{
    "0": {
        "acceleration": [
            0.010794508270919323,
            0.007684933952987194,
            -0.33112430572509766
        ],
        "angular_velocity": [
            -0.01974753476679325,
            -0.02771613933146,
            -0.000810398196335882
        ],
        "forward_vector": [
            -0.9995344877243042,
            -0.004349530208855867,
            -0.03019767627120018
        ],
        "right_vector": [
            0.004351177252829075,
            -0.9999905228614807,
            1.1180170076841023e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.72509765625
        ],
        "rotation": [
            -0.0006408687913790345,
            -1.7304624319076538,
            -179.75067138671875
        ],
        "velocity": [
            -0.0017958157695829868,
            0.00015621885540895164,
            0.055275823920965195
        ],
        "speed": 0.0018025977391165834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.001011737622320652,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            51.00292528820881,
            0.0002229222170615497
        ],
        "target_point_next": [
            102.0029219790626,
            0.0007027316169452846
        ]
    },
    "5": {
        "acceleration": [
            0.0021533132530748844,
            0.0038742765318602324,
            -0.08803492784500122
        ],
        "angular_velocity": [
            -0.02325768582522869,
            -0.007646278012543917,
            -0.0009594991570338607
        ],
        "forward_vector": [
            -0.9995321035385132,
            -0.004348566755652428,
            -0.030276678502559662
        ],
        "right_vector": [
            0.004350496456027031,
            -0.9999905228614807,
            2.1295418264344335e-06
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.7326354980469
        ],
        "rotation": [
            -0.00012206970859551802,
            -1.7349909543991089,
            -179.750732421875
        ],
        "velocity": [
            -0.0005202576285228133,
            0.00017289126117248088,
            0.014615812338888645
        ],
        "speed": 0.0005482329689338216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.007697105407715,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1972.2952880859375,
                4065.96875,
                362.2681579589844
            ],
            "velocity": [
                0.011824188753962517,
                -1.02726789918961e-05,
                -0.3661722242832184
            ],
            "speed_kmh": 1.3189071027131933,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2036.4818115234375,
                        "y": 4072.18896484375,
                        "z": 359.9897155761719
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2036.4677734375,
                        "y": 4068.93896484375,
                        "z": 359.9897155761719
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.36457398533821106,
                "transform": {
                    "location": {
                        "x": -1927.2821044921875,
                        "y": 4062.914794921875,
                        "z": 363.5610046386719
                    },
                    "rotation": {
                        "roll": 0.0009430288919247687,
                        "pitch": -1.483093500137329,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.009066058322787285,
                    "y": 7.101478695403785e-05,
                    "z": -0.3644612431526184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5065393447875977,
                "transform": {
                    "location": {
                        "x": -1942.281494140625,
                        "y": 4062.849609375,
                        "z": 363.15179443359375
                    },
                    "rotation": {
                        "roll": 0.00131289754062891,
                        "pitch": -1.5575835704803467,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.013538741506636143,
                    "y": -0.00018253664893563837,
                    "z": -0.5063583254814148
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5070852637290955,
                "transform": {
                    "location": {
                        "x": -1972.2808837890625,
                        "y": 4062.71875,
                        "z": 362.256591796875
                    },
                    "rotation": {
                        "roll": -0.00012207020336063579,
                        "pitch": -1.8727421760559082,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.016495248302817345,
                    "y": 0.00026693817926570773,
                    "z": -0.5068168640136719
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45566290616989136,
                "transform": {
                    "location": {
                        "x": -1987.2802734375,
                        "y": 4062.6533203125,
                        "z": 361.75286865234375
                    },
                    "rotation": {
                        "roll": -0.0018005366437137127,
                        "pitch": -2.019010543823242,
                        "yaw": -179.75027465820312
                    }
                },
                "velocity": {
                    "x": 0.015841040760278702,
                    "y": 0.0002047725865850225,
                    "z": -0.4553874135017395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3735424280166626,
                "transform": {
                    "location": {
                        "x": -1927.29638671875,
                        "y": 4066.164794921875,
                        "z": 363.5590515136719
                    },
                    "rotation": {
                        "roll": -9.155277075478807e-05,
                        "pitch": -1.480798602104187,
                        "yaw": -179.7502899169922
                    }
                },
                "velocity": {
                    "x": 0.009419943206012249,
                    "y": 2.8128959456807934e-05,
                    "z": -0.37342363595962524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4372735023498535,
                "transform": {
                    "location": {
                        "x": -1942.2958984375,
                        "y": 4066.099609375,
                        "z": 363.1722717285156
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": -1.5725347995758057,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.011220862157642841,
                    "y": 0.0003238465287722647,
                    "z": -0.4371293783187866
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3663630783557892,
                "transform": {
                    "location": {
                        "x": -1972.2952880859375,
                        "y": 4065.96875,
                        "z": 362.2681579589844
                    },
                    "rotation": {
                        "roll": 0.000855418446008116,
                        "pitch": -1.880979299545288,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.011824188753962517,
                    "y": -1.02726789918961e-05,
                    "z": -0.3661722242832184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35628482699394226,
                "transform": {
                    "location": {
                        "x": -1987.295166015625,
                        "y": 4065.9033203125,
                        "z": 361.7571716308594
                    },
                    "rotation": {
                        "roll": 0.000901005114428699,
                        "pitch": -2.042513370513916,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.012424955144524574,
                    "y": -0.00016610197781119496,
                    "z": -0.35606807470321655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.0004172286717221141,
        "expert_target_speed": 1.0223514124427004,
        "target_point": [
            51.002925287973014,
            0.0002715623969703762
        ],
        "target_point_next": [
            102.00292197834604,
            0.0008000091838348267
        ]
    },
    "10": {
        "acceleration": [
            0.0012664436362683773,
            -0.0008310103439725935,
            -0.05370547994971275
        ],
        "angular_velocity": [
            0.016282949596643448,
            -0.007774431724101305,
            7.87670724093914e-05
        ],
        "forward_vector": [
            -0.9995312094688416,
            -0.00434641819447279,
            -0.030305275693535805
        ],
        "right_vector": [
            0.004348772577941418,
            -0.9999905228614807,
            -1.1774609447456896e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.7342834472656
        ],
        "rotation": [
            0.0006749454187229276,
            -1.7366302013397217,
            -179.7508544921875
        ],
        "velocity": [
            -0.0001486572582507506,
            -5.290335320751183e-05,
            0.0021578799933195114
        ],
        "speed": 0.0001577901936472261,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.007500648498535,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1972.2947998046875,
                4065.96875,
                362.2604675292969
            ],
            "velocity": [
                -0.0015213092556223273,
                -0.0002947014872916043,
                0.04396205022931099
            ],
            "speed_kmh": 0.1583616672737529,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2034.4002685546875,
                        "y": 4072.197998046875,
                        "z": 359.8961486816406
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2034.3863525390625,
                        "y": 4068.947998046875,
                        "z": 359.8962097167969
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.044296275824308395,
                "transform": {
                    "location": {
                        "x": -1927.2818603515625,
                        "y": 4062.914794921875,
                        "z": 363.55328369140625
                    },
                    "rotation": {
                        "roll": -0.0003356937086209655,
                        "pitch": -1.4862968921661377,
                        "yaw": -179.75027465820312
                    }
                },
                "velocity": {
                    "x": -0.0012185086961835623,
                    "y": 7.923811790533364e-05,
                    "z": 0.044279441237449646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10291296243667603,
                "transform": {
                    "location": {
                        "x": -1942.28125,
                        "y": 4062.849609375,
                        "z": 363.1432189941406
                    },
                    "rotation": {
                        "roll": 0.0015554949641227722,
                        "pitch": -1.5593184232711792,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -0.002817686414346099,
                    "y": 6.314035272225738e-05,
                    "z": 0.10287436842918396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10354363173246384,
                "transform": {
                    "location": {
                        "x": -1972.2802734375,
                        "y": 4062.71875,
                        "z": 362.24798583984375
                    },
                    "rotation": {
                        "roll": 0.0012151530245319009,
                        "pitch": -1.871765375137329,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -0.003445815062150359,
                    "y": 0.00013084165402688086,
                    "z": 0.10348619520664215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09454157948493958,
                "transform": {
                    "location": {
                        "x": -1987.27978515625,
                        "y": 4062.6533203125,
                        "z": 361.7456970214844
                    },
                    "rotation": {
                        "roll": 3.1355175451608375e-05,
                        "pitch": -2.017426013946533,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -0.0033898300025612116,
                    "y": -3.6076751712244004e-05,
                    "z": 0.09448078274726868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04792015254497528,
                "transform": {
                    "location": {
                        "x": -1927.2960205078125,
                        "y": 4066.164794921875,
                        "z": 363.55126953125
                    },
                    "rotation": {
                        "roll": 0.0003160465566907078,
                        "pitch": -1.4833940267562866,
                        "yaw": -179.75039672851562
                    }
                },
                "velocity": {
                    "x": -0.001298927003517747,
                    "y": 6.261570433707675e-06,
                    "z": 0.04790254309773445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027435200288891792,
                "transform": {
                    "location": {
                        "x": -1942.295166015625,
                        "y": 4066.099609375,
                        "z": 363.1480712890625
                    },
                    "rotation": {
                        "roll": -0.0003356935631018132,
                        "pitch": -1.5851092338562012,
                        "yaw": -179.7502899169922
                    }
                },
                "velocity": {
                    "x": -0.0008255603606812656,
                    "y": 0.00014258178998716176,
                    "z": 0.027422405779361725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04398935288190842,
                "transform": {
                    "location": {
                        "x": -1972.2947998046875,
                        "y": 4065.96875,
                        "z": 362.2604675292969
                    },
                    "rotation": {
                        "roll": -6.103526538936421e-05,
                        "pitch": -1.883328914642334,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -0.0015213092556223273,
                    "y": -0.0002947014872916043,
                    "z": 0.04396205022931099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04476732015609741,
                "transform": {
                    "location": {
                        "x": -1987.294677734375,
                        "y": 4065.9033203125,
                        "z": 361.7496643066406
                    },
                    "rotation": {
                        "roll": 0.00045737778418697417,
                        "pitch": -2.046290397644043,
                        "yaw": -179.75027465820312
                    }
                },
                "velocity": {
                    "x": -0.0017092262860387564,
                    "y": 0.00023533411149401218,
                    "z": 0.044734060764312744
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.0011149380588904023,
        "expert_target_speed": 1.0093734059054333,
        "target_point": [
            51.00292528718061,
            0.00039316284674134616
        ],
        "target_point_next": [
            102.00292197614877,
            0.0010432031010552123
        ]
    },
    "15": {
        "acceleration": [
            -0.00020749575924128294,
            -0.0009080136078409851,
            -0.008802173659205437
        ],
        "angular_velocity": [
            0.01512649655342102,
            0.0011449820594862103,
            4.237100438331254e-05
        ],
        "forward_vector": [
            -0.9995313286781311,
            -0.0043447501957416534,
            -0.0303042009472847
        ],
        "right_vector": [
            0.004347024951130152,
            -0.9999905824661255,
            -9.18062050914159e-06
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.7347106933594
        ],
        "rotation": [
            0.0005262524937279522,
            -1.7365686893463135,
            -179.75094604492188
        ],
        "velocity": [
            -0.00010543346434133127,
            -5.538057303056121e-05,
            0.0016770215006545186
        ],
        "speed": 0.00011909333848796118,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.094876289367676,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1972.38232421875,
                4065.967529296875,
                362.2644348144531
            ],
            "velocity": [
                -1.1224199533462524,
                -0.016783030703663826,
                -0.0243788231164217
            ],
            "speed_kmh": 4.042116405118123,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2032.31884765625,
                        "y": 4072.206787109375,
                        "z": 359.98779296875
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2032.304931640625,
                        "y": 4068.956787109375,
                        "z": 359.98785400390625
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2422043085098267,
                "transform": {
                    "location": {
                        "x": -1927.3946533203125,
                        "y": 4062.913330078125,
                        "z": 363.5570983886719
                    },
                    "rotation": {
                        "roll": -0.010223385877907276,
                        "pitch": -1.2843350172042847,
                        "yaw": -179.6595916748047
                    }
                },
                "velocity": {
                    "x": -1.241911768913269,
                    "y": -0.018307045102119446,
                    "z": -0.019791798666119576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023242348805069923,
                "transform": {
                    "location": {
                        "x": -1942.28125,
                        "y": 4062.849609375,
                        "z": 363.15863037109375
                    },
                    "rotation": {
                        "roll": 0.0010692711221054196,
                        "pitch": -1.5597487688064575,
                        "yaw": -179.75042724609375
                    }
                },
                "velocity": {
                    "x": -0.0006803062278777361,
                    "y": 8.775622700341046e-05,
                    "z": 0.023232225328683853
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023289775475859642,
                "transform": {
                    "location": {
                        "x": -1972.2802734375,
                        "y": 4062.71875,
                        "z": 362.2633361816406
                    },
                    "rotation": {
                        "roll": 0.0014081200351938605,
                        "pitch": -1.8729196786880493,
                        "yaw": -179.75045776367188
                    }
                },
                "velocity": {
                    "x": -0.0008257919107563794,
                    "y": 1.942074413818773e-05,
                    "z": 0.023275122046470642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020758885890245438,
                "transform": {
                    "location": {
                        "x": -1987.27978515625,
                        "y": 4062.6533203125,
                        "z": 361.7596740722656
                    },
                    "rotation": {
                        "roll": 0.00012229473213665187,
                        "pitch": -2.018341302871704,
                        "yaw": -179.75042724609375
                    }
                },
                "velocity": {
                    "x": -0.0008122673607431352,
                    "y": 0.0001206218876177445,
                    "z": 0.020742638036608696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.13003408908844,
                "transform": {
                    "location": {
                        "x": -1927.384033203125,
                        "y": 4066.16357421875,
                        "z": 363.55615234375
                    },
                    "rotation": {
                        "roll": -0.005157469306141138,
                        "pitch": -1.3370914459228516,
                        "yaw": -179.74050903320312
                    }
                },
                "velocity": {
                    "x": -1.1298093795776367,
                    "y": -0.015587585978209972,
                    "z": -0.01627163775265217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9544283151626587,
                "transform": {
                    "location": {
                        "x": -1942.3636474609375,
                        "y": 4066.0986328125,
                        "z": 363.15142822265625
                    },
                    "rotation": {
                        "roll": -0.011901852674782276,
                        "pitch": -1.3678886890411377,
                        "yaw": -179.674072265625
                    }
                },
                "velocity": {
                    "x": -0.9542907476425171,
                    "y": -0.016163336113095284,
                    "z": 0.0011663627810776234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1228101253509521,
                "transform": {
                    "location": {
                        "x": -1972.38232421875,
                        "y": 4065.967529296875,
                        "z": 362.2644348144531
                    },
                    "rotation": {
                        "roll": -0.005096434615552425,
                        "pitch": -1.7393758296966553,
                        "yaw": -179.7135009765625
                    }
                },
                "velocity": {
                    "x": -1.1224199533462524,
                    "y": -0.016783030703663826,
                    "z": -0.0243788231164217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2656115293502808,
                "transform": {
                    "location": {
                        "x": -1987.409912109375,
                        "y": 4065.90185546875,
                        "z": 361.75225830078125
                    },
                    "rotation": {
                        "roll": -0.007537841331213713,
                        "pitch": -1.8410910367965698,
                        "yaw": -179.73236083984375
                    }
                },
                "velocity": {
                    "x": -1.265033483505249,
                    "y": -0.01889784447848797,
                    "z": -0.033249374479055405
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -1.609005448699463e-05,
        "expert_target_speed": 1.0148045741930793,
        "target_point": [
            51.00292528656598,
            0.0004661231166027957
        ],
        "target_point_next": [
            102.00292197455207,
            0.0011891194513845016
        ]
    },
    "20": {
        "acceleration": [
            -4.975794581696391e-05,
            0.001442176871933043,
            0.013881741091609001
        ],
        "angular_velocity": [
            -0.01972009241580963,
            0.003827835666015744,
            -0.00101393589284271
        ],
        "forward_vector": [
            -0.9995312690734863,
            -0.004344511777162552,
            -0.030304796993732452
        ],
        "right_vector": [
            0.004346681758761406,
            -0.9999905824661255,
            -5.726287326979218e-06
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.73480224609375
        ],
        "rotation": [
            0.00032824286608956754,
            -1.736602783203125,
            -179.75096130371094
        ],
        "velocity": [
            -8.917778177419677e-05,
            7.183564594015479e-05,
            0.0014215258415788412
        ],
        "speed": 0.00011451216874116715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.544196128845215,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1972.8314208984375,
                4065.96044921875,
                362.2512512207031
            ],
            "velocity": [
                -2.4303109645843506,
                -0.03614295274019241,
                -0.07743993401527405
            ],
            "speed_kmh": 8.754526928809812,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2030.2374267578125,
                        "y": 4072.216064453125,
                        "z": 360.0788269042969
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2030.223388671875,
                        "y": 4068.966064453125,
                        "z": 360.0788879394531
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7775309085845947,
                "transform": {
                    "location": {
                        "x": -1927.9088134765625,
                        "y": 4062.905517578125,
                        "z": 363.5452575683594
                    },
                    "rotation": {
                        "roll": -0.0162048302590847,
                        "pitch": -1.1893612146377563,
                        "yaw": -179.504638671875
                    }
                },
                "velocity": {
                    "x": -2.7763307094573975,
                    "y": -0.04314267635345459,
                    "z": -0.06931690871715546
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.014094114303589,
                "transform": {
                    "location": {
                        "x": -1942.49365234375,
                        "y": 4062.8466796875,
                        "z": 363.1541442871094
                    },
                    "rotation": {
                        "roll": -0.0035095210187137127,
                        "pitch": -1.5214245319366455,
                        "yaw": -179.66409301757812
                    }
                },
                "velocity": {
                    "x": -2.0130269527435303,
                    "y": -0.03490541875362396,
                    "z": -0.055488601326942444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.002384901046753,
                "transform": {
                    "location": {
                        "x": -1972.495849609375,
                        "y": 4062.715576171875,
                        "z": 362.2574768066406
                    },
                    "rotation": {
                        "roll": -0.0036926271859556437,
                        "pitch": -1.832061529159546,
                        "yaw": -179.642578125
                    }
                },
                "velocity": {
                    "x": -2.0010111331939697,
                    "y": -0.03528632968664169,
                    "z": -0.06522849202156067
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1937966346740723,
                "transform": {
                    "location": {
                        "x": -1987.5150146484375,
                        "y": 4062.64990234375,
                        "z": 361.7543640136719
                    },
                    "rotation": {
                        "roll": 0.001584080746397376,
                        "pitch": -2.2100441455841064,
                        "yaw": -179.64556884765625
                    }
                },
                "velocity": {
                    "x": -2.1920104026794434,
                    "y": -0.041317351162433624,
                    "z": -0.0782737210392952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2776408195495605,
                "transform": {
                    "location": {
                        "x": -1927.813720703125,
                        "y": 4066.157470703125,
                        "z": 363.5466003417969
                    },
                    "rotation": {
                        "roll": -0.009887692518532276,
                        "pitch": -1.3002630472183228,
                        "yaw": -179.5569305419922
                    }
                },
                "velocity": {
                    "x": -2.2767088413238525,
                    "y": -0.03274787217378616,
                    "z": -0.0563180036842823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.906473159790039,
                "transform": {
                    "location": {
                        "x": -1942.7349853515625,
                        "y": 4066.093017578125,
                        "z": 363.1453552246094
                    },
                    "rotation": {
