        "location": [
            -1597.9757080078125,
            5823.21240234375,
            376.1942138671875
        ],
        "rotation": [
            0.08093186467885971,
            0.2886779308319092,
            155.7478485107422
        ],
        "velocity": [
            -4.679419040679932,
            2.162940263748169,
            0.02545994706451893
        ],
        "speed": 5.155121059957844,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.457865715026855,
                "transform": {
                    "location": {
                        "x": -1582.2015380859375,
                        "y": 5815.42041015625,
                        "z": 376.1076965332031
                    },
                    "rotation": {
                        "roll": 0.024150481447577477,
                        "pitch": 0.5115401744842529,
                        "yaw": 156.5974884033203
                    }
                },
                "velocity": {
                    "x": -8.678645133972168,
                    "y": 3.758997917175293,
                    "z": 0.0477483756840229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4852118492126465,
                "transform": {
                    "location": {
                        "x": -1595.09423828125,
                        "y": 5824.24658203125,
                        "z": 376.1912536621094
                    },
                    "rotation": {
                        "roll": 0.00035382629721425474,
                        "pitch": -0.2663295567035675,
                        "yaw": -23.545238494873047
                    }
                },
                "velocity": {
                    "x": 4.111828327178955,
                    "y": -1.7915140390396118,
                    "z": -0.02166101336479187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.8519086837768555,
                "transform": {
                    "location": {
                        "x": -1579.8651123046875,
                        "y": 5817.6025390625,
                        "z": 376.14007568359375
                    },
                    "rotation": {
                        "roll": 0.0005937910173088312,
                        "pitch": -0.22961045801639557,
                        "yaw": -23.557567596435547
                    }
                },
                "velocity": {
                    "x": 4.4474921226501465,
                    "y": -1.9391568899154663,
                    "z": -0.022385209798812866
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7595540881156921,
        "expert_target_speed": 0,
        "target_point": [
            21.00756751722232,
            0.9988068042669109
        ],
        "target_point_next": [
            22.00744798105348,
            1.0106538611602955
        ]
    },
    "540": {
        "acceleration": [
            0.234222412109375,
            -0.0835561752319336,
            -0.01238405704498291
        ],
        "angular_velocity": [
            -0.1514308899641037,
            0.02150852419435978,
            -1.116492509841919
        ],
        "forward_vector": [
            -0.9089689254760742,
            0.41683340072631836,
            0.005042173899710178
        ],
        "right_vector": [
            -0.4168417751789093,
            -0.9089788198471069,
            -0.000686239858623594
        ],
        "location": [
            -1599.1470947265625,
            5823.75244140625,
            376.20025634765625
        ],
        "rotation": [
            0.039319150149822235,
            0.28889650106430054,
            155.36483764648438
        ],
        "velocity": [
            -4.686562538146973,
            2.1759493350982666,
            0.025151623412966728
        ],
        "speed": 5.167071117458824,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6282854080200195,
                "transform": {
                    "location": {
                        "x": -1584.158447265625,
                        "y": 5816.2685546875,
                        "z": 376.12060546875
                    },
                    "rotation": {
                        "roll": 0.014777272008359432,
                        "pitch": -0.13558608293533325,
                        "yaw": 156.5518035888672
                    }
                },
                "velocity": {
                    "x": -6.997871398925781,
                    "y": 3.0363070964813232,
                    "z": 0.037071362137794495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.252493381500244,
                "transform": {
                    "location": {
                        "x": -1593.9578857421875,
                        "y": 5823.751953125,
                        "z": 376.1862487792969
                    },
                    "rotation": {
                        "roll": 0.00019256278756074607,
                        "pitch": -0.34499967098236084,
                        "yaw": -23.549482345581055
                    }
                },
                "velocity": {
                    "x": 4.8142781257629395,
                    "y": -2.1001880168914795,
                    "z": -0.02494851127266884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.18632698059082,
                "transform": {
                    "location": {
                        "x": -1578.829345703125,
                        "y": 5817.15087890625,
                        "z": 376.1353759765625
                    },
                    "rotation": {
                        "roll": -0.0010681073181331158,
                        "pitch": -0.3190859258174896,
                        "yaw": -23.559673309326172
                    }
                },
                "velocity": {
                    "x": 3.837307929992676,
                    "y": -1.6733030080795288,
                    "z": -0.021451009437441826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.818640410900116,
        "expert_target_speed": 0,
        "target_point": [
            19.710544012606633,
            1.141829651659327
        ],
        "target_point_next": [
            20.710322932832323,
            1.1603608518525315
        ]
    },
    "545": {
        "acceleration": [
            -0.4214286804199219,
            0.27295589447021484,
            0.0018800422549247742
        ],
        "angular_velocity": [
            0.052459705621004105,
            0.05463826283812523,
            -0.7619319558143616
        ],
        "forward_vector": [
            -0.907351553440094,
            0.4203421175479889,
            0.005066730547696352
        ],
        "right_vector": [
            -0.4203492999076843,
            -0.9073622822761536,
            -0.00039650811231695116
        ],
        "location": [
            -1600.3243408203125,
            5824.2998046875,
            376.20635986328125
        ],
        "rotation": [
            0.022718533873558044,
            0.2903035283088684,
            155.1434783935547
        ],
        "velocity": [
            -4.725144386291504,
            2.207763671875,
            0.02524874545633793
        ],
        "speed": 5.215477916946163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3758697509765625,
                "transform": {
                    "location": {
                        "x": -1571.6898193359375,
                        "y": 5810.9267578125,
                        "z": 376.338623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.28906041383743286,
                        "yaw": 156.42889404296875
                    }
                },
                "velocity": {
                    "x": -4.746281147003174,
                    "y": 2.0707528591156006,
                    "z": -1.4438745975494385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.3655290603637695,
                "transform": {
                    "location": {
                        "x": -1585.7313232421875,
                        "y": 5816.95166015625,
                        "z": 376.1295166015625
                    },
                    "rotation": {
                        "roll": 0.012506757862865925,
                        "pitch": -0.28796759247779846,
                        "yaw": 156.52491760253906
                    }
                },
                "velocity": {
                    "x": -5.837334632873535,
                    "y": 2.5385947227478027,
                    "z": 0.03206045925617218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.738986492156982,
                "transform": {
                    "location": {
                        "x": -1592.70654296875,
                        "y": 5823.20556640625,
                        "z": 376.179443359375
                    },
                    "rotation": {
                        "roll": -0.0004577639338094741,
                        "pitch": -0.33636629581451416,
                        "yaw": -23.524333953857422
                    }
                },
                "velocity": {
                    "x": 5.260496616363525,
                    "y": -2.2939770221710205,
                    "z": -0.028521699830889702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.223755359649658,
                "transform": {
                    "location": {
                        "x": -1577.857177734375,
                        "y": 5816.7275390625,
                        "z": 376.1298828125
                    },
                    "rotation": {
                        "roll": -0.00027465863968245685,
                        "pitch": -0.29574716091156006,
                        "yaw": -23.55967140197754
                    }
                },
                "velocity": {
                    "x": 3.8716015815734863,
                    "y": -1.6883018016815186,
                    "z": -0.021183114498853683
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8404247760772705,
        "expert_target_speed": 6.256542165855642,
        "target_point": [
            18.407713088809196,
            1.219774114444844
        ],
        "target_point_next": [
            19.40741295596685,
            1.24216764728832
        ]
    },
    "550": {
        "acceleration": [
            0.22418975830078125,
            -0.1540231704711914,
            -0.006220042705535889
        ],
        "angular_velocity": [
            -0.1158699095249176,
            -0.03835331276059151,
            -0.3968253433704376
        ],
        "forward_vector": [
            -0.906198263168335,
            0.4228229522705078,
            0.0050533791072666645
        ],
        "right_vector": [
            -0.422829270362854,
            -0.906209409236908,
            -0.00020303064957261086
        ],
        "location": [
            -1601.5068359375,
            5824.8525390625,
            376.2125549316406
        ],
        "rotation": [
            0.01163294818252325,
            0.28953853249549866,
            154.98672485351562
        ],
        "velocity": [
            -4.732026100158691,
            2.2176101207733154,
            0.02475675567984581
        ],
        "speed": 5.225884198902547,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.9308319091796875,
                "transform": {
                    "location": {
                        "x": -1572.8505859375,
                        "y": 5811.42822265625,
                        "z": 376.013671875
                    },
                    "rotation": {
                        "roll": -0.015045165084302425,