                        "roll": -0.018981928005814552,
                        "pitch": -1.191622018814087,
                        "yaw": -179.53466796875
                    }
                },
                "velocity": {
                    "x": -1.9057546854019165,
                    "y": -0.032213617116212845,
                    "z": -0.041242584586143494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4318130016326904,
                "transform": {
                    "location": {
                        "x": -1972.8314208984375,
                        "y": 4065.96044921875,
                        "z": 362.2512512207031
                    },
                    "rotation": {
                        "roll": -0.01284789852797985,
                        "pitch": -1.683252215385437,
                        "yaw": -179.5396270751953
                    }
                },
                "velocity": {
                    "x": -2.4303109645843506,
                    "y": -0.03614295274019241,
                    "z": -0.07743993401527405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.743800163269043,
                "transform": {
                    "location": {
                        "x": -1987.92138671875,
                        "y": 4065.89404296875,
                        "z": 361.7355041503906
                    },
                    "rotation": {
                        "roll": -0.01763916015625,
                        "pitch": -1.7558571100234985,
                        "yaw": -179.5471954345703
                    }
                },
                "velocity": {
                    "x": -2.7417967319488525,
                    "y": -0.04208742082118988,
                    "z": -0.09601400792598724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 8.769134001340717e-05,
        "expert_target_speed": 1.0324695193357978,
        "target_point": [
            51.00292528633793,
            0.0004904432065564734
        ],
        "target_point_next": [
            102.00292197397347,
            0.001237758234827191
        ]
    },
    "25": {
        "acceleration": [
            0.0010714352829381824,
            0.003433509496971965,
            0.008525710552930832
        ],
        "angular_velocity": [
            -0.052059054374694824,
            0.01271028257906437,
            -0.0019954442977905273
        ],
        "forward_vector": [
            -0.999531090259552,
            -0.004341889638453722,
            -0.030311111360788345
        ],
        "right_vector": [
            0.004344301298260689,
            -0.9999905824661255,
            -1.37120723593398e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.73492431640625
        ],
        "rotation": [
            0.0007860050536692142,
            -1.7369648218154907,
            -179.75111389160156
        ],
        "velocity": [
            -6.98506846674718e-05,
            0.00016645737923681736,
            0.0017403292004019022
        ],
        "speed": 0.0001805191880407848,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.324087142944336,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1973.61083984375,
                4065.947998046875,
                362.2257385253906
            ],
            "velocity": [
                -3.8383967876434326,
                -0.062471672892570496,
                -0.12770138680934906
            ],
            "speed_kmh": 13.827702747938282,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2028.1558837890625,
                        "y": 4072.224853515625,
                        "z": 360.1705322265625
                    },
                    "rotation": {
                        "roll": -4.172729384244178e-10,
                        "pitch": 2.48156476020813,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2028.1419677734375,
                        "y": 4068.974853515625,
                        "z": 360.1705322265625
                    },
                    "rotation": {
                        "roll": -4.172729384244178e-10,
                        "pitch": 2.48156476020813,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.346347332000732,
                "transform": {
                    "location": {
                        "x": -1928.810302734375,
                        "y": 4062.890869140625,
                        "z": 363.5223693847656
                    },
                    "rotation": {
                        "roll": -0.020477289333939552,
                        "pitch": -1.1627440452575684,
                        "yaw": -179.28970336914062
                    }
                },
                "velocity": {
                    "x": -4.344302654266357,
                    "y": -0.07366633415222168,
                    "z": -0.11109956353902817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0685956478118896,
                "transform": {
                    "location": {
                        "x": -1943.1448974609375,
                        "y": 4062.836669921875,
                        "z": 363.1360778808594
                    },
                    "rotation": {
                        "roll": -0.00946044735610485,
                        "pitch": -1.529170036315918,
                        "yaw": -179.4449920654297
                    }
                },
                "velocity": {
                    "x": -3.066936492919922,
                    "y": -0.05564027652144432,
                    "z": -0.08416397124528885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0970284938812256,
                "transform": {
                    "location": {
                        "x": -1973.1512451171875,
                        "y": 4062.705810546875,
                        "z": 362.2359313964844
                    },
                    "rotation": {
                        "roll": -0.01184081844985485,
                        "pitch": -1.8427097797393799,
                        "yaw": -179.4285888671875
                    }
                },
                "velocity": {
                    "x": -3.0948033332824707,
                    "y": -0.056297630071640015,
                    "z": -0.10299744457006454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.459085464477539,
                "transform": {
                    "location": {
                        "x": -1988.2369384765625,
                        "y": 4062.637939453125,
                        "z": 361.7281494140625
                    },
                    "rotation": {
                        "roll": -0.007415770087391138,
                        "pitch": -2.168632745742798,
                        "yaw": -179.42662048339844
                    }
                },
                "velocity": {
                    "x": -3.4562480449676514,
                    "y": -0.0662798136472702,
                    "z": -0.12341245263814926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8699049949645996,
                "transform": {
                    "location": {
                        "x": -1928.5867919921875,
                        "y": 4066.145263671875,
                        "z": 363.5269775390625
                    },
                    "rotation": {
                        "roll": -0.01620483212172985,
                        "pitch": -1.2463045120239258,
                        "yaw": -179.34710693359375
                    }
                },
                "velocity": {
                    "x": -3.8681259155273438,
                    "y": -0.06238196790218353,
                    "z": -0.09936265647411346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1377382278442383,
                "transform": {
                    "location": {
                        "x": -1943.361572265625,
                        "y": 4066.0830078125,
                        "z": 363.12945556640625
                    },
                    "rotation": {
                        "roll": -0.026062006130814552,
                        "pitch": -1.1062583923339844,
                        "yaw": -179.357177734375
                    }
                },
                "velocity": {
                    "x": -3.136174201965332,
                    "y": -0.05545369163155556,
                    "z": -0.08208999782800674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8410284519195557,
                "transform": {
                    "location": {
                        "x": -1973.61083984375,
                        "y": 4065.947998046875,
                        "z": 362.2257385253906
                    },
                    "rotation": {
                        "roll": -0.01995849423110485,
                        "pitch": -1.6752266883850098,
                        "yaw": -179.33004760742188
                    }
                },
                "velocity": {
                    "x": -3.8383967876434326,
                    "y": -0.062471672892570496,
                    "z": -0.12770138680934906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.3833770751953125,
                "transform": {
                    "location": {
                        "x": -1988.8253173828125,
                        "y": 4065.87939453125,
                        "z": 361.7037048339844
                    },
                    "rotation": {
                        "roll": -0.026062004268169403,
                        "pitch": -1.7149306535720825,
                        "yaw": -179.31088256835938
                    }
                },
                "velocity": {
                    "x": -4.380024433135986,
                    "y": -0.07354866713285446,
                    "z": -0.15483032166957855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.00127470213919878,
        "expert_target_speed": 1.057109825055964,
        "target_point": [
            51.00292528502366,
            0.0006120436563228637
        ],
        "target_point_next": [
            102.0029219707325,
            0.0014809521520358637
        ]
    },
    "30": {
        "acceleration": [
            0.000676232622936368,
            0.0003115666622761637,
            0.005538012832403183
        ],
        "angular_velocity": [
            -0.001421573688276112,
            0.010020598769187927,
            -0.00046085123904049397
        ],
        "forward_vector": [
            -0.999531090259552,
            -0.004341889638453722,
            -0.030311111360788345
        ],
        "right_vector": [
            0.004344301298260689,
            -0.9999905824661255,
            -1.37120723593398e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.73492431640625
        ],
        "rotation": [
            0.0007860050536692142,
            -1.7369648218154907,
            -179.75111389160156
        ],
        "velocity": [
            -5.762189539382234e-05,
            1.2745395906677004e-05,
            0.0010345916962251067
        ],
        "speed": 5.90146417899367e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.476043701171875,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1974.7620849609375,
                4065.92919921875,
                362.18780517578125
            ],
            "velocity": [
                -5.284284591674805,
                -0.06799395382404327,
                -0.1718122512102127
            ],
            "speed_kmh": 19.035051071670825,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050982475280762,
                "transform": {
                    "location": {
                        "x": -2026.1019287109375,
                        "y": 4072.236083984375,
                        "z": 360.2588195800781
                    },
                    "rotation": {
                        "roll": 0.0004515860928222537,
                        "pitch": 2.4886748790740967,
                        "yaw": 0.3498113453388214
                    }
                },
                "velocity": {
                    "x": 8.043819427490234,
                    "y": 0.08718273043632507,
                    "z": 0.32816198468208313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.184197425842285,
                "transform": {
                    "location": {
                        "x": -2026.0823974609375,
                        "y": 4068.988037109375,
                        "z": 360.26068115234375
                    },
                    "rotation": {
                        "roll": -0.028503412380814552,
                        "pitch": 2.46056866645813,
                        "yaw": 0.41306960582733154
                    }
                },
                "velocity": {
                    "x": 8.175954818725586,
                    "y": 0.09420300275087357,
                    "z": 0.3549450635910034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4618659019470215,
                "transform": {
                    "location": {
                        "x": -1930.07373046875,
                        "y": 4062.87109375,
                        "z": 363.4901428222656
                    },
                    "rotation": {
                        "roll": -0.0034179682843387127,
                        "pitch": -1.2189018726348877,
                        "yaw": -179.19691467285156
                    }
                },
                "velocity": {
                    "x": -5.459615230560303,
                    "y": -0.07025580108165741,
                    "z": -0.14015920460224152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9055116176605225,
                "transform": {
                    "location": {
                        "x": -1944.0220947265625,
                        "y": 4062.822509765625,
                        "z": 363.1123046875
                    },
                    "rotation": {
                        "roll": -0.014221190474927425,
                        "pitch": -1.539818286895752,
                        "yaw": -179.2372283935547
                    }
                },
                "velocity": {
                    "x": -3.9033894538879395,
                    "y": -0.0735139399766922,
                    "z": -0.10567381978034973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9292523860931396,
                "transform": {
                    "location": {
                        "x": -1974.0340576171875,
                        "y": 4062.691162109375,
                        "z": 362.20660400390625
                    },
                    "rotation": {
                        "roll": -0.017913818359375,
                        "pitch": -1.8735003471374512,
                        "yaw": -179.22605895996094
                    }
                },
                "velocity": {
                    "x": -3.92634654045105,
                    "y": -0.0739491805434227,
                    "z": -0.13175421953201294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.631791591644287,
                "transform": {
                    "location": {
                        "x": -1989.25390625,
                        "y": 4062.6201171875,
                        "z": 361.69189453125
                    },
                    "rotation": {
                        "roll": -0.015563963912427425,
                        "pitch": -2.140225887298584,
                        "yaw": -179.21693420410156
                    }
                },
                "velocity": {
                    "x": -4.6280198097229,
                    "y": -0.0894576907157898,
                    "z": -0.16407150030136108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.306661605834961,
                "transform": {
                    "location": {
                        "x": -1929.7440185546875,
                        "y": 4066.126220703125,
                        "z": 363.49749755859375
                    },
                    "rotation": {
                        "roll": -0.010253905318677425,
                        "pitch": -1.24908447265625,
                        "yaw": -179.17807006835938
                    }
                },
                "velocity": {
                    "x": -5.304543972015381,
                    "y": -0.068220354616642,
                    "z": -0.13347701728343964
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.570666313171387,
                "transform": {
                    "location": {
                        "x": -1944.3382568359375,
                        "y": 4066.066162109375,
                        "z": 363.10284423828125
                    },
                    "rotation": {
                        "roll": -0.0329589806497097,
                        "pitch": -0.994810163974762,
                        "yaw": -179.16802978515625
                    }
                },
                "velocity": {
                    "x": -4.568220615386963,
                    "y": -0.08400975912809372,
                    "z": -0.1236637532711029
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2875142097473145,
                "transform": {
                    "location": {
                        "x": -1974.7620849609375,
                        "y": 4065.92919921875,
                        "z": 362.18780517578125
                    },
                    "rotation": {
                        "roll": -0.01388549990952015,
                        "pitch": -1.6921724081039429,
                        "yaw": -179.1729736328125
                    }
                },
                "velocity": {
                    "x": -5.284284591674805,
                    "y": -0.06799395382404327,
                    "z": -0.1718122512102127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.407838821411133,
                "transform": {
                    "location": {
                        "x": -1990.0924072265625,
                        "y": 4065.859375,
                        "z": 361.6591796875
                    },
                    "rotation": {
                        "roll": -0.01046752743422985,
                        "pitch": -1.7965377569198608,
                        "yaw": -179.19003295898438
                    }
                },
                "velocity": {
                    "x": -5.4040207862854,
                    "y": -0.07008722424507141,
                    "z": -0.19071342051029205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.0003438609419390559,
        "expert_target_speed": 1.08322567749612,
        "target_point": [
            51.00292528502366,
            0.0006120436563228637
        ],
        "target_point_next": [
            102.0029219707325,
            0.0014809521520358637
        ]
    },
    "35": {
        "acceleration": [
            -8.121581077575684,
            -0.023646803572773933,
            -0.2628013491630554
        ],
        "angular_velocity": [
            0.007495365105569363,
            1.9863828420639038,
            -0.46247807145118713
        ],
        "forward_vector": [
            -0.9995777606964111,
            -0.003992235288023949,
            -0.02878160960972309
        ],
        "right_vector": [
            0.0039943852461874485,
            -0.9999920129776001,
            -1.7212087186635472e-05
        ],
        "location": [
            -1957.314453125,
            4066.033935546875,
            362.734130859375
        ],
        "rotation": [
            0.000986588653177023,
            -1.6492924690246582,
            -179.7711639404297
        ],
        "velocity": [
            -0.511050283908844,
            -0.0016712008509784937,
            -0.015081471763551235
        ],
        "speed": 0.5110530164235354,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.797653198242188,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1976.1024169921875,
                4065.911865234375,
                362.14312744140625
            ],
            "velocity": [
                -5.441904067993164,
                -0.0672718808054924,
                -0.18280771374702454
            ],
            "speed_kmh": 19.603401289216475,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.887682914733887,
                "transform": {
                    "location": {
                        "x": -2024.1123046875,
                        "y": 4072.26171875,
                        "z": 360.34173583984375
                    },
                    "rotation": {
                        "roll": 0.021335231140255928,
                        "pitch": 2.516876697540283,
                        "yaw": 0.8321794867515564
                    }
                },
                "velocity": {
                    "x": 7.879087924957275,
                    "y": 0.1410651057958603,
                    "z": 0.3400222063064575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.879217624664307,
                "transform": {
                    "location": {
                        "x": -2024.0777587890625,
                        "y": 4069.01806640625,
                        "z": 360.34814453125
                    },
                    "rotation": {
                        "roll": -0.006774900481104851,
                        "pitch": 2.500047206878662,
                        "yaw": 0.8752337098121643
                    }
                },
                "velocity": {
                    "x": 7.870494842529297,
                    "y": 0.13589613139629364,
                    "z": 0.3448399305343628
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.75796365737915,
                "transform": {
                    "location": {
                        "x": -1931.4796142578125,
                        "y": 4062.853759765625,
                        "z": 363.45361328125
                    },
                    "rotation": {
                        "roll": -0.008789061568677425,
                        "pitch": -1.3872318267822266,
                        "yaw": -179.27484130859375
                    }
                },
                "velocity": {
                    "x": -5.755578517913818,
                    "y": -0.06979209184646606,
                    "z": -0.15031085908412933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.700260639190674,
                "transform": {
                    "location": {
                        "x": -1945.1004638671875,
                        "y": 4062.805908203125,
                        "z": 363.0829162597656
                    },
                    "rotation": {
                        "roll": -0.013275147415697575,
                        "pitch": -1.541744351387024,
                        "yaw": -179.1856689453125
                    }
                },
                "velocity": {
                    "x": -4.698165416717529,
                    "y": -0.05841834470629692,
                    "z": -0.1275968998670578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.741781711578369,
                "transform": {
                    "location": {
                        "x": -1975.12060546875,
                        "y": 4062.67431640625,
                        "z": 362.1706237792969
                    },
                    "rotation": {
                        "roll": -0.01727294921875,
                        "pitch": -1.9000219106674194,
                        "yaw": -179.18016052246094
                    }
                },
                "velocity": {
                    "x": -4.738786697387695,
                    "y": -0.058788612484931946,
                    "z": -0.15791989862918854
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.341557502746582,
                "transform": {
                    "location": {
                        "x": -1990.5269775390625,
                        "y": 4062.60302734375,
                        "z": 361.6466979980469
                    },
                    "rotation": {
                        "roll": -0.022796630859375,
                        "pitch": -2.09377384185791,
                        "yaw": -179.24525451660156
                    }
                },
                "velocity": {
                    "x": -5.337882995605469,
                    "y": -0.0622146800160408,
                    "z": -0.18807832896709442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.451963901519775,
                "transform": {
                    "location": {
                        "x": -1931.0888671875,
                        "y": 4066.108642578125,
                        "z": 363.4626770019531
                    },
                    "rotation": {
                        "roll": -0.01025390438735485,
                        "pitch": -1.4002912044525146,
                        "yaw": -179.23226928710938
                    }
                },
                "velocity": {
                    "x": -5.449675559997559,
                    "y": -0.06737058609724045,
                    "z": -0.14285141229629517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7273406982421875,
                "transform": {
                    "location": {
                        "x": -1945.5565185546875,
                        "y": 4066.0498046875,
                        "z": 363.07122802734375
                    },
                    "rotation": {
                        "roll": 0.005510028917342424,
                        "pitch": -1.3760986328125,
                        "yaw": -179.40390014648438
                    }
                },
                "velocity": {
                    "x": -3.7255027294158936,
                    "y": -0.05098632350564003,
                    "z": -0.10534722357988358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.445389270782471,
                "transform": {
                    "location": {
                        "x": -1976.1024169921875,
                        "y": 4065.911865234375,
                        "z": 362.14312744140625
                    },
                    "rotation": {
                        "roll": -0.01452636905014515,
                        "pitch": -1.8625105619430542,
                        "yaw": -179.22671508789062
                    }
                },
                "velocity": {
                    "x": -5.441904067993164,
                    "y": -0.0672718808054924,
                    "z": -0.18280771374702454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.6263108253479,
                "transform": {
                    "location": {
                        "x": -1991.47412109375,
                        "y": 4065.841796875,
                        "z": 361.610107421875
                    },
                    "rotation": {
                        "roll": -0.012756348587572575,
                        "pitch": -1.9520201683044434,
                        "yaw": -179.27223205566406
                    }
                },
                "velocity": {
                    "x": -5.622363567352295,
                    "y": -0.06808899343013763,
                    "z": -0.19941195845603943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.001353603438474238,
        "expert_target_speed": 1.6113551065484266,
        "target_point": [
            50.98339085268881,
            0.018540996884212874
        ],
        "target_point_next": [
            101.98338411055848,
            0.03725982598245192
        ]
    },
    "40": {
        "acceleration": [
            -3.373861312866211,
            -0.01794525422155857,
            -0.09627245366573334
        ],
        "angular_velocity": [
            -0.03840646892786026,
            0.41256991028785706,
            0.5351046919822693
        ],
        "forward_vector": [
            -0.9996775984764099,
            -0.004920993931591511,
            -0.024910612031817436
        ],
        "right_vector": [
            0.0049215261824429035,
            -0.9999879002571106,
            3.993501377408393e-05
        ],
        "location": [
            -1957.568359375,
            4066.032470703125,
            362.7257385253906
        ],
        "rotation": [
            -0.0022888178937137127,
            -1.4274206161499023,
            -179.71795654296875
        ],
        "velocity": [
            -1.411990761756897,
            -0.007316952105611563,
            -0.04214200749993324
        ],
        "speed": 1.4120097198939312,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.174985885620117,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1977.7327880859375,
                4065.89306640625,
                362.0882263183594
            ],
            "velocity": [
                -7.508237838745117,
                -0.08555811643600464,
                -0.25419512391090393
            ],
            "speed_kmh": 27.046896263884296,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.803922653198242,
                "transform": {
                    "location": {
                        "x": -2022.15380859375,
                        "y": 4072.290771484375,
                        "z": 360.4253845214844
                    },
                    "rotation": {
                        "roll": 0.027129698544740677,
                        "pitch": 2.4303929805755615,
                        "yaw": 0.8733271956443787
                    }
                },
                "velocity": {
                    "x": 7.7962164878845215,
                    "y": 0.10621970891952515,
                    "z": 0.3300473690032959
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.950022220611572,
                "transform": {
                    "location": {
                        "x": -2022.1015625,
                        "y": 4069.045166015625,
                        "z": 360.43280029296875
                    },
                    "rotation": {
                        "roll": 0.0278311874717474,
                        "pitch": 2.4277496337890625,
                        "yaw": 0.786919355392456
                    }
                },
                "velocity": {
                    "x": 7.942087173461914,
                    "y": 0.10260430723428726,
                    "z": 0.339966356754303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.606184482574463,
                "transform": {
                    "location": {
                        "x": -1933.04248046875,
                        "y": 4062.834716796875,
                        "z": 363.41259765625
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": -1.5184943675994873,
                        "yaw": -179.41253662109375
                    }
                },
                "velocity": {
                    "x": -5.603852272033691,
                    "y": -0.0692644864320755,
                    "z": -0.14611229300498962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.3017401695251465,
                "transform": {
                    "location": {
                        "x": -1946.3677978515625,
                        "y": 4062.78955078125,
                        "z": 363.04827880859375
                    },
                    "rotation": {
                        "roll": -0.01425170712172985,
                        "pitch": -1.570253610610962,
                        "yaw": -179.256103515625
                    }
                },
                "velocity": {
                    "x": -5.299271106719971,
                    "y": -0.06306600570678711,
                    "z": -0.1489984691143036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.290587902069092,
                "transform": {
                    "location": {
                        "x": -1976.396728515625,
                        "y": 4062.657958984375,
                        "z": 362.12847900390625
                    },
                    "rotation": {
                        "roll": -0.015228271484375,
                        "pitch": -1.9257785081863403,
                        "yaw": -179.25462341308594
                    }
                },
                "velocity": {
                    "x": -5.287177562713623,
                    "y": -0.06291426718235016,
                    "z": -0.17920999228954315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.810764789581299,
                "transform": {
                    "location": {
                        "x": -1991.935546875,
                        "y": 4062.586181640625,
                        "z": 361.59661865234375
                    },
                    "rotation": {
                        "roll": -0.01864623837172985,
                        "pitch": -2.075742244720459,
                        "yaw": -179.25686645507812
                    }
                },
                "velocity": {
                    "x": -5.80671501159668,
                    "y": -0.06771887093782425,
                    "z": -0.206074520945549
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.845015525817871,
                "transform": {
                    "location": {
                        "x": -1932.680908203125,
                        "y": 4066.09033203125,
                        "z": 363.42108154296875
                    },
                    "rotation": {
                        "roll": -0.007141111418604851,
                        "pitch": -1.3355956077575684,
                        "yaw": -179.37181091308594
                    }
                },
                "velocity": {
                    "x": -6.842213153839111,
                    "y": -0.07864900678396225,
                    "z": -0.17936386168003082
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.45386672019958496,
                "transform": {
                    "location": {
                        "x": -1945.8074951171875,
                        "y": 4066.045166015625,
                        "z": 363.06890869140625
                    },
                    "rotation": {
                        "roll": 0.017911892384290695,
                        "pitch": -2.657585382461548,
                        "yaw": -179.49978637695312
                    }
                },
                "velocity": {
                    "x": -0.45364123582839966,
                    "y": -0.005703348200768232,
                    "z": -0.013118762522935867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.513026714324951,
                "transform": {
                    "location": {
                        "x": -1977.7327880859375,
                        "y": 4065.89306640625,
                        "z": 362.0882263183594
                    },
                    "rotation": {
                        "roll": -0.009490965865552425,
                        "pitch": -1.6771801710128784,
                        "yaw": -179.3656005859375
                    }
                },
                "velocity": {
                    "x": -7.508237838745117,
                    "y": -0.08555811643600464,
                    "z": -0.25419512391090393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.165953636169434,
                "transform": {
                    "location": {
                        "x": -1993.1910400390625,
                        "y": 4065.821044921875,
                        "z": 361.54937744140625
                    },
                    "rotation": {
                        "roll": -0.01574706844985485,
                        "pitch": -1.8163111209869385,
                        "yaw": -179.23753356933594
                    }
                },
                "velocity": {
                    "x": -7.1609015464782715,
                    "y": -0.0870349258184433,
                    "z": -0.25456467270851135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.000971937901340425,
        "expert_target_speed": 2.529159914704966,
        "target_point": [
            50.72947569583919,
            -0.02903127578004014
        ],
        "target_point_next": [
            101.72946433943129,
            -0.05768525967545879
        ]
    },
    "45": {
        "acceleration": [
            -2.2357583045959473,
            -0.01603463664650917,
            -0.0791747123003006
        ],
        "angular_velocity": [
            -0.021170450374484062,
            -0.2340749204158783,
            0.02899685874581337
        ],
        "forward_vector": [
            -0.9996620416641235,
            -0.005455046892166138,
            -0.025417091324925423
        ],
        "right_vector": [
            0.00545490114018321,
            -0.9999850988388062,
            7.507686677854508e-05
        ],
        "location": [
            -1957.996826171875,
            4066.030517578125,
            362.7130126953125
        ],
        "rotation": [
            -0.004302978049963713,
            -1.4564489126205444,
            -179.68734741210938
        ],
        "velocity": [
            -1.9730819463729858,
            -0.011687721125781536,
            -0.059198252856731415
        ],
        "speed": 1.9731165626815168,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.64316177368164,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1979.62841796875,
                4065.87158203125,
                362.02349853515625
            ],
            "velocity": [
                -7.33461856842041,
                -0.08543338626623154,
                -0.25110262632369995
            ],
            "speed_kmh": 26.42188624869586,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.595836162567139,
                "transform": {
                    "location": {
                        "x": -2020.226806640625,
                        "y": 4072.31689453125,
                        "z": 360.5069885253906
                    },
                    "rotation": {
                        "roll": 0.021700402721762657,
                        "pitch": 2.3671181201934814,
                        "yaw": 0.7548449039459229
                    }
                },
                "velocity": {
                    "x": 7.588742733001709,
                    "y": 0.09421908110380173,
                    "z": 0.3143749237060547
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.64365291595459,
                "transform": {
                    "location": {
                        "x": -2020.1563720703125,
                        "y": 4069.0693359375,
                        "z": 360.5151062011719
                    },
                    "rotation": {
                        "roll": 0.024684278294444084,
                        "pitch": 2.3661277294158936,
                        "yaw": 0.6994590163230896
                    }
                },
                "velocity": {
                    "x": 7.636542797088623,
                    "y": 0.09110837429761887,
                    "z": 0.3167680501937866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.873498260974884,
                "transform": {
                    "location": {
                        "x": -1933.63623046875,
                        "y": 4062.826416015625,
                        "z": 363.39654541015625
                    },
                    "rotation": {
                        "roll": 0.0057304599322378635,
                        "pitch": -2.3384995460510254,
                        "yaw": -179.5460968017578
                    }
                },
                "velocity": {
                    "x": -0.8731423616409302,
                    "y": -0.010941834188997746,
                    "z": -0.02240193821489811
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.97158145904541,
                "transform": {
                    "location": {
                        "x": -1947.7926025390625,
                        "y": 4062.7724609375,
                        "z": 363.0085144042969
                    },
                    "rotation": {
                        "roll": -0.01229858212172985,
                        "pitch": -1.5985305309295654,
                        "yaw": -179.30667114257812
                    }
                },
                "velocity": {
                    "x": -5.968839645385742,
                    "y": -0.06941287219524384,
                    "z": -0.16708354651927948
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.2525224685668945,
                "transform": {
                    "location": {
                        "x": -1977.838134765625,
                        "y": 4062.64111328125,
                        "z": 362.0794982910156
                    },
                    "rotation": {
                        "roll": -0.014556884765625,
                        "pitch": -1.9157040119171143,
                        "yaw": -179.30078125
                    }
                },
                "velocity": {
                    "x": -6.248526573181152,
                    "y": -0.07289224863052368,
                    "z": -0.2112790048122406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.324872016906738,
                "transform": {
                    "location": {
                        "x": -1993.5933837890625,
                        "y": 4062.56640625,
                        "z": 361.53857421875
                    },
                    "rotation": {
                        "roll": -0.01593017391860485,
                        "pitch": -2.1611878871917725,
                        "yaw": -179.30538940429688
                    }
                },
                "velocity": {
                    "x": -7.319787502288818,
                    "y": -0.08453673869371414,
                    "z": -0.25945958495140076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5763936042785645,
                "transform": {
                    "location": {
                        "x": -1934.1392822265625,
                        "y": 4066.0732421875,
                        "z": 363.3818664550781
                    },
                    "rotation": {
                        "roll": -0.0030517578125,
                        "pitch": -1.8818672895431519,
                        "yaw": -179.65496826171875
                    }
                },
                "velocity": {
                    "x": -3.5746963024139404,
                    "y": -0.048237308859825134,
                    "z": -0.09904718399047852
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7334728240966797,
                "transform": {
                    "location": {
                        "x": -1946.127197265625,
                        "y": 4066.041748046875,
                        "z": 363.0562744140625
                    },
                    "rotation": {
                        "roll": 0.002976392861455679,
                        "pitch": -1.663021206855774,
                        "yaw": -179.46202087402344
                    }
                },
                "velocity": {
                    "x": -1.7326984405517578,
                    "y": -0.018989261239767075,
                    "z": -0.04820321127772331
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.339412689208984,
                "transform": {
                    "location": {
                        "x": -1979.62841796875,
                        "y": 4065.87158203125,
                        "z": 362.02349853515625
                    },
                    "rotation": {
                        "roll": -0.01586913876235485,
                        "pitch": -1.9174115657806396,
                        "yaw": -179.31304931640625
                    }
                },
                "velocity": {
                    "x": -7.33461856842041,
                    "y": -0.08543338626623154,
                    "z": -0.25110262632369995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.157090187072754,
                "transform": {
                    "location": {
                        "x": -1994.857177734375,
                        "y": 4065.801513671875,
                        "z": 361.4902648925781
                    },
                    "rotation": {
                        "roll": -0.007080078590661287,
                        "pitch": -2.1386072635650635,
                        "yaw": -179.34225463867188
                    }
                },
                "velocity": {
                    "x": -6.152935028076172,
                    "y": -0.062241386622190475,
                    "z": -0.21743007004261017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.003013437381014228,
        "expert_target_speed": 3.1001614585119834,
        "target_point": [
            50.30098188155651,
            -0.05573872474294014
        ],
        "target_point_next": [
            101.30094794922553,
            -0.111629635668894
        ]
    },
    "50": {
        "acceleration": [
            -3.7215089797973633,
            -0.023501776158809662,
            -0.10804027318954468
        ],
        "angular_velocity": [
            0.0437220074236393,
            0.23973041772842407,
            0.04940934106707573
        ],
        "forward_vector": [
            -0.9996679425239563,
            -0.005652668885886669,
            -0.02514025755226612
        ],
        "right_vector": [
            0.005652902647852898,
            -0.9999840259552002,
            6.176578608574346e-05
        ],
        "location": [
            -1958.5889892578125,
            4066.02685546875,
            362.6951599121094
        ],
        "rotation": [
            -0.003540037665516138,
            -1.4405823945999146,
            -179.676025390625
        ],
        "velocity": [
            -2.779405355453491,
            -0.01706569455564022,
            -0.08346129953861237
        ],
        "speed": 2.7794577470892077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.736974716186523,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1981.3135986328125,
                4065.855224609375,
                361.96533203125
            ],
            "velocity": [
                -5.657081127166748,
                -0.047656744718551636,
                -0.1924048215150833
            ],
            "speed_kmh": 20.377989971380224,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.894582748413086,
                "transform": {
                    "location": {
                        "x": -2018.3248291015625,
                        "y": 4072.339599609375,
                        "z": 360.5856018066406
                    },
                    "rotation": {
                        "roll": 0.01975630223751068,
                        "pitch": 2.3850200176239014,
                        "yaw": 0.6536072492599487
                    }
                },
                "velocity": {
                    "x": 7.887396812438965,
                    "y": 0.0768200159072876,
                    "z": 0.32787787914276123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.17203426361084,
                "transform": {
                    "location": {
                        "x": -2018.5128173828125,
                        "y": 4069.08740234375,
                        "z": 360.5831604003906
                    },
                    "rotation": {
                        "roll": 0.027098432183265686,
                        "pitch": 2.1922242641448975,
                        "yaw": 0.6306595802307129
                    }
                },
                "velocity": {
                    "x": 6.166502952575684,
                    "y": 0.05836033821105957,
                    "z": 0.25465187430381775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6364243030548096,
                "transform": {
                    "location": {
                        "x": -1934.1055908203125,
                        "y": 4062.821533203125,
                        "z": 363.3844299316406
                    },
                    "rotation": {
                        "roll": -0.004608153365552425,
                        "pitch": -1.4820553064346313,
                        "yaw": -179.50177001953125
                    }
                },
                "velocity": {
                    "x": -2.635370969772339,
                    "y": -0.02767941914498806,
                    "z": -0.06918620318174362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.14937162399292,
                "transform": {
                    "location": {
                        "x": -1949.421875,
                        "y": 4062.753662109375,
                        "z": 362.9625549316406
                    },
                    "rotation": {
                        "roll": -0.01165771298110485,
                        "pitch": -1.6011601686477661,
                        "yaw": -179.33998107910156
                    }
                },
                "velocity": {
                    "x": -7.146025657653809,
                    "y": -0.08316124975681305,
                    "z": -0.2022736519575119
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.20199728012085,
                "transform": {
                    "location": {
                        "x": -1979.488037109375,
                        "y": 4062.621826171875,
                        "z": 362.0233459472656
                    },
                    "rotation": {
                        "roll": -0.01373291015625,
                        "pitch": -1.9248974323272705,
                        "yaw": -179.33116149902344
                    }
                },
                "velocity": {
                    "x": -7.19726037979126,
                    "y": -0.08326686918735504,
                    "z": -0.24753843247890472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.812276363372803,
                "transform": {
                    "location": {
                        "x": -1995.37744140625,
                        "y": 4062.547607421875,
                        "z": 361.4740905761719
                    },
                    "rotation": {
                        "roll": -0.017059326171875,
                        "pitch": -1.9991142749786377,
                        "yaw": -179.40367126464844
                    }
                },
                "velocity": {
                    "x": -6.807790756225586,
                    "y": -0.05462478846311569,
                    "z": -0.24105627834796906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4565385580062866,
                "transform": {
                    "location": {
                        "x": -1934.3699951171875,
                        "y": 4066.0703125,
                        "z": 363.3753356933594
                    },
                    "rotation": {
                        "roll": 0.008415493182837963,
                        "pitch": -2.0264828205108643,
                        "yaw": -179.71795654296875
                    }
                },
                "velocity": {
                    "x": -0.4563906788825989,
                    "y": -0.00024163351918105036,
                    "z": -0.01161669660359621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3033394813537598,
                "transform": {
                    "location": {
                        "x": -1946.6771240234375,
                        "y": 4066.035888671875,
                        "z": 363.0400390625
                    },
                    "rotation": {
                        "roll": -0.006774900481104851,
                        "pitch": -1.4193406105041504,
                        "yaw": -179.43612670898438
                    }
                },
                "velocity": {
                    "x": -2.3023362159729004,
                    "y": -0.02569352649152279,
                    "z": -0.06293351948261261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.660552501678467,
                "transform": {
                    "location": {
                        "x": -1981.3135986328125,
                        "y": 4065.855224609375,
                        "z": 361.96533203125
                    },
                    "rotation": {
                        "roll": -0.0050353980623185635,
                        "pitch": -2.1757771968841553,
                        "yaw": -179.439453125
                    }
                },
                "velocity": {
                    "x": -5.657081127166748,
                    "y": -0.047656744718551636,
                    "z": -0.1924048215150833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.015045166015625,
                "transform": {
                    "location": {
                        "x": -1996.2061767578125,
                        "y": 4065.789306640625,
                        "z": 361.4419860839844
                    },
                    "rotation": {
                        "roll": -0.004241942893713713,
                        "pitch": -2.2707440853118896,
                        "yaw": -179.4616241455078
                    }
                },
                "velocity": {
                    "x": -5.011384963989258,
                    "y": -0.042511601001024246,
                    "z": -0.1867866814136505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.004396453965455294,
        "expert_target_speed": 3.90195802153716,
        "target_point": [
            49.70879557152715,
            -0.06598244291405972
        ],
        "target_point_next": [
            100.70874961198064,
            -0.13194128574525976
        ]
    },
    "55": {
        "acceleration": [
            -4.203853607177734,
            -0.028600730001926422,
            -0.13426318764686584
        ],
        "angular_velocity": [
            0.025985369458794594,
            0.27184417843818665,
            0.07143478095531464
        ],
        "forward_vector": [
            -0.9996938705444336,
            -0.005918579641729593,
            -0.02402360364794731
        ],
        "right_vector": [
            0.005918804090470076,
            -0.999982476234436,
            6.176748865982518e-05
        ],
        "location": [
            -1959.4127197265625,
            4066.021728515625,
            362.6701354980469
        ],
        "rotation": [
            -0.003540038364008069,
            -1.3765835762023926,
            -179.66079711914062
        ],
        "velocity": [
            -3.7884838581085205,
            -0.02417205274105072,
            -0.11453738808631897
        ],
        "speed": 3.7885609710393386,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.524965286254883,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1981.92529296875,
                4065.849853515625,
                361.943115234375
            ],
            "velocity": [
                0.002001485787332058,
                0.00045807159040123224,
                -0.0005957930698059499
            ],
            "speed_kmh": 0.007696547693496382,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.26082706451416,
                "transform": {
                    "location": {
                        "x": -2016.2713623046875,
                        "y": 4072.358642578125,
                        "z": 360.6708984375
                    },
                    "rotation": {
                        "roll": 0.010862779803574085,
                        "pitch": 2.3927791118621826,
                        "yaw": 0.49340012669563293
                    }
                },
                "velocity": {
                    "x": 8.253458023071289,
                    "y": 0.06483189016580582,
                    "z": 0.34276121854782104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.1833600997924805,
                "transform": {
                    "location": {
                        "x": -2016.9683837890625,
                        "y": 4069.10107421875,
                        "z": 360.6473083496094
                    },
                    "rotation": {
                        "roll": 0.0172362569719553,
                        "pitch": 2.3459649085998535,
                        "yaw": 0.5176219344139099
                    }
                },
                "velocity": {
                    "x": 6.177818298339844,
                    "y": 0.0506821945309639,
                    "z": 0.25678175687789917
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.294993877410889,
                "transform": {
                    "location": {
                        "x": -1934.9876708984375,
                        "y": 4062.813720703125,
                        "z": 363.3609619140625
                    },
                    "rotation": {
                        "roll": -0.0021057133562862873,
                        "pitch": -1.2554296255111694,
                        "yaw": -179.4974822998047
                    }
                },
                "velocity": {
                    "x": -4.29331636428833,
                    "y": -0.03495151922106743,
                    "z": -0.11483878642320633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055512428283691,
                "transform": {
                    "location": {
                        "x": -1951.3299560546875,
                        "y": 4062.73486328125,
                        "z": 362.9083251953125
                    },
                    "rotation": {
                        "roll": -0.00787353329360485,
                        "pitch": -1.6065082550048828,