                        "pitch": 0.2643488049507141,
                        "yaw": 156.61659240722656
                    }
                },
                "velocity": {
                    "x": -4.535630702972412,
                    "y": 1.9338761568069458,
                    "z": 0.03578442335128784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.388095855712891,
                "transform": {
                    "location": {
                        "x": -1587.081787109375,
                        "y": 5817.5390625,
                        "z": 376.1365661621094
                    },
                    "rotation": {
                        "roll": 0.006155441980808973,
                        "pitch": -0.21066351234912872,
                        "yaw": 156.49647521972656
                    }
                },
                "velocity": {
                    "x": -4.94046688079834,
                    "y": 2.150033473968506,
                    "z": 0.026835031807422638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.1412034034729,
                "transform": {
                    "location": {
                        "x": -1591.2821044921875,
                        "y": 5822.58349609375,
                        "z": 376.17236328125
                    },
                    "rotation": {
                        "roll": -0.00018310586165171117,
                        "pitch": -0.4135064482688904,
                        "yaw": -23.526588439941406
                    }
                },
                "velocity": {
                    "x": 6.545357704162598,
                    "y": -2.855497121810913,
                    "z": -0.03484809398651123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9445786476135254,
                "transform": {
                    "location": {
                        "x": -1576.942138671875,
                        "y": 5816.328125,
                        "z": 376.1250305175781
                    },
                    "rotation": {
                        "roll": -0.001159661915153265,
                        "pitch": -0.3136627674102783,
                        "yaw": -23.563762664794922
                    }
                },
                "velocity": {
                    "x": 3.615662097930908,
                    "y": -1.5767878293991089,
                    "z": -0.02067878283560276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8776021599769592,
        "expert_target_speed": 6.264710823947603,
        "target_point": [
            17.09900635962039,
            1.2710351255130803
        ],
        "target_point_next": [
            18.09864121412418,
            1.2961638415454289
        ]
    },
    "555": {
        "acceleration": [
            -0.6066703796386719,
            -0.2166128158569336,
            0.011756308376789093
        ],
        "angular_velocity": [
            -0.27321988344192505,
            0.1762935370206833,
            2.3657989501953125
        ],
        "forward_vector": [
            -0.908092200756073,
            0.41874003410339355,
            0.005041100550442934
        ],
        "right_vector": [
            -0.41873982548713684,
            -0.9081055521965027,
            0.0011446117423474789
        ],
        "location": [
            -1602.69873046875,
            5825.40087890625,
            376.2187805175781
        ],
        "rotation": [
            -0.0655822679400444,
            0.2888350188732147,
            155.24459838867188
        ],
        "velocity": [
            -4.805197715759277,
            2.1631381511688232,
            0.025732945650815964
        ],
        "speed": 5.269638673436752,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.791317939758301,
                "transform": {
                    "location": {
                        "x": -1573.9986572265625,
                        "y": 5811.91552734375,
                        "z": 376.0530700683594
                    },
                    "rotation": {
                        "roll": -0.0067443884909152985,
                        "pitch": 0.26896601915359497,
                        "yaw": 156.89369201660156
                    }
                },
                "velocity": {
                    "x": -4.410646915435791,
                    "y": 1.868544578552246,
                    "z": 0.1070544421672821
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.354256629943848,
                "transform": {
                    "location": {
                        "x": -1588.29345703125,
                        "y": 5818.06591796875,
                        "z": 376.1420593261719
                    },
                    "rotation": {
                        "roll": 0.0020537644159048796,
                        "pitch": 0.0665738508105278,
                        "yaw": 156.4911346435547
                    }
                },
                "velocity": {
                    "x": -4.909789562225342,
                    "y": 2.135739326477051,
                    "z": 0.025477608665823936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.86746072769165,
                "transform": {
                    "location": {
                        "x": -1589.6392822265625,
                        "y": 5821.8681640625,
                        "z": 376.1626892089844
                    },
                    "rotation": {
                        "roll": 0.0004106304841116071,
                        "pitch": -0.29369813203811646,
                        "yaw": -23.55912208557129
                    }
                },
                "velocity": {
                    "x": 6.294867992401123,
                    "y": -2.7450976371765137,