                        "yaw": -179.4495849609375
                    }
                },
                "velocity": {
                    "x": -8.051863670349121,
                    "y": -0.06809311360120773,
                    "z": -0.23264442384243011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.365206718444824,
                "transform": {
                    "location": {
                        "x": -1981.3577880859375,
                        "y": 4062.603271484375,
                        "z": 361.9593200683594
                    },
                    "rotation": {
                        "roll": -0.009185791946947575,
                        "pitch": -1.9875166416168213,
                        "yaw": -179.45130920410156
                    }
                },
                "velocity": {
                    "x": -7.360556602478027,
                    "y": -0.061876919120550156,
                    "z": -0.2542634606361389
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.503889083862305,
                "transform": {
                    "location": {
                        "x": -1997.0228271484375,
                        "y": 4062.533935546875,
                        "z": 361.4148864746094
                    },
                    "rotation": {
                        "roll": -0.010589596815407276,
                        "pitch": -2.0248708724975586,
                        "yaw": -179.5005645751953
                    }
                },
                "velocity": {
                    "x": -6.499396800994873,
                    "y": -0.04977918416261673,
                    "z": -0.2365102469921112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6227705478668213,
                "transform": {
                    "location": {
                        "x": -1934.6448974609375,
                        "y": 4066.068359375,
                        "z": 363.3687438964844
                    },
                    "rotation": {
                        "roll": -0.0015869134804233909,
                        "pitch": -1.5099157094955444,
                        "yaw": -179.61880493164062
                    }
                },
                "velocity": {
                    "x": -1.6221470832824707,
                    "y": -0.011522526852786541,
                    "z": -0.04347527027130127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3723752796649933,
                "transform": {
                    "location": {
                        "x": -1946.9361572265625,
                        "y": 4066.0341796875,
                        "z": 363.0354919433594
                    },
                    "rotation": {
                        "roll": -0.0108642578125,
                        "pitch": -2.1460795402526855,
                        "yaw": -179.2847442626953
                    }
                },
                "velocity": {
                    "x": -0.3722437620162964,
                    "y": -0.00259720953181386,
                    "z": -0.009548511356115341
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0021379298996180296,
                "transform": {
                    "location": {
                        "x": -1981.92529296875,
                        "y": 4065.849853515625,
                        "z": 361.943115234375
                    },
                    "rotation": {
                        "roll": -0.007080078590661287,
                        "pitch": -2.7723395824432373,
                        "yaw": -179.54856872558594
                    }
                },
                "velocity": {
                    "x": 0.002001485787332058,
                    "y": 0.00045807159040123224,
                    "z": -0.0005957930698059499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.495055675506592,
                "transform": {
                    "location": {
                        "x": -1997.5234375,
                        "y": 4065.779296875,
                        "z": 361.39459228515625
                    },
                    "rotation": {
                        "roll": -0.00439453125,
                        "pitch": -2.0730509757995605,
                        "yaw": -179.5320587158203
                    }
                },
                "velocity": {
                    "x": -5.49131965637207,
                    "y": -0.04221083223819733,
                    "z": -0.19815059006214142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.006373951211571693,
        "expert_target_speed": 4.858306120165157,
        "target_point": [
            48.88502986975939,
            -0.07945877458446379
        ],
        "target_point_next": [
            99.88496455490933,
            -0.1589874345401906
        ]
    },
    "60": {
        "acceleration": [
            -3.737668991088867,
            -0.03392670303583145,
            -0.11948525905609131
        ],
        "angular_velocity": [
            0.016552455723285675,
            -0.017953725531697273,
            0.08577048778533936
        ],
        "forward_vector": [
            -0.9997040629386902,
            -0.0062578218057751656,
            -0.023506619036197662
        ],
        "right_vector": [
            0.006257109809666872,
            -0.9999803900718689,
            0.00010383457265561447
        ],
        "location": [
            -1960.4896240234375,
            4066.014892578125,
            362.63720703125
        ],
        "rotation": [
            -0.005950927268713713,
            -1.3469542264938354,
            -179.641357421875
        ],
        "velocity": [
            -4.762112617492676,
            -0.03199753537774086,
            -0.14526361227035522
        ],
        "speed": 4.762220115025469,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.697906494140625,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1982.175537109375,
                4065.848388671875,
                361.9353332519531
            ],
            "velocity": [
                -1.577700138092041,
                -0.010953592136502266,
                -0.055020205676555634
            ],
            "speed_kmh": 5.6833100119683255,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.8913960456848145,
                "transform": {
                    "location": {
                        "x": -2014.2630615234375,
                        "y": 4072.374267578125,
                        "z": 360.7535095214844
                    },
                    "rotation": {
                        "roll": 0.00629650242626667,
                        "pitch": 2.326068639755249,
                        "yaw": 0.4134424924850464
                    }
                },
                "velocity": {
                    "x": 7.884974956512451,
                    "y": 0.05586804449558258,
                    "z": 0.3133372366428375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.448732376098633,
                "transform": {
                    "location": {
                        "x": -2015.0755615234375,
                        "y": 4069.115966796875,
                        "z": 360.72576904296875
                    },
                    "rotation": {
                        "roll": 0.013440102338790894,
                        "pitch": 2.7010529041290283,
                        "yaw": 0.4521777033805847
                    }
                },
                "velocity": {
                    "x": 8.441486358642578,
                    "y": 0.06372209638357162,
                    "z": 0.3439858853816986
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4327263832092285,
                "transform": {
                    "location": {
                        "x": -1936.2406005859375,
                        "y": 4062.8037109375,
                        "z": 363.3277893066406
                    },
                    "rotation": {
                        "roll": -0.004699706565588713,
                        "pitch": -1.2805784940719604,
                        "yaw": -179.52391052246094
                    }
                },
                "velocity": {
                    "x": -5.430635452270508,
                    "y": -0.043336767703294754,
                    "z": -0.1443365067243576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.942232131958008,
                "transform": {
                    "location": {
                        "x": -1953.4583740234375,
                        "y": 4062.716552734375,
                        "z": 362.8468933105469
                    },
                    "rotation": {
                        "roll": -0.005279541481286287,
                        "pitch": -1.660910725593567,
                        "yaw": -179.5496063232422
                    }
                },
                "velocity": {
                    "x": -8.938206672668457,
                    "y": -0.06666562706232071,
                    "z": -0.25985950231552124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.304860591888428,
                "transform": {
                    "location": {
                        "x": -1983.062744140625,
                        "y": 4062.58935546875,
                        "z": 361.9002685546875
                    },
                    "rotation": {
                        "roll": -0.007354734465479851,
                        "pitch": -2.0202536582946777,
                        "yaw": -179.5382537841797
                    }
                },
                "velocity": {
                    "x": -6.300848484039307,
                    "y": -0.047633297741413116,
                    "z": -0.21978391706943512
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.655055999755859,
                "transform": {
                    "location": {
                        "x": -1998.503662109375,
                        "y": 4062.522705078125,
                        "z": 361.3609619140625
                    },
                    "rotation": {
                        "roll": -0.007965086959302425,
                        "pitch": -2.018580436706543,
                        "yaw": -179.5209503173828
                    }
                },
                "velocity": {
                    "x": -5.651178359985352,
                    "y": -0.04275689646601677,
                    "z": -0.2049674689769745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.092059850692749,
                "transform": {
                    "location": {
                        "x": -1935.156494140625,
                        "y": 4066.064697265625,
                        "z": 363.3551025390625
                    },
                    "rotation": {
                        "roll": -0.0012512209359556437,
                        "pitch": -1.4644129276275635,
                        "yaw": -179.66465759277344
                    }
                },
                "velocity": {
                    "x": -2.091236114501953,
                    "y": -0.014152271673083305,
                    "z": -0.05696898698806763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.402513027191162,
                "transform": {
                    "location": {
                        "x": -1947.1683349609375,
                        "y": 4066.03125,
                        "z": 363.0269775390625
                    },
                    "rotation": {
                        "roll": -0.011566162109375,
                        "pitch": -1.5919121503829956,
                        "yaw": -179.2665252685547
                    }
                },
                "velocity": {
                    "x": -1.4018670320510864,
                    "y": -0.016388574615120888,
                    "z": -0.039281751960515976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5786972045898438,
                "transform": {
                    "location": {
                        "x": -1982.175537109375,
                        "y": 4065.848388671875,
                        "z": 361.9353332519531
                    },
                    "rotation": {
                        "roll": -0.006652831565588713,
                        "pitch": -2.0620338916778564,
                        "yaw": -179.55343627929688
                    }
                },
                "velocity": {
                    "x": -1.577700138092041,
                    "y": -0.010953592136502266,
                    "z": -0.055020205676555634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.469040870666504,
                "transform": {
                    "location": {
                        "x": -1998.957275390625,
                        "y": 4065.76806640625,
                        "z": 361.3426818847656
                    },
                    "rotation": {
                        "roll": -0.002593994140625,
                        "pitch": -1.977230429649353,
                        "yaw": -179.6063995361328
                    }
                },
                "velocity": {
                    "x": -6.46457576751709,
                    "y": -0.04586713761091232,
                    "z": -0.23589816689491272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.007581169717013836,
        "expert_target_speed": 5.798966651297169,
        "target_point": [
            47.80807413234506,
            -0.09612733643627797
        ],
        "target_point_next": [
            98.80797892377547,
            -0.192946561540001
        ]
    },
    "65": {
        "acceleration": [
            0.07295608520507812,
            -0.004845187067985535,
            -0.018115341663360596
        ],
        "angular_velocity": [
            0.05575577914714813,
            -1.26436448097229,
            0.022818323224782944
        ],
        "forward_vector": [
            -0.9996451735496521,
            -0.006485548336058855,
            -0.025834547355771065
        ],
        "right_vector": [
            0.00648536067456007,
            -0.9999789595603943,
            9.10496964934282e-05
        ],
        "location": [
            -1961.7642822265625,
            4066.005859375,
            362.59918212890625
        ],
        "rotation": [
            -0.005218504928052425,
            -1.4803751707077026,
            -179.62828063964844
        ],
        "velocity": [
            -5.16751766204834,
            -0.03620808199048042,
            -0.1578746885061264
        ],
        "speed": 5.167644513004253,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.970720291137695,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1982.7232666015625,
                4065.844482421875,
                361.91650390625
            ],
            "velocity": [
                -2.806121349334717,
                -0.01910261996090412,
                -0.09800735861063004
            ],
            "speed_kmh": 10.108430364795412,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.101629257202148,
                "transform": {
                    "location": {
                        "x": -2012.2740478515625,
                        "y": 4072.38671875,
                        "z": 360.83331298828125
                    },
                    "rotation": {
                        "roll": 0.0047866543754935265,
                        "pitch": 2.234079599380493,
                        "yaw": 0.3511207103729248
                    }
                },
                "velocity": {
                    "x": 8.095184326171875,
                    "y": 0.04660482332110405,
                    "z": 0.31970274448394775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.98815393447876,
                "transform": {
                    "location": {
                        "x": -2013.006103515625,
                        "y": 4069.130126953125,
                        "z": 360.80914306640625
                    },
                    "rotation": {
                        "roll": 0.01345178484916687,
                        "pitch": 2.3005783557891846,
                        "yaw": 0.39084067940711975
                    }
                },
                "velocity": {
                    "x": 7.981475830078125,
                    "y": 0.05073651671409607,
                    "z": 0.32259413599967957
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.627862453460693,
                "transform": {
                    "location": {
                        "x": -1937.621826171875,
                        "y": 4062.7919921875,
                        "z": 363.2908020019531
                    },
                    "rotation": {
                        "roll": -0.0030212397687137127,
                        "pitch": -1.4446395635604858,
                        "yaw": -179.56375122070312
                    }
                },
                "velocity": {
                    "x": -5.62568473815918,
                    "y": -0.043085068464279175,
                    "z": -0.1505046784877777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.781219482421875,
                "transform": {
                    "location": {
                        "x": -1955.800537109375,
                        "y": 4062.69921875,
                        "z": 362.7781982421875
                    },
                    "rotation": {
                        "roll": -0.0024108875077217817,
                        "pitch": -1.6696738004684448,
                        "yaw": -179.61819458007812
                    }
                },
                "velocity": {
                    "x": -9.776787757873535,
                    "y": -0.06084331497550011,
                    "z": -0.288058340549469
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.314929008483887,
                "transform": {
                    "location": {
                        "x": -1984.348388671875,
                        "y": 4062.579345703125,
                        "z": 361.8553466796875
                    },
                    "rotation": {
                        "roll": -0.006347654853016138,
                        "pitch": -2.047362804412842,
                        "yaw": -179.5681610107422
                    }
                },
                "velocity": {
                    "x": -4.312129974365234,
                    "y": -0.030591484159231186,
                    "z": -0.15234695374965668
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.983165740966797,
                "transform": {
                    "location": {
                        "x": -1999.9385986328125,
                        "y": 4062.51220703125,
                        "z": 361.3092041015625
                    },
                    "rotation": {
                        "roll": -0.008850096724927425,
                        "pitch": -2.1119353771209717,
                        "yaw": -179.56658935546875
                    }
                },
                "velocity": {
                    "x": -5.979036808013916,
                    "y": -0.036349449306726456,
                    "z": -0.21924220025539398
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6886097192764282,
                "transform": {
                    "location": {
                        "x": -1935.380615234375,
                        "y": 4066.06298828125,
                        "z": 363.3488464355469
                    },
                    "rotation": {
                        "roll": 0.00015508683281950653,
                        "pitch": -1.6855745315551758,
                        "yaw": -179.762939453125
                    }
                },
                "velocity": {
                    "x": -0.6883364915847778,
                    "y": -0.006403488572686911,
                    "z": -0.018309159204363823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.26232647895813,
                "transform": {
                    "location": {
                        "x": -1947.62646484375,
                        "y": 4066.02587890625,
                        "z": 363.0133361816406
                    },
                    "rotation": {
                        "roll": -0.012481689453125,
                        "pitch": -1.363640308380127,
                        "yaw": -179.29136657714844
                    }
                },
                "velocity": {
                    "x": -2.261284351348877,
                    "y": -0.02669023536145687,
                    "z": -0.06326067447662354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8078973293304443,
                "transform": {
                    "location": {
                        "x": -1982.7232666015625,
                        "y": 4065.844482421875,
                        "z": 361.91650390625
                    },
                    "rotation": {
                        "roll": -0.003509520087391138,
                        "pitch": -1.868370771408081,
                        "yaw": -179.64859008789062
                    }
                },
                "velocity": {
                    "x": -2.806121349334717,
                    "y": -0.01910261996090412,
                    "z": -0.09800735861063004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.29029655456543,
                "transform": {
                    "location": {
                        "x": -2000.87646484375,
                        "y": 4065.756103515625,
                        "z": 361.2723083496094
                    },
                    "rotation": {
                        "roll": 0.0013986577978357673,
                        "pitch": -1.7843594551086426,
                        "yaw": -179.65235900878906
                    }
                },
                "velocity": {
                    "x": -8.284622192382812,
                    "y": -0.049106258898973465,
                    "z": -0.3027205169200897
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.012104030698537827,
        "expert_target_speed": 6.187090240981756,
        "target_point": [
            46.53336094703644,
            -0.10781020617292356
        ],
        "target_point_next": [
            97.53324229416903,
            -0.21627806184152126
        ]
    },
    "70": {
        "acceleration": [
            -3.9222240447998047,
            -0.03301702439785004,
            -0.12897372245788574
        ],
        "angular_velocity": [
            0.05290074646472931,
            0.7293474674224854,
            0.1149534359574318
        ],
        "forward_vector": [
            -0.9995562434196472,
            -0.006836021319031715,
            -0.028992878273129463
        ],
        "right_vector": [
            0.006835900712758303,
            -0.999976634979248,
            0.00010328719508834183
        ],
        "location": [
            -1963.0653076171875,
            4065.99609375,
            362.5594787597656
        ],
        "rotation": [
            -0.005920409224927425,
            -1.6614024639129639,
            -179.608154296875
        ],
        "velocity": [
            -5.437737464904785,
            -0.03912604600191116,
            -0.1696128398180008
        ],
        "speed": 5.43787822451964,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.580636978149414,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1983.63427734375,
                4065.838134765625,
                361.88482666015625
            ],
            "velocity": [
                -4.386870384216309,
                -0.03200305253267288,
                -0.1528189480304718
            ],
            "speed_kmh": 15.802732812407749,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080676078796387,
                "transform": {
                    "location": {
                        "x": -2010.241943359375,
                        "y": 4072.39892578125,
                        "z": 360.9125671386719
                    },
                    "rotation": {
                        "roll": 0.0027587045915424824,
                        "pitch": 2.236968755722046,
                        "yaw": 0.31347715854644775
                    }
                },
                "velocity": {
                    "x": 8.074416160583496,
                    "y": 0.042996909469366074,
                    "z": 0.3150908648967743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.874540328979492,
                "transform": {
                    "location": {
                        "x": -2011.052490234375,
                        "y": 4069.14208984375,
                        "z": 360.88629150390625
                    },
                    "rotation": {
                        "roll": 0.00805122870951891,
                        "pitch": 2.2366955280303955,
                        "yaw": 0.34164461493492126
                    }
                },
                "velocity": {
                    "x": 7.86848258972168,
                    "y": 0.04515017941594124,
                    "z": 0.30550941824913025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.074092864990234,
                "transform": {
                    "location": {
                        "x": -1939.355712890625,
                        "y": 4062.778076171875,
                        "z": 363.2445983886719
                    },
                    "rotation": {
                        "roll": -0.006561277899891138,
                        "pitch": -1.148769497871399,
                        "yaw": -179.50650024414062
                    }
                },
                "velocity": {
                    "x": -8.07097339630127,
                    "y": -0.0644305869936943,
                    "z": -0.21497584879398346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.720643043518066,
                "transform": {
                    "location": {
                        "x": -1958.3658447265625,
                        "y": 4062.68359375,
                        "z": 362.7017517089844
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -1.7033056020736694,
                        "yaw": -179.68238830566406
                    }
                },
                "velocity": {
                    "x": -10.715620994567871,
                    "y": -0.05790407210588455,
                    "z": -0.3229641020298004
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.838260173797607,
                "transform": {
                    "location": {
                        "x": -1985.4805908203125,
                        "y": 4062.572509765625,
                        "z": 361.8152160644531
                    },
                    "rotation": {
                        "roll": -0.004913330078125,
                        "pitch": -2.009885549545288,
                        "yaw": -179.6124725341797
                    }
                },
                "velocity": {
                    "x": -4.835199356079102,
                    "y": -0.027973566204309464,
                    "z": -0.1697862446308136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.754864692687988,
                "transform": {
                    "location": {
                        "x": -2001.5631103515625,
                        "y": 4062.501708984375,
                        "z": 361.2499084472656
                    },
                    "rotation": {
                        "roll": -0.004913330078125,
                        "pitch": -2.1478211879730225,
                        "yaw": -179.63162231445312
                    }
                },
                "velocity": {
                    "x": -6.750239849090576,
                    "y": -0.03965430706739426,
                    "z": -0.24675056338310242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.839080572128296,
                "transform": {
                    "location": {
                        "x": -1935.7037353515625,
                        "y": 4066.060791015625,
                        "z": 363.340576171875
                    },
                    "rotation": {
                        "roll": 0.0005021811230108142,
                        "pitch": -1.4290462732315063,
                        "yaw": -179.78428649902344
                    }
                },
                "velocity": {
                    "x": -1.8383959531784058,
                    "y": -0.011939755640923977,
                    "z": -0.04873426631093025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.65140700340271,
                "transform": {
                    "location": {
                        "x": -1948.364990234375,
                        "y": 4066.01708984375,
                        "z": 362.9920654296875
                    },
                    "rotation": {
                        "roll": -0.0115966796875,
                        "pitch": -1.1678802967071533,
                        "yaw": -179.30429077148438
                    }
                },
                "velocity": {
                    "x": -3.649693489074707,
                    "y": -0.042951107025146484,
                    "z": -0.10327058285474777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.389647960662842,
                "transform": {
                    "location": {
                        "x": -1983.63427734375,
                        "y": 4065.838134765625,
                        "z": 361.88482666015625
                    },
                    "rotation": {
                        "roll": -0.006561278365552425,
                        "pitch": -1.7825289964675903,
                        "yaw": -179.6145477294922
                    }
                },
                "velocity": {
                    "x": -4.386870384216309,
                    "y": -0.03200305253267288,
                    "z": -0.1528189480304718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.4252424240112305,
                "transform": {
                    "location": {
                        "x": -2002.849853515625,
                        "y": 4065.74462890625,
                        "z": 361.1998596191406
                    },
                    "rotation": {
                        "roll": -0.0013122560922056437,
                        "pitch": -2.1671438217163086,
                        "yaw": -179.65797424316406
                    }
                },
                "velocity": {
                    "x": -7.420140743255615,
                    "y": -0.044121406972408295,
                    "z": -0.27165329456329346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.020127663388848305,
        "expert_target_speed": 6.456126797304566,
        "target_point": [
            45.23225849367754,
            -0.1250091821520312
        ],
        "target_point_next": [
            96.2320986330223,
            -0.2513755487021914
        ]
    },
    "75": {
        "acceleration": [
            -2.09869384765625,
            -0.030887648463249207,
            -0.05981147289276123
        ],
        "angular_velocity": [
            0.006210856139659882,
            -0.5244303941726685,
            0.1264525204896927
        ],
        "forward_vector": [
            -0.9996408820152283,
            -0.007312098052352667,
            -0.025779012590646744
        ],
        "right_vector": [
            0.007310396526008844,
            -0.9999732971191406,
            0.00016026901721488684
        ],
        "location": [
            -1964.6246337890625,
            4065.98486328125,
            362.5102233886719
        ],
        "rotation": [
            -0.009185791946947575,
            -1.4771922826766968,
            -179.58090209960938
        ],
        "velocity": [
            -6.5596137046813965,
            -0.05020587891340256,
            -0.20440155267715454
        ],
        "speed": 6.559805834391858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.283981323242188,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1984.89697265625,
                4065.828857421875,
                361.84100341796875
            ],
            "velocity": [
                -5.408379554748535,
                -0.034748923033475876,
                -0.19086554646492004
            ],
            "speed_kmh": 19.482688647181345,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.974228858947754,
                "transform": {
                    "location": {
                        "x": -2008.2449951171875,
                        "y": 4072.408935546875,
                        "z": 360.9904479980469
                    },
                    "rotation": {
                        "roll": 0.0018152821576222777,
                        "pitch": 2.239290952682495,
                        "yaw": 0.2946242094039917
                    }
                },
                "velocity": {
                    "x": 7.9680609703063965,
                    "y": 0.03940599039196968,
                    "z": 0.3110983371734619
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.18148422241211,
                "transform": {
                    "location": {
                        "x": -2009.0286865234375,
                        "y": 4069.153564453125,
                        "z": 360.9652404785156
                    },
                    "rotation": {
                        "roll": 0.0034708422608673573,
                        "pitch": 2.3017325401306152,
                        "yaw": 0.325235515832901
                    }
                },
                "velocity": {
                    "x": 8.175156593322754,
                    "y": 0.046325989067554474,
                    "z": 0.31837913393974304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.40906810760498,
                "transform": {
                    "location": {
                        "x": -1941.56591796875,
                        "y": 4062.762451171875,
                        "z": 363.18511962890625
                    },
                    "rotation": {
                        "roll": 0.004481294192373753,
                        "pitch": -1.2501840591430664,
                        "yaw": -179.61904907226562
                    }
                },
                "velocity": {
                    "x": -9.405492782592773,
                    "y": -0.0586790107190609,
                    "z": -0.25264906883239746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.148902893066406,
                "transform": {
                    "location": {
                        "x": -1961.12744140625,
                        "y": 4062.669677734375,
                        "z": 362.61822509765625
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -1.740598440170288,
                        "yaw": -179.7182159423828
                    }
                },
                "velocity": {
                    "x": -11.1435546875,
                    "y": -0.05413905531167984,
                    "z": -0.3410121202468872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.342794895172119,
                "transform": {
                    "location": {
                        "x": -1986.771240234375,
                        "y": 4062.564208984375,
                        "z": 361.7701416015625
                    },
                    "rotation": {
                        "roll": -0.002624511020258069,
                        "pitch": -2.015472650527954,
                        "yaw": -179.64791870117188
                    }
                },
                "velocity": {
                    "x": -5.339381217956543,
                    "y": -0.03024923801422119,
                    "z": -0.18855693936347961
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.445160865783691,
                "transform": {
                    "location": {
                        "x": -2003.5419921875,
                        "y": 4062.490234375,
                        "z": 361.1781311035156
                    },
                    "rotation": {
                        "roll": -0.003631591098383069,
                        "pitch": -2.2324812412261963,
                        "yaw": -179.6612548828125
                    }
                },
                "velocity": {
                    "x": -8.439337730407715,
                    "y": -0.0477321520447731,
                    "z": -0.3099026083946228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9144209623336792,
                "transform": {
                    "location": {
                        "x": -1936.2218017578125,
                        "y": 4066.057373046875,
                        "z": 363.32666015625
                    },
                    "rotation": {
                        "roll": 0.0031697710510343313,
                        "pitch": -1.4997864961624146,
                        "yaw": -179.8319854736328
                    }
                },
                "velocity": {
                    "x": -1.9137204885482788,
                    "y": -0.010596428997814655,
                    "z": -0.050689395517110825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.0180535316467285,
                "transform": {
                    "location": {
                        "x": -1949.458740234375,
                        "y": 4066.00390625,
                        "z": 362.9607238769531
                    },
                    "rotation": {
                        "roll": -0.012634276412427425,
                        "pitch": -1.0675653219223022,
                        "yaw": -179.31460571289062
                    }
                },
                "velocity": {
                    "x": -5.015686511993408,
                    "y": -0.059865497052669525,
                    "z": -0.1420077234506607
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.411858081817627,
                "transform": {
                    "location": {
                        "x": -1984.89697265625,
                        "y": 4065.828857421875,
                        "z": 361.84100341796875
                    },
                    "rotation": {
                        "roll": -0.0021972660906612873,
                        "pitch": -1.8393220901489258,
                        "yaw": -179.61497497558594
                    }
                },
                "velocity": {
                    "x": -5.408379554748535,
                    "y": -0.034748923033475876,
                    "z": -0.19086554646492004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.149360179901123,
                "transform": {
                    "location": {
                        "x": -2004.6402587890625,
                        "y": 4065.734619140625,
                        "z": 361.1336364746094
                    },
                    "rotation": {
                        "roll": -0.002410887973383069,
                        "pitch": -2.2113351821899414,
                        "yaw": -179.66514587402344
                    }
                },
                "velocity": {
                    "x": -7.144108772277832,
                    "y": -0.04165240749716759,
                    "z": -0.2707861065864563
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.024592900648713112,
        "expert_target_speed": 7.516194883605453,
        "target_point": [
            43.67282727901735,
            -0.1463587282753636
        ],
        "target_point_next": [
            94.67260150785603,
            -0.2969950612038652
        ]
    },
    "80": {
        "acceleration": [
            -0.5157566070556641,
            -0.014611706137657166,
            -0.006629228591918945
        ],
        "angular_velocity": [
            0.03371252119541168,
            -0.5032973885536194,
            0.10841941833496094
        ],
        "forward_vector": [
            -0.9995635747909546,
            -0.007818932645022869,
            -0.02848716638982296
        ],
        "right_vector": [
            0.007816736586391926,
            -0.999969482421875,
            0.00018847528554033488
        ],
        "location": [
            -1966.29833984375,
            4065.971435546875,
            362.4580383300781
        ],
        "rotation": [
            -0.010803223587572575,
            -1.6324151754379272,
            -179.55181884765625
        ],
        "velocity": [
            -6.801019668579102,
            -0.055142391473054886,
            -0.21459296345710754
        ],
        "speed": 6.801243211041431,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.077999114990234,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1986.3646240234375,
                4065.81982421875,
                361.78924560546875
            ],
            "velocity": [
                -6.084222316741943,
                -0.037723563611507416,
                -0.21394526958465576
            ],
            "speed_kmh": 21.917158591236273,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.111832618713379,
                "transform": {
                    "location": {
                        "x": -2006.232177734375,
                        "y": 4072.418701171875,
                        "z": 361.06878662109375
                    },
                    "rotation": {
                        "roll": 0.0011362050427123904,
                        "pitch": 2.224039316177368,
                        "yaw": 0.2769431173801422
                    }
                },
                "velocity": {
                    "x": 8.105945587158203,
                    "y": 0.03792630136013031,
                    "z": 0.3066501021385193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.92385196685791,
                "transform": {
                    "location": {
                        "x": -2007.020263671875,
                        "y": 4069.1640625,
                        "z": 361.0436096191406
                    },
                    "rotation": {
                        "roll": 0.003967129625380039,
                        "pitch": 2.231593370437622,
                        "yaw": 0.2954385280609131
                    }
                },
                "velocity": {
                    "x": 7.917664051055908,
                    "y": 0.039128273725509644,
                    "z": 0.31064164638519287
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.480276107788086,
                "transform": {
                    "location": {
                        "x": -1944.0064697265625,
                        "y": 4062.748291015625,
                        "z": 363.1190490722656
                    },
                    "rotation": {
                        "roll": 0.0016484179068356752,
                        "pitch": -1.3108839988708496,
                        "yaw": -179.66383361816406
                    }
                },
                "velocity": {
                    "x": -10.476208686828613,
                    "y": -0.061802756041288376,
                    "z": -0.28532713651657104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.570282936096191,
                "transform": {
                    "location": {
                        "x": -1963.847412109375,
                        "y": 4062.656494140625,
                        "z": 362.53448486328125
                    },
                    "rotation": {
                        "roll": -0.00015258774510584772,
                        "pitch": -1.7957385778427124,
                        "yaw": -179.7392120361328
                    }
                },
                "velocity": {
                    "x": -10.564990997314453,
                    "y": -0.04774153605103493,
                    "z": -0.3310210704803467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.2559661865234375,
                "transform": {
                    "location": {
                        "x": -1988.228271484375,
                        "y": 4062.55615234375,
                        "z": 361.7184753417969
                    },
                    "rotation": {
                        "roll": -0.0030822744593024254,
                        "pitch": -2.0130889415740967,
                        "yaw": -179.68313598632812
                    }
                },
                "velocity": {
                    "x": -6.251969337463379,
                    "y": -0.033674247562885284,
                    "z": -0.22104774415493011
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.123027801513672,
                "transform": {
                    "location": {
                        "x": -2005.6212158203125,
                        "y": 4062.47900390625,
                        "z": 361.0990295410156
                    },
                    "rotation": {
                        "roll": -0.003723143134266138,
                        "pitch": -2.1495628356933594,
                        "yaw": -179.6857147216797
                    }
                },
                "velocity": {
                    "x": -8.116846084594727,
                    "y": -0.041708849370479584,
                    "z": -0.3140839636325836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9136136770248413,
                "transform": {
                    "location": {
                        "x": -1936.3846435546875,
                        "y": 4066.05615234375,
                        "z": 363.3221740722656
                    },
                    "rotation": {
                        "roll": 0.0038074387703090906,
                        "pitch": -1.6037282943725586,
                        "yaw": -179.88681030273438
                    }
                },
                "velocity": {
                    "x": -0.9132633209228516,
                    "y": -0.006430371664464474,
                    "z": -0.024467958137392998
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.354252815246582,
                "transform": {
                    "location": {
                        "x": -1950.7823486328125,
                        "y": 4065.99169921875,
                        "z": 362.9242858886719
                    },
                    "rotation": {
                        "roll": 0.004497165326029062,
                        "pitch": -1.305727243423462,
                        "yaw": -179.43919372558594
                    }
                },
                "velocity": {
                    "x": -5.351955890655518,
                    "y": -0.04390639811754227,
                    "z": -0.15053945779800415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.088099479675293,
                "transform": {
                    "location": {
                        "x": -1986.3646240234375,
                        "y": 4065.81982421875,
                        "z": 361.78924560546875
                    },
                    "rotation": {
                        "roll": -0.004577635787427425,
                        "pitch": -1.9188528060913086,
                        "yaw": -179.62171936035156
                    }
                },
                "velocity": {
                    "x": -6.084222316741943,
                    "y": -0.037723563611507416,
                    "z": -0.21394526958465576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.108464241027832,
                "transform": {
                    "location": {
                        "x": -2006.5355224609375,
                        "y": 4065.724609375,
                        "z": 361.0617370605469
                    },
                    "rotation": {
                        "roll": -0.0007934572058729827,
                        "pitch": -2.1073591709136963,
                        "yaw": -179.6873779296875
                    }
                },
                "velocity": {
                    "x": -8.102507591247559,
                    "y": -0.044065363705158234,
                    "z": -0.3075970411300659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.032236091792583466,
        "expert_target_speed": 7.75193034531543,
        "target_point": [
            41.998987437940386,
            -0.16887199781364493
        ],
        "target_point_next": [
            92.9986785926565,
            -0.3454076057989974
        ]
    },
    "85": {
        "acceleration": [
            -1.6434383392333984,
            -0.03135189414024353,
            -0.09376347064971924
        ],
        "angular_velocity": [
            0.002598006743937731,
            -0.11911283433437347,
            0.1273805797100067
        ],
        "forward_vector": [
            -0.9995241165161133,
            -0.008346505463123322,
            -0.029695672914385796
        ],
        "right_vector": [
            0.00834373477846384,
            -0.9999651908874512,
            0.0002172180247725919
        ],
        "location": [
            -1968.0318603515625,
            4065.95703125,
            362.4033508300781
        ],
        "rotation": [
            -0.012451167218387127,
            -1.7016868591308594,
            -179.5215606689453
        ],
        "velocity": [
            -7.082128047943115,
            -0.06135480850934982,
            -0.22662779688835144
        ],
        "speed": 7.082393811416432,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.175411224365234,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1988.1953125,
                4065.80859375,
                361.7248229980469
            ],
            "velocity": [
                -8.210951805114746,
                -0.04996233060956001,
                -0.2907724976539612
            ],
            "speed_kmh": 29.578502270369015,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2045.4957275390625,
                        "y": 4068.899169921875,
                        "z": 359.6138916015625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2044.68505859375,
                        "y": 4072.153076171875,
                        "z": 359.4927978515625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.007343292236328,
                "transform": {
                    "location": {
                        "x": -2004.218994140625,
                        "y": 4072.4287109375,
                        "z": 361.14495849609375
                    },
                    "rotation": {
                        "roll": 0.0010960155632346869,
                        "pitch": 2.109633684158325,
                        "yaw": 0.26479101181030273
                    }
                },
                "velocity": {
                    "x": 8.001670837402344,
                    "y": 0.03674713149666786,
                    "z": 0.29910093545913696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048351287841797,
                "transform": {
                    "location": {
                        "x": -2005.031494140625,
                        "y": 4069.173583984375,
                        "z": 361.1193542480469
                    },
                    "rotation": {
                        "roll": 0.0020678569562733173,
                        "pitch": 2.1847589015960693,
                        "yaw": 0.27389463782310486
                    }
                },
                "velocity": {
                    "x": 8.042534828186035,
                    "y": 0.03757976368069649,
                    "z": 0.3036062717437744
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.37659740447998,
                "transform": {
                    "location": {
                        "x": -1946.6593017578125,
                        "y": 4062.733642578125,
                        "z": 363.0461120605469
                    },
                    "rotation": {
                        "roll": 0.002533133141696453,
                        "pitch": -1.5462932586669922,
                        "yaw": -179.6990509033203
                    }
                },
                "velocity": {
                    "x": -10.372454643249512,
                    "y": -0.05271981656551361,
                    "z": -0.2884288728237152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.182804107666016,
                "transform": {
                    "location": {
                        "x": -1966.43359375,
                        "y": 4062.64501953125,
                        "z": 362.45330810546875
                    },
                    "rotation": {
                        "roll": 0.0005106636672280729,
                        "pitch": -1.8271164894104004,
                        "yaw": -179.7465057373047
                    }
                },
                "velocity": {
                    "x": -10.177581787109375,
                    "y": -0.04615597799420357,
                    "z": -0.32280397415161133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.28380012512207,
                "transform": {
                    "location": {
                        "x": -1989.9012451171875,
                        "y": 4062.546875,
                        "z": 361.65924072265625
                    },
                    "rotation": {
                        "roll": -0.0017089837929233909,
                        "pitch": -2.003533363342285,
                        "yaw": -179.69715881347656
                    }
                },
                "velocity": {
                    "x": -7.2790985107421875,
                    "y": -0.03880076855421066,
                    "z": -0.25876325368881226
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.89340353012085,
                "transform": {
                    "location": {
                        "x": -2007.605224609375,
                        "y": 4062.46923828125,
                        "z": 361.0227966308594
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": -2.222830295562744,
                        "yaw": -179.70777893066406
                    }
                },
                "velocity": {
                    "x": -7.887290000915527,
                    "y": -0.037726666778326035,
                    "z": -0.3083113729953766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0212273597717285,
                "transform": {
                    "location": {
                        "x": -1936.761962890625,
                        "y": 4066.053955078125,
                        "z": 363.3123474121094
                    },
                    "rotation": {
                        "roll": -6.103513442212716e-05,
                        "pitch": -1.417257308959961,
                        "yaw": -179.81634521484375
                    }
                },
                "velocity": {
                    "x": -2.020477533340454,
                    "y": -0.013033285737037659,
                    "z": -0.05348585918545723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.06245231628418,
                "transform": {
                    "location": {
                        "x": -1952.3389892578125,
                        "y": 4065.978759765625,
                        "z": 362.8787536621094
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -1.1085805892944336,
                        "yaw": -179.44544982910156
                    }
                },
                "velocity": {
                    "x": -7.059225082397461,
                    "y": -0.05790281668305397,
                    "z": -0.20548312366008759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.2162504196167,
                "transform": {
                    "location": {
                        "x": -1988.1953125,
                        "y": 4065.80859375,
                        "z": 361.7248229980469
                    },
                    "rotation": {
                        "roll": -0.0025634760968387127,
                        "pitch": -1.7748314142227173,
                        "yaw": -179.65655517578125
                    }
                },
                "velocity": {
                    "x": -8.210951805114746,
                    "y": -0.04996233060956001,
                    "z": -0.2907724976539612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.27306842803955,
                "transform": {
                    "location": {
                        "x": -2008.6212158203125,
                        "y": 4065.71435546875,
                        "z": 360.9808044433594
                    },
                    "rotation": {
                        "roll": -0.0006713870679959655,
                        "pitch": -2.204498052597046,
                        "yaw": -179.7093505859375
                    }
                },
                "velocity": {
                    "x": -8.266556739807129,
                    "y": -0.04176802560687065,
                    "z": -0.3254999816417694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.03683833032846451,
        "expert_target_speed": 8.066160822477006,
        "target_point": [
            40.26531209626933,
            -0.19096990618093826
        ],
        "target_point_next": [
            91.2649029599819,
            -0.39442612073562766
        ]
    },
    "90": {
        "acceleration": [
            -1.458139419555664,
            -0.02867758274078369,
            -0.04533141851425171
        ],
        "angular_velocity": [
            -0.019209114834666252,
            -0.09220431745052338,
            0.1320703774690628
        ],
        "forward_vector": [
            -0.9995074272155762,
            -0.008894499391317368,