                    "z": -0.03302197530865669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6981024742126465,
                "transform": {
                    "location": {
                        "x": -1576.05029296875,
                        "y": 5815.9384765625,
                        "z": 376.12005615234375
                    },
                    "rotation": {
                        "roll": -0.0008239771705120802,
                        "pitch": -0.31289777159690857,
                        "yaw": -23.565101623535156
                    }
                },
                "velocity": {
                    "x": 3.389150381088257,
                    "y": -1.4796335697174072,
                    "z": -0.017473505809903145
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8485327959060669,
        "expert_target_speed": 6.302924189653621,
        "target_point": [
            15.792575879519761,
            1.1929033958397453
        ],
        "target_point_next": [
            16.792313719278912,
            1.2135321733595479
        ]
    },
    "560": {
        "acceleration": [
            0.17549514770507812,
            -0.33380985260009766,
            0.008191689848899841
        ],
        "angular_velocity": [
            0.019319528713822365,
            -0.06662990897893906,
            3.3232040405273438
        ],
        "forward_vector": [
            -0.9136998057365417,
            0.4063587784767151,
            0.005020597483962774
        ],
        "right_vector": [
            -0.4063540995121002,
            -0.9137135744094849,
            0.0019595276098698378
        ],
        "location": [
            -1603.9052734375,
            5825.93310546875,
            376.2250061035156
        ],
        "rotation": [
            -0.11227414757013321,
            0.28766024112701416,
            156.02337646484375
        ],
        "velocity": [
            -4.8498077392578125,
            2.0819952487945557,
            0.025773324072360992
        ],
        "speed": 5.277815772056474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1046295166015625,
                "transform": {
                    "location": {
                        "x": -1575.088134765625,
                        "y": 5812.3759765625,
                        "z": 376.07086181640625
                    },
                    "rotation": {
                        "roll": -0.0021972612012177706,
                        "pitch": 0.3224668800830841,
                        "yaw": 157.0279083251953
                    }
                },
                "velocity": {
                    "x": -4.70259428024292,
                    "y": 1.9849292039871216,
                    "z": 0.053921811282634735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.162558078765869,
                "transform": {
                    "location": {
                        "x": -1589.665771484375,
                        "y": 5818.66357421875,
                        "z": 376.14703369140625
                    },
                    "rotation": {
                        "roll": 0.002945611020550132,
                        "pitch": 0.6878068447113037,
                        "yaw": 156.48085021972656
                    }
                },
                "velocity": {
                    "x": -6.566498756408691,
                    "y": 2.860443353652954,
                    "z": 0.03462813422083855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.288665771484375,
                "transform": {
                    "location": {
                        "x": -1588.14306640625,
                        "y": 5821.21484375,
                        "z": 376.1541748046875
                    },
                    "rotation": {
                        "roll": 0.00017674911941867322,
                        "pitch": -0.22140057384967804,
                        "yaw": -23.563671112060547
                    }
                },
                "velocity": {
                    "x": 5.764178276062012,
                    "y": -2.514078378677368,
                    "z": -0.03126704692840576
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6858479976654053,
                "transform": {
                    "location": {
                        "x": -1575.2086181640625,
                        "y": 5815.57177734375,
                        "z": 376.1153869628906
                    },
                    "rotation": {
                        "roll": 0.000189173428225331,
                        "pitch": -0.29660093784332275,
                        "yaw": -23.56986427307129
                    }
                },
                "velocity": {
                    "x": 3.3783369064331055,
                    "y": -1.4737744331359863,
                    "z": -0.017427396029233932
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8316954374313354,
        "expert_target_speed": 6.308815357294917,
        "target_point": [
            14.488620705422768,
            0.9741563727932183
        ],
        "target_point_next": [
            15.48854657565399,
            0.9811954601336961
        ]
    },
    "565": {
        "acceleration": [
            -0.4954051971435547,
            0.023856163024902344,
            -0.0012801960110664368
        ],
        "angular_velocity": [
            0.12829704582691193,
            -0.018396219238638878,
            2.280890941619873
        ],
        "forward_vector": [
            -0.9187166690826416,
            0.39488673210144043,
            0.004902820102870464
        ],
        "right_vector": [
            -0.3948846757411957,
            -0.9187295436859131,
            0.0014311650302261114
        ],
        "location": [
            -1605.125,