            -0.03009663335978985
        ],
        "right_vector": [
            0.008891074918210506,
            -0.9999604225158691,
            0.0002475618093740195
        ],
        "location": [
            -1969.8511962890625,
            4065.94091796875,
            362.3447265625
        ],
        "rotation": [
            -0.014190674759447575,
            -1.7246705293655396,
            -179.49014282226562
        ],
        "velocity": [
            -7.47413444519043,
            -0.06860843300819397,
            -0.24036666750907898
        ],
        "speed": 7.474449332349634,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.427936553955078,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1990.266845703125,
                4065.79638671875,
                361.6512145996094
            ],
            "velocity": [
                -8.166952133178711,
                -0.04627472907304764,
                -0.2899656295776367
            ],
            "speed_kmh": 29.4200247819449,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2043.4215087890625,
                        "y": 4068.908447265625,
                        "z": 359.53765869140625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2042.6024169921875,
                        "y": 4072.161865234375,
                        "z": 359.5636901855469
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065134048461914,
                "transform": {
                    "location": {
                        "x": -2002.2137451171875,
                        "y": 4072.438232421875,
                        "z": 361.21875
                    },
                    "rotation": {
                        "roll": 0.0004511105944402516,
                        "pitch": 2.0918681621551514,
                        "yaw": 0.25831738114356995
                    }
                },
                "velocity": {
                    "x": 8.059717178344727,
                    "y": 0.036442916840314865,
                    "z": 0.29331067204475403
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045069694519043,
                "transform": {
                    "location": {
                        "x": -2003.015625,
                        "y": 4069.18359375,
                        "z": 361.1947937011719
                    },
                    "rotation": {
                        "roll": 0.002592619741335511,
                        "pitch": 2.1117918491363525,
                        "yaw": 0.26715773344039917
                    }
                },
                "velocity": {
                    "x": 8.039628982543945,
                    "y": 0.035883452743291855,
                    "z": 0.2936500310897827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.364824295043945,
                "transform": {
                    "location": {
                        "x": -1949.159912109375,
                        "y": 4062.72119140625,
                        "z": 362.9761657714844
                    },
                    "rotation": {
                        "roll": 0.001110575278289616,
                        "pitch": -1.801209568977356,
                        "yaw": -179.72540283203125
                    }
                },
                "velocity": {
                    "x": -9.360941886901855,
                    "y": -0.045168984681367874,
                    "z": -0.2658095955848694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.991108894348145,
                "transform": {
                    "location": {
                        "x": -1968.9503173828125,
                        "y": 4062.633056640625,
                        "z": 362.37298583984375
                    },
                    "rotation": {
                        "roll": 0.00010450875561218709,
                        "pitch": -1.842894196510315,
                        "yaw": -179.74533081054688
                    }
                },
                "velocity": {
                    "x": -9.985803604125977,
                    "y": -0.04444379359483719,
                    "z": -0.3225047290325165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.212116241455078,
                "transform": {
                    "location": {
                        "x": -1991.8511962890625,
                        "y": 4062.536865234375,
                        "z": 361.5901184082031
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": -2.00685977935791,
                        "yaw": -179.7061767578125
                    }
                },
                "velocity": {
                    "x": -8.206900596618652,
                    "y": -0.04092078655958176,
                    "z": -0.2897704839706421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.15900993347168,
                "transform": {
                    "location": {
                        "x": -2009.6156005859375,
                        "y": 4062.459228515625,
                        "z": 360.9441223144531
                    },
                    "rotation": {
                        "roll": -0.0024719233624637127,
                        "pitch": -2.2497549057006836,
                        "yaw": -179.70877075195312
                    }
                },
                "velocity": {
                    "x": -8.152658462524414,
                    "y": -0.04139091819524765,
                    "z": -0.31919077038764954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.189105749130249,
                "transform": {
                    "location": {
                        "x": -1937.4027099609375,
                        "y": 4066.049072265625,
                        "z": 363.29534912109375
                    },
                    "rotation": {
                        "roll": -0.004486083984375,
                        "pitch": -1.3658124208450317,
                        "yaw": -179.67713928222656
                    }
                },
                "velocity": {
                    "x": -3.1878764629364014,
                    "y": -0.02361343801021576,
                    "z": -0.08532913029193878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.914718151092529,
                "transform": {
                    "location": {
                        "x": -1954.259033203125,
                        "y": 4065.963134765625,
                        "z": 362.8233642578125
                    },
                    "rotation": {
                        "roll": 0.0010944402310997248,
                        "pitch": -1.212611198425293,
                        "yaw": -179.5453338623047
                    }
                },
                "velocity": {
                    "x": -7.911097049713135,
                    "y": -0.06051095202565193,
                    "z": -0.2316058725118637
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.172229766845703,
                "transform": {
                    "location": {
                        "x": -1990.266845703125,
                        "y": 4065.79638671875,
                        "z": 361.6512145996094
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -1.9756457805633545,
                        "yaw": -179.64686584472656
                    }
                },
                "velocity": {
                    "x": -8.166952133178711,
                    "y": -0.04627472907304764,
                    "z": -0.2899656295776367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.859768390655518,
                "transform": {
                    "location": {
                        "x": -2010.621826171875,
                        "y": 4065.704345703125,
                        "z": 360.9022521972656
                    },
                    "rotation": {
                        "roll": -0.0004577631480060518,
                        "pitch": -2.3122169971466064,
                        "yaw": -179.71182250976562
                    }
                },
                "velocity": {
                    "x": -7.853645324707031,
                    "y": -0.039541155099868774,
                    "z": -0.3076557517051697
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.04237852245569229,
        "expert_target_speed": 8.435530257839941,
        "target_point": [
            38.445794031988065,
            -0.21297291968043425
        ],
        "target_point_next": [
            89.44526566006931,
            -0.4443953772172478
        ]
    },
    "95": {
        "acceleration": [
            -2.117443084716797,
            -0.03885522484779358,
            -0.07981061935424805
        ],
        "angular_velocity": [
            0.014973698183894157,
            0.11078975349664688,
            0.13453935086727142
        ],
        "forward_vector": [
            -0.9995046257972717,
            -0.009473832324147224,
            -0.030011912807822227
        ],
        "right_vector": [
            0.009469516575336456,
            -0.9999550580978394,
            0.00028589466819539666
        ],
        "location": [
            -1971.7806396484375,
            4065.922607421875,
            362.2820129394531
        ],
        "rotation": [
            -0.016387939453125,
            -1.7198141813278198,
            -179.45693969726562
        ],
        "velocity": [
            -7.943130970001221,
            -0.07744134217500687,
            -0.26011037826538086
        ],
        "speed": 7.943508467174338,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.494279861450195,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1992.262451171875,
                4065.7861328125,
                361.5804138183594
            ],
            "velocity": [
                -7.9248552322387695,
                -0.040623415261507034,
                -0.27969422936439514
            ],
            "speed_kmh": 28.547616294564996,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.880354881286621,
                "transform": {
                    "location": {
                        "x": -1935.209228515625,
                        "y": 4062.880615234375,
                        "z": 363.54888916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.5285893678665161,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": -7.57784366607666,
                    "y": -0.03304225951433182,
                    "z": -2.1622185707092285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2041.3387451171875,
                        "y": 4068.91748046875,
                        "z": 359.60284423828125
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.941206932067871,
                "transform": {
                    "location": {
                        "x": -2040.5621337890625,
                        "y": 4072.17138671875,
                        "z": 359.626708984375
                    },
                    "rotation": {
                        "roll": -0.00787353515625,
                        "pitch": 2.4154553413391113,
                        "yaw": 0.27037784457206726
                    }
                },
                "velocity": {
                    "x": 6.937996864318848,
                    "y": 0.04834216833114624,
                    "z": 0.20545536279678345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041886329650879,
                "transform": {
                    "location": {
                        "x": -2000.199462890625,
                        "y": 4072.447998046875,
                        "z": 361.2922668457031
                    },
                    "rotation": {
                        "roll": 0.0005647583166137338,
                        "pitch": 2.099060535430908,
                        "yaw": 0.2540578246116638
                    }
                },
                "velocity": {
                    "x": 8.03643798828125,
                    "y": 0.03566334396600723,
                    "z": 0.2937963306903839
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.988811492919922,
                "transform": {
                    "location": {
                        "x": -2001.01708984375,
                        "y": 4069.192626953125,
                        "z": 361.2677307128906
                    },
                    "rotation": {
                        "roll": 0.00026708972291089594,
                        "pitch": 2.106177568435669,
                        "yaw": 0.25695425271987915
                    }
                },
                "velocity": {
                    "x": 7.983402729034424,
                    "y": 0.03692539408802986,
                    "z": 0.29160022735595703
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.074747085571289,
                "transform": {
                    "location": {
                        "x": -1951.4197998046875,
                        "y": 4062.711181640625,
                        "z": 362.9117431640625
                    },
                    "rotation": {
                        "roll": 0.0022263475693762302,
                        "pitch": -1.7376341819763184,
                        "yaw": -179.7411651611328
                    }
                },
                "velocity": {
                    "x": -9.070898056030273,
                    "y": -0.03972133249044418,
                    "z": -0.2612622082233429
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.7202730178833,
                "transform": {
                    "location": {
                        "x": -1971.4183349609375,
                        "y": 4062.6220703125,
                        "z": 362.2932434082031
                    },
                    "rotation": {
                        "roll": 0.0006476824055425823,
                        "pitch": -1.8854941129684448,
                        "yaw": -179.75318908691406
                    }
                },
                "velocity": {
                    "x": -9.7150239944458,
                    "y": -0.04160023480653763,
                    "z": -0.3166748881340027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.18063735961914,
                "transform": {
                    "location": {
                        "x": -1993.908203125,
                        "y": 4062.527099609375,
                        "z": 361.51751708984375
                    },
                    "rotation": {
                        "roll": -0.0007629399769939482,
                        "pitch": -2.0256974697113037,
                        "yaw": -179.7183380126953
                    }
                },
                "velocity": {
                    "x": -8.175405502319336,
                    "y": -0.04015357792377472,
                    "z": -0.2897513210773468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.712376594543457,
                "transform": {
                    "location": {
                        "x": -1938.4031982421875,
                        "y": 4066.04150390625,
                        "z": 363.2687072753906
                    },
                    "rotation": {
                        "roll": -0.005859374534338713,
                        "pitch": -1.3125847578048706,
                        "yaw": -179.6031036376953
                    }
                },
                "velocity": {
                    "x": -4.710546016693115,
                    "y": -0.03726327046751976,
                    "z": -0.1259327530860901
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.290517807006836,
                "transform": {
                    "location": {
                        "x": -1956.1502685546875,
                        "y": 4065.949951171875,
                        "z": 362.7694091796875
                    },
                    "rotation": {
                        "roll": 0.007261136081069708,
                        "pitch": -1.6978483200073242,
                        "yaw": -179.59255981445312
                    }
                },
                "velocity": {
                    "x": -7.28718900680542,
                    "y": -0.045932020992040634,
                    "z": -0.21544314920902252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.929893493652344,
                "transform": {
                    "location": {
                        "x": -1992.262451171875,
                        "y": 4065.7861328125,
                        "z": 361.5804138183594
                    },
                    "rotation": {
                        "roll": 0.00037505937507376075,
                        "pitch": -2.0544729232788086,
                        "yaw": -179.717041015625
                    }
                },
                "velocity": {
                    "x": -7.9248552322387695,
                    "y": -0.040623415261507034,
                    "z": -0.27969422936439514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.146923065185547,
                "transform": {
                    "location": {
                        "x": -2012.6175537109375,
                        "y": 4065.69482421875,
                        "z": 360.8241271972656
                    },
                    "rotation": {
                        "roll": 0.0007045246311463416,
                        "pitch": -2.231135845184326,
                        "yaw": -179.72471618652344
                    }
                },
                "velocity": {
                    "x": -8.140499114990234,
                    "y": -0.037737708538770676,
                    "z": -0.32125693559646606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.05217008665204048,
        "expert_target_speed": 8.863541961182502,
        "target_point": [
            36.51613383872069,
            -0.235286673671519
        ],
        "target_point_next": [
            87.51546270700292,
            -0.4962803174834756
        ]
    },
    "100": {
        "acceleration": [
            -1.5405845642089844,
            -0.03443703055381775,
            -0.08597791194915771
        ],
        "angular_velocity": [
            0.02169044502079487,
            -0.16355296969413757,
            0.1414264291524887
        ],
        "forward_vector": [
            -0.9995009899139404,
            -0.010082234628498554,
            -0.02993374690413475
        ],
        "right_vector": [
            0.010077156126499176,
            -0.9999491572380066,
            0.0003205008979421109
        ],
        "location": [
            -1973.82373046875,
            4065.90234375,
            362.2149658203125
        ],
        "rotation": [
            -0.01837158203125,
            -1.7153335809707642,
            -179.42205810546875
        ],
        "velocity": [
            -8.38430404663086,
            -0.08662880957126617,
            -0.2784461975097656
        ],
        "speed": 8.384751570380505,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.46226692199707,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1994.2734375,
                4065.776123046875,
                361.50933837890625
            ],
            "velocity": [
                -8.137716293334961,
                -0.042876217514276505,
                -0.28795212507247925
            ],
            "speed_kmh": 29.314519767898997,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.449636459350586,
                "transform": {
                    "location": {
                        "x": -1937.0721435546875,
                        "y": 4062.8623046875,
                        "z": 363.19921875
                    },
                    "rotation": {
                        "roll": -0.056915283203125,
                        "pitch": -1.5678083896636963,
                        "yaw": -179.43772888183594
                    }
                },
                "velocity": {
                    "x": -7.441089153289795,
                    "y": -0.10693670809268951,
                    "z": -0.340351939201355
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.705540180206299,
                "transform": {
                    "location": {
                        "x": -2039.617431640625,
                        "y": 4068.936767578125,
                        "z": 359.65093994140625
                    },
                    "rotation": {
                        "roll": 0.0058348109014332294,
                        "pitch": 2.538630962371826,
                        "yaw": 0.6651687026023865
                    }
                },
                "velocity": {
                    "x": 6.700010299682617,
                    "y": 0.1304798573255539,
                    "z": 0.23897282779216766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.536669731140137,
                "transform": {
                    "location": {
                        "x": -2038.888671875,
                        "y": 4072.1943359375,
                        "z": 359.6893310546875
                    },
                    "rotation": {
                        "roll": -0.00073242251528427,
                        "pitch": 2.4633827209472656,
                        "yaw": 0.7333570122718811
                    }
                },
                "velocity": {
                    "x": 6.530223846435547,
                    "y": 0.09273261576890945,
                    "z": 0.2750066816806793
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052988052368164,
                "transform": {
                    "location": {
                        "x": -1998.18994140625,
                        "y": 4072.4560546875,
                        "z": 361.3658142089844
                    },
                    "rotation": {
                        "roll": 0.0004005680384580046,
                        "pitch": 2.098752975463867,
                        "yaw": 0.24609744548797607
                    }
                },
                "velocity": {
                    "x": 8.047550201416016,
                    "y": 0.03444307669997215,
                    "z": 0.2938897907733917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045736312866211,
                "transform": {
                    "location": {
                        "x": -1999.012939453125,
                        "y": 4069.201904296875,
                        "z": 361.3409729003906
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": 2.124666929244995,
                        "yaw": 0.25390174984931946
                    }
                },
                "velocity": {
                    "x": 8.040252685546875,
                    "y": 0.036504268646240234,
                    "z": 0.2947624623775482
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.700101852416992,
                "transform": {
                    "location": {
                        "x": -1953.78271484375,
                        "y": 4062.699951171875,
                        "z": 362.843505859375
                    },
                    "rotation": {
                        "roll": -0.0004577639338094741,
                        "pitch": -1.6173067092895508,
                        "yaw": -179.7368621826172
                    }
                },
                "velocity": {
                    "x": -9.695969581604004,
                    "y": -0.0434475801885128,
                    "z": -0.2797597348690033
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.974793434143066,
                "transform": {
                    "location": {
                        "x": -1973.7740478515625,
                        "y": 4062.6123046875,
                        "z": 362.21600341796875
                    },
                    "rotation": {
                        "roll": 0.0002469174796715379,
                        "pitch": -1.8992910385131836,
                        "yaw": -179.74949645996094
                    }
                },
                "velocity": {
                    "x": -8.969736099243164,
                    "y": -0.03993069380521774,
                    "z": -0.29859450459480286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.118839263916016,
                "transform": {
                    "location": {
                        "x": -1995.942138671875,
                        "y": 4062.51708984375,
                        "z": 361.4453430175781
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": -2.041625499725342,
                        "yaw": -179.7296905517578
                    }
                },
                "velocity": {
                    "x": -8.113463401794434,
                    "y": -0.03811270743608475,
                    "z": -0.292951375246048
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.445676803588867,
                "transform": {
                    "location": {
                        "x": -1939.7135009765625,
                        "y": 4066.03076171875,
                        "z": 363.23394775390625
                    },
                    "rotation": {
                        "roll": -0.003906249301508069,
                        "pitch": -1.4001203775405884,
                        "yaw": -179.5736083984375
                    }
                },
                "velocity": {
                    "x": -5.443553447723389,
                    "y": -0.038861893117427826,
                    "z": -0.14700917899608612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.557373523712158,
                "transform": {
                    "location": {
                        "x": -1957.977783203125,
                        "y": 4065.938720703125,
                        "z": 362.71484375
                    },
                    "rotation": {
                        "roll": 0.007965351454913616,
                        "pitch": -1.7084624767303467,
                        "yaw": -179.669189453125
                    }
                },
                "velocity": {
                    "x": -7.5538249015808105,
                    "y": -0.04199189692735672,
                    "z": -0.2277299463748932
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.142922401428223,
                "transform": {
                    "location": {
                        "x": -1994.2734375,
                        "y": 4065.776123046875,
                        "z": 361.50933837890625
                    },
                    "rotation": {
                        "roll": -0.0012512203538790345,
                        "pitch": -2.0184574127197266,
                        "yaw": -179.6837921142578
                    }
                },
                "velocity": {
                    "x": -8.137716293334961,
                    "y": -0.042876217514276505,
                    "z": -0.28795212507247925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.079643249511719,
                "transform": {
                    "location": {
                        "x": -2014.6529541015625,
                        "y": 4065.684814453125,
                        "z": 360.7420654296875
                    },
                    "rotation": {
                        "roll": 0.0009537587757222354,
                        "pitch": -2.362603187561035,
                        "yaw": -179.73634338378906
                    }
                },
                "velocity": {
                    "x": -8.072964668273926,
                    "y": -0.037076644599437714,
                    "z": -0.32635414600372314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.059938881546258926,
        "expert_target_speed": 9.270840210128188,
        "target_point": [
            34.472792643083515,
            -0.2571589410373435
        ],
        "target_point_next": [
            85.47195327121642,
            -0.5491827811852363
        ]
    },
    "105": {
        "acceleration": [
            -2.0694541931152344,
            -0.04465937614440918,
            -0.060538649559020996
        ],
        "angular_velocity": [
            -0.02919558621942997,
            -0.16287977993488312,
            0.14972662925720215
        ],
        "forward_vector": [
            -0.9994692802429199,
            -0.010720130056142807,
            -0.03076091594994068
        ],
        "right_vector": [
            0.01071375235915184,
            -0.9999425411224365,
            0.00037213368341326714
        ],
        "location": [
            -1975.9796142578125,
            4065.879638671875,
            362.1431884765625
        ],
        "rotation": [
            -0.0213317833840847,
            -1.7627488374710083,
            -179.38548278808594
        ],
        "velocity": [
            -8.847564697265625,
            -0.09695545583963394,
            -0.2950964570045471
        ],
        "speed": 8.84809592131087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.334354400634766,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -1996.3013916015625,
                4065.766357421875,
                361.4371337890625
            ],
            "velocity": [
                -8.059471130371094,
                -0.03803076967597008,
                -0.2906944155693054
            ],
            "speed_kmh": 29.033285678893748,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.930745601654053,
                "transform": {
                    "location": {
                        "x": -1938.93994140625,
                        "y": 4062.8359375,
                        "z": 363.2244567871094
                    },
                    "rotation": {
                        "roll": -0.0313110277056694,
                        "pitch": -1.5811408758163452,
                        "yaw": -179.15167236328125
                    }
                },
                "velocity": {
                    "x": -6.926555633544922,
                    "y": -0.11425921320915222,
                    "z": 0.21214789152145386
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5124640464782715,
                "transform": {
                    "location": {
                        "x": -2037.9674072265625,
                        "y": 4068.961181640625,
                        "z": 359.71771240234375
                    },
                    "rotation": {
                        "roll": 0.02722712606191635,
                        "pitch": 2.579338788986206,
                        "yaw": 0.8112871646881104
                    }
                },
                "velocity": {
                    "x": 6.505789756774902,
                    "y": 0.08464492857456207,
                    "z": 0.28234830498695374
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.630085468292236,
                "transform": {
                    "location": {
                        "x": -2037.243408203125,
                        "y": 4072.216552734375,
                        "z": 359.7615966796875
                    },
                    "rotation": {
                        "roll": 0.021501166746020317,
                        "pitch": 2.566866874694824,
                        "yaw": 0.7626397013664246
                    }
                },
                "velocity": {
                    "x": 6.622861385345459,
                    "y": 0.08786314725875854,
                    "z": 0.2966764271259308
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038785934448242,
                "transform": {
                    "location": {
                        "x": -1996.179931640625,
                        "y": 4072.46435546875,
                        "z": 361.4383544921875
                    },
                    "rotation": {
                        "roll": 0.0009355124202556908,
                        "pitch": 2.0498626232147217,
                        "yaw": 0.24758218228816986
                    }
                },
                "velocity": {
                    "x": 8.033587455749512,
                    "y": 0.03480636700987816,
                    "z": 0.28695550560951233
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017202377319336,
                "transform": {
                    "location": {
                        "x": -1997.0057373046875,
                        "y": 4069.2109375,
                        "z": 361.4139099121094
                    },
                    "rotation": {
                        "roll": -0.00030517586856149137,
                        "pitch": 2.0865886211395264,
                        "yaw": 0.25318318605422974
                    }
                },
                "velocity": {
                    "x": 8.011893272399902,
                    "y": 0.03622288256883621,
                    "z": 0.28946453332901
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.55617618560791,
                "transform": {
                    "location": {
                        "x": -1956.3480224609375,
                        "y": 4062.688232421875,
                        "z": 362.7681579589844
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -1.542604923248291,
                        "yaw": -179.74501037597656
                    }
                },
                "velocity": {
                    "x": -10.551475524902344,
                    "y": -0.04703279212117195,
                    "z": -0.3114740550518036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.165740966796875,
                "transform": {
                    "location": {
                        "x": -1975.88623046875,
                        "y": 4062.602294921875,
                        "z": 362.1457214355469
                    },
                    "rotation": {
                        "roll": 0.0012438722187653184,
                        "pitch": -1.951746940612793,
                        "yaw": -179.7496337890625
                    }
                },
                "velocity": {
                    "x": -8.16109561920166,
                    "y": -0.03544022887945175,
                    "z": -0.27309349179267883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074626922607422,
                "transform": {
                    "location": {
                        "x": -1997.963134765625,
                        "y": 4062.50732421875,
                        "z": 361.37255859375
                    },
                    "rotation": {
                        "roll": 0.0006587231764569879,
                        "pitch": -2.095215082168579,
                        "yaw": -179.73797607421875
                    }
                },
                "velocity": {
                    "x": -8.069247245788574,
                    "y": -0.036923848092556,
                    "z": -0.29235273599624634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.714385509490967,
                "transform": {
                    "location": {
                        "x": -1941.1605224609375,
                        "y": 4066.021240234375,
                        "z": 363.1949462890625
                    },
                    "rotation": {
                        "roll": -0.0023193361703306437,
                        "pitch": -1.3646239042282104,
                        "yaw": -179.6050567626953
                    }
                },
                "velocity": {
                    "x": -6.711811542510986,
                    "y": -0.043662894517183304,
                    "z": -0.1806912124156952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.65760326385498,
                "transform": {
                    "location": {
                        "x": -1960.0118408203125,
                        "y": 4065.9267578125,
                        "z": 362.6526184082031
                    },
                    "rotation": {
                        "roll": 0.004166418686509132,
                        "pitch": -1.4589488506317139,
                        "yaw": -179.66891479492188
                    }
                },
                "velocity": {
                    "x": -8.65346908569336,
                    "y": -0.04534579813480377,
                    "z": -0.26362842321395874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064802169799805,
                "transform": {
                    "location": {
                        "x": -1996.3013916015625,
                        "y": 4065.766357421875,
                        "z": 361.4371337890625
                    },
                    "rotation": {
                        "roll": 0.00266557140275836,
                        "pitch": -2.0655789375305176,
                        "yaw": -179.73439025878906
                    }
                },
                "velocity": {
                    "x": -8.059471130371094,
                    "y": -0.03803076967597008,
                    "z": -0.2906944155693054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.008017539978027,
                "transform": {
                    "location": {
                        "x": -2016.6536865234375,
                        "y": 4065.67578125,
                        "z": 360.66009521484375
                    },
                    "rotation": {
                        "roll": 0.00028842195752076805,
                        "pitch": -2.4214179515838623,
                        "yaw": -179.74197387695312
                    }
                },
                "velocity": {
                    "x": -8.000967979431152,
                    "y": -0.03622244670987129,
                    "z": -0.3339858055114746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.065831758081913,
        "expert_target_speed": 9.681894623494749,
        "target_point": [
            32.31661811794627,
            -0.27875050868071055
        ],
        "target_point_next": [
            83.31558189802743,
            -0.6033364838627664
        ]
    },
    "110": {
        "acceleration": [
            -1.4870834350585938,
            -0.040385425090789795,
            -0.051355957984924316
        ],
        "angular_velocity": [
            -0.012459756806492805,
            -0.03610142320394516,
            0.15325920283794403
        ],
        "forward_vector": [
            -0.9994572997093201,
            -0.011387292295694351,
            -0.030911168083548546
        ],
        "right_vector": [
            0.01138017326593399,
            -0.9999351501464844,
            0.00040620419895276427
        ],
        "location": [
            -1978.24755859375,
            4065.85400390625,
            362.0667419433594
        ],
        "rotation": [
            -0.02328491397202015,
            -1.7713617086410522,
            -179.34722900390625
        ],
        "velocity": [
            -9.277618408203125,
            -0.10765556991100311,
            -0.31362414360046387
        ],
        "speed": 9.278242993690258,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 165.9661102294922,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.759823799133301,
                "transform": {
                    "location": {
                        "x": -1940.4677734375,
                        "y": 4062.81298828125,
                        "z": 363.2377014160156
                    },
                    "rotation": {
                        "roll": -0.004943849518895149,
                        "pitch": -1.8612332344055176,
                        "yaw": -179.09207153320312
                    }
                },
                "velocity": {
                    "x": -5.758049964904785,
                    "y": -0.07697302848100662,
                    "z": -0.12044776976108551
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.4937744140625,
                "transform": {
                    "location": {
                        "x": -2036.4244384765625,
                        "y": 4068.981201171875,
                        "z": 359.7865905761719
                    },
                    "rotation": {
                        "roll": 0.024050546810030937,
                        "pitch": 2.538774251937866,
                        "yaw": 0.7635988593101501
                    }
                },
                "velocity": {
                    "x": 5.48777961730957,
                    "y": 0.0688362643122673,
                    "z": 0.24717076122760773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.382661819458008,
                "transform": {
                    "location": {
                        "x": -2035.7802734375,
                        "y": 4072.235595703125,
                        "z": 359.82745361328125
                    },
                    "rotation": {
                        "roll": 0.023582076653838158,
                        "pitch": 2.431273937225342,
                        "yaw": 0.7465155124664307
                    }
                },
                "velocity": {
                    "x": 5.376704216003418,
                    "y": 0.07048378139734268,
                    "z": 0.2431660145521164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.063011169433594,
                "transform": {
                    "location": {
                        "x": -1994.168212890625,
                        "y": 4072.4736328125,
                        "z": 361.51007080078125
                    },
                    "rotation": {
                        "roll": 0.0012029499048367143,
                        "pitch": 2.0236551761627197,
                        "yaw": 0.2553022503852844
                    }
                },
                "velocity": {
                    "x": 8.05791187286377,
                    "y": 0.03481416776776314,
                    "z": 0.2845897078514099
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017583847045898,
                "transform": {
                    "location": {
                        "x": -1995.004638671875,
                        "y": 4069.220458984375,
                        "z": 361.4858093261719
                    },
                    "rotation": {
                        "roll": 0.00021054805256426334,
                        "pitch": 2.0420899391174316,
                        "yaw": 0.25437361001968384
                    }
                },
                "velocity": {
                    "x": 8.012431144714355,
                    "y": 0.03555256128311157,
                    "z": 0.28519123792648315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.533790588378906,
                "transform": {
                    "location": {
                        "x": -1958.86181640625,
                        "y": 4062.677490234375,
                        "z": 362.6928405761719
                    },
                    "rotation": {
                        "roll": 0.0015721347881481051,
                        "pitch": -1.860748291015625,
                        "yaw": -179.75315856933594
                    }
                },
                "velocity": {
                    "x": -9.529438972473145,
                    "y": -0.04122346267104149,
                    "z": -0.2850591242313385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062431335449219,
                "transform": {
                    "location": {
                        "x": -1977.9066162109375,
                        "y": 4062.593994140625,
                        "z": 362.0774230957031
                    },
                    "rotation": {
                        "roll": 0.0008098285179585218,
                        "pitch": -1.9432979822158813,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": -8.057721138000488,
                    "y": -0.03633187338709831,
                    "z": -0.27313610911369324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.125999450683594,
                "transform": {
                    "location": {
                        "x": -1999.9871826171875,
                        "y": 4062.497802734375,
                        "z": 361.2986145019531
                    },
                    "rotation": {
                        "roll": 0.000806312367785722,
                        "pitch": -2.102994680404663,
                        "yaw": -179.74496459960938
                    }
                },
                "velocity": {
                    "x": -8.120434761047363,
                    "y": -0.035076167434453964,
                    "z": -0.29861775040626526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.217235565185547,
                "transform": {
                    "location": {
                        "x": -1943.070556640625,
                        "y": 4066.00830078125,
                        "z": 363.1434326171875
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -1.3430746793746948,
                        "yaw": -179.63035583496094
                    }
                },
                "velocity": {
                    "x": -8.214018821716309,
                    "y": -0.05294894054532051,
                    "z": -0.22370921075344086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.803746223449707,
                "transform": {
                    "location": {
                        "x": -1962.208984375,
                        "y": 4065.914794921875,
                        "z": 362.5858459472656
                    },
                    "rotation": {
                        "roll": 0.005238090641796589,
                        "pitch": -1.5835860967636108,
                        "yaw": -179.72389221191406
                    }
                },
                "velocity": {
                    "x": -8.79951000213623,
                    "y": -0.042607393115758896,
                    "z": -0.2697314918041229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001985423034057021,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.7525939941406
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": 2.053844690322876,
                        "yaw": -179.75003051757812
                    }
                },
                "velocity": {
                    "x": 7.03716286807321e-05,
                    "y": -0.0001255097013199702,
                    "z": -0.0019802020397037268
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.022333603352308273,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3772888183594
                    },
                    "rotation": {
                        "roll": -0.0008850092999637127,
                        "pitch": 1.5710731744766235,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": -0.000626967113930732,
                    "y": 8.736553718335927e-05,
                    "z": -0.022324630990624428
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.008519070222973824,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1756591796875
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": 0.5942195653915405,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 3.6084056773688644e-05,
                    "y": -0.0001328623911831528,
                    "z": 0.008517958223819733
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0789724588394165,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1766662597656
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.39257192611694336,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -0.0005342065705917776,
                    "y": -9.366017911816016e-05,
                    "z": 0.07897059619426727
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.001545555773191154,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.26214599609375
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.6074838042259216,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -6.731122266501188e-05,
                    "y": 2.5187548089888878e-05,
                    "z": 0.0015438839327543974
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0041595748625695705,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3883972167969
                    },
                    "rotation": {
                        "roll": 0.0004651038034353405,
                        "pitch": -0.8747832775115967,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -0.00011555239325389266,
                    "y": -7.475877646356821e-05,
                    "z": -0.004157297313213348
                },
                "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": -0.07811695337295532,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            30.04833563294769,
            -0.3001188998327849
        ],
        "target_point_next": [
            81.04707136462439,
            -0.6587502815041189
        ]
    },
    "115": {
        "acceleration": [
            -1.9572830200195312,
            -0.05215495824813843,
            -0.08246779441833496
        ],
        "angular_velocity": [
            -0.0224399883300066,
            -0.23396752774715424,
            0.1595161408185959
        ],
        "forward_vector": [
            -0.9994298815727234,
            -0.012082623317837715,
            -0.031526580452919006
        ],
        "right_vector": [
            0.012073938734829426,
            -0.9999269843101501,
            0.00046582153299823403
        ],
        "location": [
            -1980.6246337890625,
            4065.825927734375,
            361.98553466796875
        ],
        "rotation": [
            -0.02670288272202015,
            -1.806639552116394,
            -179.30735778808594
        ],
        "velocity": [
            -9.723416328430176,
            -0.11947907507419586,
            -0.3354858458042145
        ],
        "speed": 9.724150366246048,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 163.587890625,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.135711193084717,
                "transform": {
                    "location": {
                        "x": -1941.9119873046875,
                        "y": 4062.794189453125,
                        "z": 363.185546875
                    },
                    "rotation": {
                        "roll": -0.0021362307015806437,
                        "pitch": -1.568477749824524,
                        "yaw": -179.22515869140625
                    }
                },
                "velocity": {
                    "x": -6.131048679351807,
                    "y": -0.06763201206922531,
                    "z": -0.2293994426727295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.45746374130249,
                "transform": {
                    "location": {
                        "x": -2035.091064453125,
                        "y": 4068.998779296875,
                        "z": 359.8465270996094
                    },
                    "rotation": {
                        "roll": 0.02316420152783394,
                        "pitch": 2.5759921073913574,
                        "yaw": 0.7360578775405884
                    }
                },
                "velocity": {
                    "x": 5.451459884643555,
                    "y": 0.06862222403287888,
                    "z": 0.2465548813343048
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.388011932373047,
                "transform": {
                    "location": {
                        "x": -2034.4404296875,
                        "y": 4072.2529296875,
                        "z": 359.8880920410156
                    },
                    "rotation": {
                        "roll": 0.022796349599957466,
                        "pitch": 2.584263324737549,
                        "yaw": 0.7515639066696167
                    }
                },
                "velocity": {
                    "x": 5.382060527801514,
                    "y": 0.07247716933488846,
                    "z": 0.24257832765579224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.030451774597168,
                "transform": {
                    "location": {
                        "x": -1992.1585693359375,
                        "y": 4072.482421875,
                        "z": 361.5810546875
                    },
                    "rotation": {
                        "roll": 0.0007855593576095998,
                        "pitch": 2.0288734436035156,
                        "yaw": 0.252219021320343
                    }
                },
                "velocity": {
                    "x": 8.025369644165039,
                    "y": 0.03666020929813385,
                    "z": 0.28329044580459595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031990051269531,
                "transform": {
                    "location": {
                        "x": -1992.9986572265625,
                        "y": 4069.229248046875,
                        "z": 361.55670166015625
                    },
                    "rotation": {
                        "roll": 0.0013219777029007673,
                        "pitch": 2.045682430267334,
                        "yaw": 0.24400758743286133
                    }
                },
                "velocity": {
                    "x": 8.026934623718262,
                    "y": 0.03322947397828102,
                    "z": 0.28297802805900574
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.930042743682861,
                "transform": {
                    "location": {
                        "x": -1960.9818115234375,
                        "y": 4062.667724609375,
                        "z": 362.62841796875
                    },
                    "rotation": {
                        "roll": -0.00033569306833669543,
                        "pitch": -2.0331969261169434,
                        "yaw": -179.74652099609375
                    }
                },
                "velocity": {
                    "x": -7.926262855529785,
                    "y": -0.03515014797449112,
                    "z": -0.24227961897850037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086134910583496,
                "transform": {
                    "location": {
                        "x": -1979.92431640625,
                        "y": 4062.5859375,
                        "z": 362.0086669921875
                    },
                    "rotation": {
                        "roll": 0.0007118860958144069,
                        "pitch": -1.9595333337783813,
                        "yaw": -179.75335693359375
                    }
                },
                "velocity": {
                    "x": -8.08126163482666,
                    "y": -0.03471440076828003,
                    "z": -0.2785443961620331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094062805175781,
                "transform": {
                    "location": {
                        "x": -2002.013427734375,
                        "y": 4062.4892578125,
                        "z": 361.2242126464844
                    },
                    "rotation": {
                        "roll": 0.00033331761369481683,
                        "pitch": -2.099545478820801,
                        "yaw": -179.75271606445312
                    }
                },
                "velocity": {
                    "x": -8.088542938232422,
                    "y": -0.035645972937345505,
                    "z": -0.2967192828655243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.260586738586426,
                "transform": {
                    "location": {
                        "x": -1945.2740478515625,
                        "y": 4065.99462890625,
                        "z": 363.0832824707031
                    },
                    "rotation": {
                        "roll": -0.0008544925367459655,
                        "pitch": -1.386904001235962,
                        "yaw": -179.6261749267578
                    }
                },
                "velocity": {
                    "x": -9.256987571716309,
                    "y": -0.05504082515835762,
                    "z": -0.2522358000278473
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.209619522094727,
                "transform": {
                    "location": {
                        "x": -1964.4425048828125,
                        "y": 4065.904541015625,
                        "z": 362.5167236328125
                    },
                    "rotation": {
                        "roll": 0.001572633278556168,
                        "pitch": -1.6658557653427124,
                        "yaw": -179.71658325195312
                    }
                },
                "velocity": {
                    "x": -9.205039024353027,
                    "y": -0.043503288179636,
                    "z": -0.28716009855270386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.001290810527279973,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3746643066406
                    },
                    "rotation": {
                        "roll": -0.0014648440992459655,
                        "pitch": 1.5682728290557861,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 2.2026895749149844e-05,
                    "y": 3.1350860808743164e-05,
                    "z": -0.0012902417220175266
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.015768669545650482,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1865234375
                    },
                    "rotation": {
                        "roll": 0.000122528406791389,
                        "pitch": -0.3995933532714844,
                        "yaw": -179.7502899169922
                    }
                },