            5826.45166015625,
            376.23101806640625
        ],
        "rotation": [
            -0.082000732421875,
            0.28091201186180115,
            156.7407989501953
        ],
        "velocity": [
            -4.909112930297852,
            2.057088613510132,
            0.02481820061802864
        ],
        "speed": 5.322687603668902,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.430893421173096,
                "transform": {
                    "location": {
                        "x": -1576.31201171875,
                        "y": 5812.8955078125,
                        "z": 376.0798645019531
                    },
                    "rotation": {
                        "roll": 0.009796353988349438,
                        "pitch": 0.3428686559200287,
                        "yaw": 156.98941040039062
                    }
                },
                "velocity": {
                    "x": -4.994913578033447,
                    "y": 2.13179874420166,
                    "z": 0.029581764712929726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.087116241455078,
                "transform": {
                    "location": {
                        "x": -1591.349853515625,
                        "y": 5819.3974609375,
                        "z": 376.15643310546875
                    },
                    "rotation": {
                        "roll": 0.0014542529825121164,
                        "pitch": 0.533362627029419,
                        "yaw": 156.46115112304688
                    }
                },
                "velocity": {
                    "x": -6.497213363647461,
                    "y": 2.8305718898773193,
                    "z": 0.03603671118617058
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.110171794891357,
                "transform": {
                    "location": {
                        "x": -1586.8721923828125,
                        "y": 5820.65869140625,
                        "z": 376.1462097167969
                    },
                    "rotation": {
                        "roll": -0.0025939932093024254,
                        "pitch": -0.10000762343406677,
                        "yaw": -23.33790397644043
                    }
                },
                "velocity": {
                    "x": 3.767496347427368,
                    "y": -1.6428539752960205,
                    "z": -0.022693457081913948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.389814853668213,
                "transform": {
                    "location": {
                        "x": -1574.4093017578125,
                        "y": 5815.22314453125,
                        "z": 376.1111755371094
                    },
                    "rotation": {
                        "roll": 6.670205721093225e-09,
                        "pitch": -0.3128089904785156,
                        "yaw": -23.56977081298828
                    }
                },
                "velocity": {
                    "x": 3.1069774627685547,
                    "y": -1.3554373979568481,
                    "z": -0.018046217039227486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8024041652679443,
        "expert_target_speed": 6.347772200955252,
        "target_point": [
            13.174313177129807,
            0.7874131084390559
        ],
        "target_point_next": [
            14.174248796508028,
            0.7819311555984347
        ]
    },
    "570": {
        "acceleration": [
            0.2252483367919922,
            -0.24085521697998047,
            -0.011824443936347961
        ],
        "angular_velocity": [
            0.03456021845340729,
            -0.12071961164474487,
            1.9464789628982544
        ],
        "forward_vector": [
            -0.922213077545166,
            0.38665324449539185,
            0.004724722821265459
        ],
        "right_vector": [
            -0.3866521120071411,
            -0.9222248792648315,
            0.0011920169927179813
        ],
        "location": [
            -1606.3538818359375,
            5826.96337890625,
            376.2370910644531
        ],
        "rotation": [
            -0.06829831749200821,
            0.2707076966762543,
            157.25331115722656
        ],
        "velocity": [
            -4.927609920501709,
            2.0213232040405273,
            0.02482769824564457
        ],
        "speed": 5.326076137628857,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.1312031745910645,
                "transform": {
                    "location": {
                        "x": -1577.696044921875,
                        "y": 5813.4873046875,
                        "z": 376.08782958984375
                    },
                    "rotation": {
                        "roll": 0.008263849653303623,
                        "pitch": 0.5258084535598755,
                        "yaw": 156.87355041503906
                    }
                },
                "velocity": {
                    "x": -6.555666446685791,
                    "y": 2.806427240371704,
                    "z": 0.035569094121456146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.109568119049072,
                "transform": {
                    "location": {
                        "x": -1592.94921875,
                        "y": 5820.09423828125,
                        "z": 376.1658020019531
                    },
                    "rotation": {
                        "roll": 0.0008116387762129307,
                        "pitch": 0.33138027787208557,
                        "yaw": 156.45846557617188
                    }
                },
                "velocity": {
                    "x": -6.517260551452637,
                    "y": 2.840794563293457,
                    "z": 0.03399999439716339
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010461601195856929,
                "transform": {
                    "location": {
                        "x": -1586.435302734375,
                        "y": 5820.45947265625,
                        "z": 376.1420593261719
                    },
                    "rotation": {
                        "roll": -0.0022888195235282183,
                        "pitch": 0.11031437665224075,
                        "yaw": -22.44691276550293
                    }
                },
                "velocity": {
                    "x": 1.116789826483e-05,
                    "y": 0.00036171681131236255,
                    "z": 0.000981573830358684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.5574164390563965,
                "transform": {
                    "location": {
                        "x": -1573.6240234375,
                        "y": 5814.8642578125,
                        "z": 376.1065979003906
                    },
                    "rotation": {
                        "roll": 0.04232734814286232,
                        "pitch": -0.28381484746932983,
                        "yaw": -24.12595558166504
                    }
                },
                "velocity": {
                    "x": 3.19358491897583,
                    "y": -1.5671416521072388,
                    "z": -0.017166461795568466
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.8980712890625,
                        "y": 5703.55859375,
                        "z": 376.68267822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1314128339290619,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.775343120098114,
        "expert_target_speed": 6.3490350570859375,
        "target_point": [
            11.849665650594678,
            0.6663071620856287
        ],
        "target_point_next": [
            12.849512237936786,
            0.6518816122314179
        ]
    },
    "575": {
        "acceleration": [
            -0.5715751647949219,
            -0.09827375411987305,
            0.0022609904408454895
        ],
        "angular_velocity": [
            -0.09331013262271881,
            0.12054320424795151,
            2.2901175022125244
        ],
        "forward_vector": [
            -0.9256687164306641,
            0.3783062994480133,
            0.004674179013818502
        ],
        "right_vector": [
            -0.3783048987388611,
            -0.9256802797317505,
            0.001213855342939496
        ],
        "location": [
            -1607.5926513671875,
            5827.466796875,
            376.2430725097656
        ],
        "rotation": [
            -0.0695495679974556,
            0.26781171560287476,
            157.77093505859375
        ],
        "velocity": [
            -4.988389015197754,
            1.986599326133728,
            0.024427328258752823
        ],
        "speed": 5.369413548008814,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.880098342895508,
                "transform": {
                    "location": {
                        "x": -1579.46875,
                        "y": 5814.24658203125,
                        "z": 376.0973815917969
                    },
                    "rotation": {
                        "roll": 0.006430124863982201,
                        "pitch": 0.4396933913230896,
                        "yaw": 156.80789184570312
                    }
                },
                "velocity": {
                    "x": -7.242441177368164,
                    "y": 3.10508131980896,
                    "z": 0.03831727057695389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9131245613098145,
                "transform": {
                    "location": {
                        "x": -1594.685546875,
                        "y": 5820.85107421875,
                        "z": 376.1742248535156
                    },
                    "rotation": {
                        "roll": 0.001315423403866589,
                        "pitch": 0.5401586294174194,
                        "yaw": 156.45059204101562
                    }
                },
                "velocity": {
                    "x": -7.253549575805664,
                    "y": 3.162611722946167,
                    "z": 0.037993717938661575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3455268144607544,
                "transform": {
                    "location": {
                        "x": -1586.255859375,
                        "y": 5820.3818359375,
                        "z": 376.1444091796875
                    },
                    "rotation": {
                        "roll": -0.00918579287827015,
                        "pitch": -0.2870728373527527,
                        "yaw": -22.514020919799805
                    }
                },
                "velocity": {
                    "x": 1.2338128089904785,
                    "y": -0.5367555618286133,
                    "z": -0.006478366907685995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.270792007446289,
                "transform": {
                    "location": {
                        "x": -1572.838134765625,
                        "y": 5814.4853515625,
                        "z": 376.1024475097656
                    },
                    "rotation": {
                        "roll": 0.018609188497066498,
                        "pitch": -0.3079800307750702,
                        "yaw": -24.925546646118164
                    }
                },
                "velocity": {
                    "x": 2.9330897331237793,
                    "y": -1.4473367929458618,
                    "z": -0.01676364801824093
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.9119873046875,
                        "y": 5700.22412109375,
                        "z": 376.6903381347656
                    },
                    "rotation": {
                        "roll": 1.3340248905535645e-08,
                        "pitch": 0.13460935652256012,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6989227533340454,
        "expert_target_speed": 6.386029920644198,
        "target_point": [
            10.518051119940761,
            0.5565828639375927
        ],
        "target_point_next": [
            11.517726562548352,
            0.5331243014162768
        ]
    },
    "580": {
        "acceleration": [
            0.38878440856933594,
            -0.35351991653442383,
            -0.00038355588912963867
        ],
        "angular_velocity": [
            -0.00984036736190319,
            -0.13954663276672363,
            2.5820345878601074
        ],
        "forward_vector": [
            -0.9297142624855042,
            0.3682512938976288,
            0.004736167378723621
        ],
        "right_vector": [
            -0.36824893951416016,
            -0.929726243019104,
            0.0013906863750889897
        ],
        "location": [
            -1608.845947265625,
            5827.95947265625,
            376.2489318847656
        ],
        "rotation": [
            -0.0796813815832138,
            0.27136340737342834,
            158.39193725585938
        ],
        "velocity": [
            -5.024626731872559,
            1.933117151260376,
            0.024604950100183487
        ],
        "speed": 5.383661924298863,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4464,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.298000812530518,
                "transform": {
                    "location": {
                        "x": -1581.224853515625,
                        "y": 5815.001953125,
                        "z": 376.1065673828125
                    },
                    "rotation": {
                        "roll": 0.00884781964123249,
                        "pitch": 0.24906966090202332,
                        "yaw": 156.709716796875
                    }
                },
                "velocity": {
                    "x": -6.700990676879883,
                    "y": 2.8907101154327393,
                    "z": 0.03652869164943695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4463,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.985815048217773,
                "transform": {
                    "location": {
                        "x": -1596.4058837890625,
                        "y": 5821.60107421875,
                        "z": 376.18463134765625
                    },
                    "rotation": {
                        "roll": 0.00031315276282839477,
                        "pitch": 0.16464853286743164,
                        "yaw": 156.44210815429688
                    }
                },
                "velocity": {
                    "x": -6.403514385223389,
                    "y": 2.792039632797241,
                    "z": 0.03353460133075714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4462,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1295790672302246,
                "transform": {
                    "location": {
                        "x": -1585.8541259765625,
                        "y": 5820.20849609375,
                        "z": 376.14288330078125
                    },
                    "rotation": {
                        "roll": -0.00851440615952015,
                        "pitch": -0.36133065819740295,
                        "yaw": -22.715438842773438
                    }
                },
                "velocity": {
                    "x": 1.9523577690124512,
                    "y": -0.8504698276519775,
                    "z": -0.010359725914895535
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4458,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3178935050964355,
                "transform": {
                    "location": {
                        "x": -1572.106201171875,
                        "y": 5814.12939453125,
                        "z": 376.0982360839844
                    },
                    "rotation": {
                        "roll": 0.01423365343362093,
                        "pitch": -0.2912938892841339,
                        "yaw": -25.422218322753906
                    }
                },
                "velocity": {
                    "x": 2.973773717880249,
                    "y": -1.471323013305664,
                    "z": -0.017227105796337128
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4457,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.80322265625,
                        "y": 5726.462890625,
                        "z": 376.6331481933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.1186540424823761,
                        "yaw": -90.23780059814453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4456,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1658.929443359375,
                        "y": 5696.0556640625,
                        "z": 376.7001037597656
                    },
                    "rotation": {
                        "roll": 2.0010377355106357e-08,
                        "pitch": 0.137785404920578,
                        "yaw": -90.23779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6501868367195129,
        "expert_target_speed": 6.396704841199804,
        "target_point": [
            9.176815108338426,
            0.4390728035676923
        ],
        "target_point_next": [
            10.17617758309608,
            0.40478084015775195
        ]
    }
}