                "velocity": {
                    "x": -0.00010635171202011406,
                    "y": 9.321284596808255e-05,
                    "z": 0.015768036246299744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.08835625648498535,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            27.670878662235424,
            -0.3203624785357627
        ],
        "target_point_next": [
            78.66935255029132,
            -0.7144738671015485
        ]
    },
    "120": {
        "acceleration": [
            -1.4220237731933594,
            -0.04324138164520264,
            -0.06271481513977051
        ],
        "angular_velocity": [
            -0.019060304388403893,
            -0.043217387050390244,
            0.16499194502830505
        ],
        "forward_vector": [
            -0.9993997812271118,
            -0.012806490994989872,
            -0.03218821808695793
        ],
        "right_vector": [
            0.012796602211892605,
            -0.9999180436134338,
            0.0005131912766955793
        ],
        "location": [
            -1983.1087646484375,
            4065.794189453125,
            361.8995361328125
        ],
        "rotation": [
            -0.029418937861919403,
            -1.8445676565170288,
            -179.26583862304688
        ],
        "velocity": [
            -10.131848335266113,
            -0.1315295696258545,
            -0.3539155423641205
        ],
        "speed": 10.1327020441993,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 161.10255432128906,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.094759941101074,
                "transform": {
                    "location": {
                        "x": -1943.727783203125,
                        "y": 4062.774169921875,
                        "z": 363.1239013671875
                    },
                    "rotation": {
                        "roll": -0.0076599097810685635,
                        "pitch": -1.1046669483184814,
                        "yaw": -179.3216552734375
                    }
                },
                "velocity": {
                    "x": -8.091086387634277,
                    "y": -0.08500184118747711,
                    "z": -0.22855910658836365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.0343499183654785,
                "transform": {
                    "location": {
                        "x": -2033.65869140625,
                        "y": 4069.01513671875,
                        "z": 359.9110412597656
                    },
                    "rotation": {
                        "roll": 0.024501560255885124,
                        "pitch": 2.617246389389038,
                        "yaw": 0.7112570405006409
                    }
                },
                "velocity": {
                    "x": 6.027899742126465,
                    "y": 0.05220700055360794,
                    "z": 0.2740060091018677
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.293949604034424,
                "transform": {
                    "location": {
                        "x": -2032.9071044921875,
                        "y": 4072.27001953125,
                        "z": 359.9576416015625
                    },
                    "rotation": {
                        "roll": 0.030285483226180077,
                        "pitch": 2.9222893714904785,
                        "yaw": 0.624886155128479
                    }
                },
                "velocity": {
                    "x": 7.286135196685791,
                    "y": 0.069950170814991,
                    "z": 0.33021819591522217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067771911621094,
                "transform": {
                    "location": {
                        "x": -1990.1468505859375,
                        "y": 4072.490966796875,
                        "z": 361.6521911621094
                    },
                    "rotation": {
                        "roll": 0.000810583122074604,
                        "pitch": 2.0300140380859375,
                        "yaw": 0.2455492913722992
                    }
                },
                "velocity": {
                    "x": 8.062682151794434,
                    "y": 0.03418434038758278,
                    "z": 0.2844999432563782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.015936851501465,
                "transform": {
                    "location": {
                        "x": -1990.994384765625,
                        "y": 4069.2373046875,
                        "z": 361.6275939941406
                    },
                    "rotation": {
                        "roll": 0.00013736108667217195,
                        "pitch": 2.0438997745513916,
                        "yaw": 0.24358129501342773
                    }
                },
                "velocity": {
                    "x": 8.010881423950195,
                    "y": 0.03408072143793106,
                    "z": 0.2825991213321686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.349117279052734,
                "transform": {
                    "location": {
                        "x": -1962.9906005859375,
                        "y": 4062.658935546875,
                        "z": 362.56671142578125
                    },
                    "rotation": {
                        "roll": 0.0005296780727803707,
                        "pitch": -1.7854864597320557,
                        "yaw": -179.75003051757812
                    }
                },
                "velocity": {
                    "x": -8.34499740600586,
                    "y": -0.03653495013713837,
                    "z": -0.2596830725669861
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.195088386535645,
                "transform": {
                    "location": {
                        "x": -1981.9571533203125,
                        "y": 4062.576171875,
                        "z": 361.9387512207031
                    },
                    "rotation": {
                        "roll": 0.0002630426315590739,
                        "pitch": -2.001040458679199,
                        "yaw": -179.7465057373047
                    }
                },
                "velocity": {
                    "x": -8.19006061553955,
                    "y": -0.03638114780187607,
                    "z": -0.28471294045448303
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.125839233398438,
                "transform": {
                    "location": {
                        "x": -2004.0394287109375,
                        "y": 4062.48046875,
                        "z": 361.14996337890625
                    },
                    "rotation": {
                        "roll": 0.00023799942573532462,
                        "pitch": -2.1017720699310303,
                        "yaw": -179.75161743164062
                    }
                },
                "velocity": {
                    "x": -8.12017822265625,
                    "y": -0.03515518829226494,
                    "z": -0.30122989416122437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.12319278717041,
                "transform": {
                    "location": {
                        "x": -1947.57177734375,
                        "y": 4065.981689453125,
                        "z": 363.01947021484375
                    },
                    "rotation": {
                        "roll": 0.0010980048682540655,
                        "pitch": -1.5882238149642944,
                        "yaw": -179.70155334472656
                    }
                },
                "velocity": {
                    "x": -9.11951732635498,
                    "y": -0.04906075447797775,
                    "z": -0.25424572825431824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.751940727233887,
                "transform": {
                    "location": {
                        "x": -1966.8271484375,
                        "y": 4065.8935546875,
                        "z": 362.4414367675781
                    },
                    "rotation": {
                        "roll": 0.0019040254410356283,
                        "pitch": -1.6212409734725952,
                        "yaw": -179.75193786621094
                    }
                },
                "velocity": {
                    "x": -9.74696159362793,
                    "y": -0.044007815420627594,
                    "z": -0.3084698021411896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016544816317036748,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1881408691406
                    },
                    "rotation": {
                        "roll": 0.0005696427542716265,
                        "pitch": -0.40072035789489746,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -2.661369762790855e-05,
                    "y": -4.368890813566395e-07,
                    "z": 0.001654267543926835
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.10201803594827652,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            25.18630559783844,
            -0.3403239746101909
        ],
        "target_point_next": [
            76.18448044158433,
            -0.7713985668110265
        ]
    },
    "125": {
        "acceleration": [
            -1.8346214294433594,
            -0.056006014347076416,
            -0.061179399490356445
        ],
        "angular_velocity": [
            0.00018781352264340967,
            -0.0962013453245163,
            0.17982716858386993
        ],
        "forward_vector": [
            -0.9993830919265747,
            -0.01355696190148592,
            -0.032400183379650116
        ],
        "right_vector": [
            0.013546514324843884,
            -0.9999081492424011,
            0.0005419348017312586
        ],
        "location": [
            -1985.6961669921875,
            4065.760009765625,
            361.8088684082031
        ],
        "rotation": [
            -0.031066887080669403,
            -1.8567185401916504,
            -179.22280883789062
        ],
        "velocity": [
            -10.551005363464355,
            -0.1448383629322052,
            -0.370974600315094
        ],
        "speed": 10.55199944708255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 158.51388549804688,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.226095199584961,
                "transform": {
                    "location": {
                        "x": -1945.8555908203125,
                        "y": 4062.7529296875,
                        "z": 363.0681457519531
                    },
                    "rotation": {
                        "roll": 0.004862101282924414,
                        "pitch": -1.2418512105941772,
                        "yaw": -179.43392944335938
                    }
                },
                "velocity": {
                    "x": -9.222545623779297,
                    "y": -0.07513367384672165,
                    "z": -0.24462172389030457
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.220205307006836,
                "transform": {
                    "location": {
                        "x": -2031.7977294921875,
                        "y": 4069.031982421875,
                        "z": 359.99444580078125
                    },
                    "rotation": {
                        "roll": 0.0154066551476717,
                        "pitch": 2.702815055847168,
                        "yaw": 0.5385138392448425
                    }
                },
                "velocity": {
                    "x": 8.211800575256348,
                    "y": 0.06772356480360031,
                    "z": 0.3654073178768158
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.315171241760254,
                "transform": {
                    "location": {
                        "x": -2030.8978271484375,
                        "y": 4072.287841796875,
                        "z": 360.047607421875
                    },
                    "rotation": {
                        "roll": 0.020159495994448662,
                        "pitch": 2.8210456371307373,
                        "yaw": 0.5334904789924622
                    }
                },
                "velocity": {
                    "x": 8.306565284729004,
                    "y": 0.07364754378795624,
                    "z": 0.37098419666290283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.029959678649902,
                "transform": {
                    "location": {
                        "x": -1988.13623046875,
                        "y": 4072.49951171875,
                        "z": 361.7233581542969
                    },
                    "rotation": {
                        "roll": -9.15524797164835e-05,
                        "pitch": 2.0286002159118652,
                        "yaw": 0.2538387179374695
                    }
                },
                "velocity": {
                    "x": 8.024871826171875,
                    "y": 0.03678949177265167,
                    "z": 0.28344547748565674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026740074157715,
                "transform": {
                    "location": {
                        "x": -1988.990478515625,
                        "y": 4069.24609375,
                        "z": 361.69854736328125
                    },
                    "rotation": {
                        "roll": 0.0007624158752150834,
                        "pitch": 2.046509027481079,
                        "yaw": 0.25095105171203613
                    }
                },
                "velocity": {
                    "x": 8.021661758422852,
                    "y": 0.034069836139678955,
                    "z": 0.28343629837036133
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.967830657958984,
                "transform": {
                    "location": {
                        "x": -1965.2044677734375,
                        "y": 4062.649169921875,
                        "z": 362.4978942871094
                    },
                    "rotation": {
                        "roll": 0.0007409867830574512,
                        "pitch": -1.7290008068084717,
                        "yaw": -179.7617645263672
                    }
                },
                "velocity": {
                    "x": -8.963340759277344,
                    "y": -0.03724920004606247,
                    "z": -0.2812793552875519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.420380592346191,
                "transform": {
                    "location": {
                        "x": -1984.021484375,
                        "y": 4062.566162109375,
                        "z": 361.86663818359375
                    },
                    "rotation": {
                        "roll": 0.0005496997036971152,
                        "pitch": -1.9946541786193848,
                        "yaw": -179.74827575683594
                    }
                },
                "velocity": {
                    "x": -8.41518783569336,
                    "y": -0.03690258041024208,
                    "z": -0.2933773994445801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093390464782715,
                "transform": {
                    "location": {
                        "x": -2006.064697265625,
                        "y": 4062.47119140625,
                        "z": 361.0734558105469
                    },
                    "rotation": {
                        "roll": -0.0007019044132903218,
                        "pitch": -2.2051947116851807,
                        "yaw": -179.74859619140625
                    }
                },
                "velocity": {
                    "x": -8.087376594543457,
                    "y": -0.035223010927438736,
                    "z": -0.30995094776153564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.76124095916748,
                "transform": {
                    "location": {
                        "x": -1949.916259765625,
                        "y": 4065.97021484375,
                        "z": 362.9534606933594
                    },
                    "rotation": {
                        "roll": -0.0007019043550826609,
                        "pitch": -1.550808072090149,
                        "yaw": -179.6886444091797
                    }
                },
                "velocity": {
                    "x": -9.75720500946045,
                    "y": -0.04992727190256119,
                    "z": -0.2761983871459961
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.996752738952637,
                "transform": {
                    "location": {
                        "x": -1969.2913818359375,
                        "y": 4065.882080078125,
                        "z": 362.3630065917969
                    },
                    "rotation": {
                        "roll": 0.0004910004790872335,
                        "pitch": -1.7197253704071045,
                        "yaw": -179.7325439453125
                    }
                },
                "velocity": {
                    "x": -9.99142837524414,
                    "y": -0.04487055540084839,
                    "z": -0.32313987612724304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015584678621962667,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1882629394531
                    },
                    "rotation": {
                        "roll": 0.0006142418133094907,
                        "pitch": -0.40133506059646606,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -1.699447602732107e-05,
                    "y": -0.00013290847709868103,
                    "z": 0.0015526972711086273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.11758044362068176,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            22.598414977291057,
            -0.3583198041339756
        ],
        "target_point_next": [
            73.59625169384373,
            -0.827694845171641
        ]
    },
    "130": {
        "acceleration": [
            -3.4171104431152344,
            -0.08173495531082153,
            -0.1266157627105713
        ],
        "angular_velocity": [
            -0.044032834470272064,
            0.5933106541633606,
            0.17758086323738098
        ],
        "forward_vector": [
            -0.999341607093811,
            -0.014328994788229465,
            -0.03333272784948349
        ],
        "right_vector": [
            0.014317696914076805,
            -0.9998973608016968,
            0.0005775847239419818
        ],
        "location": [
            -1988.3739013671875,
            4065.722412109375,
            361.7146301269531
        ],
        "rotation": [
            -0.0331115685403347,
            -1.9101784229278564,
            -179.17852783203125
        ],
        "velocity": [
            -10.927839279174805,
            -0.15836477279663086,
            -0.3872392177581787
        ],
        "speed": 10.928986719396207,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 155.83485412597656,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.109482765197754,
                "transform": {
                    "location": {
                        "x": -1948.1605224609375,
                        "y": 4062.734619140625,
                        "z": 363.0080871582031
                    },
                    "rotation": {
                        "roll": 0.004910471383482218,
                        "pitch": -1.596795678138733,
                        "yaw": -179.58273315429688
                    }
                },
                "velocity": {
                    "x": -9.105734825134277,
                    "y": -0.06333997845649719,
                    "z": -0.25349316000938416
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.122326850891113,
                "transform": {
                    "location": {
                        "x": -2029.7261962890625,
                        "y": 4069.049560546875,
                        "z": 360.08740234375
                    },
                    "rotation": {
                        "roll": 0.011184904724359512,
                        "pitch": 2.5525643825531006,
                        "yaw": 0.4684281647205353
                    }
                },
                "velocity": {
                    "x": 8.114055633544922,
                    "y": 0.06516119092702866,
                    "z": 0.36061134934425354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.830211162567139,
                "transform": {
                    "location": {
                        "x": -2028.8890380859375,
                        "y": 4072.304931640625,
                        "z": 360.13690185546875
                    },
                    "rotation": {
                        "roll": 0.017490478232502937,
                        "pitch": 2.524376392364502,
                        "yaw": 0.4616495668888092
                    }
                },
                "velocity": {
                    "x": 7.822397708892822,
                    "y": 0.058599065989255905,
                    "z": 0.34477439522743225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065792083740234,
                "transform": {
                    "location": {
                        "x": -1986.1256103515625,
                        "y": 4072.508056640625,
                        "z": 361.79425048828125
                    },
                    "rotation": {
                        "roll": 0.0006780626717954874,
                        "pitch": 2.0195844173431396,
                        "yaw": 0.2493405044078827
                    }
                },
                "velocity": {
                    "x": 8.060760498046875,
                    "y": 0.03360682353377342,
                    "z": 0.2828570306301117
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021588325500488,
                "transform": {
                    "location": {
                        "x": -1986.9852294921875,
                        "y": 4069.254638671875,
                        "z": 361.7694091796875
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 2.0446512699127197,
                        "yaw": 0.2505924105644226
                    }
                },
                "velocity": {
                    "x": 8.016529083251953,
                    "y": 0.034946415573358536,
                    "z": 0.2826981842517853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.975241661071777,
                "transform": {
                    "location": {
                        "x": -1967.4654541015625,
                        "y": 4062.639404296875,
                        "z": 362.42633056640625
                    },
                    "rotation": {
                        "roll": 0.00042294480954296887,
                        "pitch": -1.8134424686431885,
                        "yaw": -179.75238037109375
                    }
                },
                "velocity": {
                    "x": -8.970638275146484,
                    "y": -0.03776169568300247,
                    "z": -0.2849212884902954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.156635284423828,
                "transform": {
                    "location": {
                        "x": -1986.2159423828125,
                        "y": 4062.556396484375,
                        "z": 361.78955078125
                    },
                    "rotation": {
                        "roll": 0.00017047209257725626,
                        "pitch": -2.0036563873291016,
                        "yaw": -179.748779296875
                    }
                },
                "velocity": {
                    "x": -9.150872230529785,
                    "y": -0.04012366384267807,
                    "z": -0.32231733202934265
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.129402160644531,
                "transform": {
                    "location": {
                        "x": -2008.0909423828125,
                        "y": 4062.462646484375,
                        "z": 360.9952392578125
                    },
                    "rotation": {
                        "roll": 0.0001436396560166031,
                        "pitch": -2.2532382011413574,
                        "yaw": -179.757080078125
                    }
                },
                "velocity": {
                    "x": -8.123058319091797,
                    "y": -0.034245021641254425,
                    "z": -0.31926652789115906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.921355247497559,
                "transform": {
                    "location": {
                        "x": -1952.390869140625,
                        "y": 4065.958740234375,
                        "z": 362.8825988769531
                    },
                    "rotation": {
                        "roll": 0.0012661501532420516,
                        "pitch": -1.622279167175293,
                        "yaw": -179.72828674316406
                    }
                },
                "velocity": {
                    "x": -9.917071342468262,
                    "y": -0.04851215332746506,
                    "z": -0.28746119141578674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.438695907592773,
                "transform": {
                    "location": {
                        "x": -1971.847412109375,
                        "y": 4065.87060546875,
                        "z": 362.280029296875
                    },
                    "rotation": {
                        "roll": 0.0020342348143458366,
                        "pitch": -1.7306468486785889,
                        "yaw": -179.75448608398438
                    }
                },
                "velocity": {
                    "x": -10.433000564575195,
                    "y": -0.04474842548370361,
                    "z": -0.34186500310897827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017466354183852673,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883544921875
                    },
                    "rotation": {
                        "roll": 4.8625952331349254e-05,
                        "pitch": -0.40127357840538025,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -2.1303445464582182e-05,
                    "y": -2.726030652411282e-05,
                    "z": 0.0017462926916778088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.1302831619977951,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            19.920133067322947,
            -0.3749901612596261
        ],
        "target_point_next": [
            70.91759174455895,
            -0.8837839907458649
        ]
    },
    "135": {
        "acceleration": [
            -2.34161376953125,
            0.2440202236175537,
            -0.06589949131011963
        ],
        "angular_velocity": [
            0.19164274632930756,
            -0.09411055594682693,
            -1.4112513065338135
        ],
        "forward_vector": [
            -0.9994913935661316,
            -0.009879564866423607,
            -0.0303192138671875
        ],
        "right_vector": [
            0.00990420114248991,
            -0.9999507069587708,
            -0.0006625005044043064
        ],
        "location": [
            -1991.2578125,
            4065.68994140625,
            361.6116638183594
        ],
        "rotation": [
            0.037975944578647614,
            -1.7374292612075806,
            -179.4336700439453
        ],
        "velocity": [
            -11.886773109436035,
            -0.1019165962934494,
            -0.42111754417419434
        ],
        "speed": 11.887210015298447,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 152.94956970214844,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2068.515380859375,
                        "y": 4072.049072265625,
                        "z": 358.94146728515625
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2068.501220703125,
                        "y": 4068.799072265625,
                        "z": 358.94146728515625
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.095983505249023,
                "transform": {
                    "location": {
                        "x": -1950.4259033203125,
                        "y": 4062.71923828125,
                        "z": 362.9446716308594
                    },
                    "rotation": {
                        "roll": 0.003548209322616458,
                        "pitch": -1.7067276239395142,
                        "yaw": -179.66030883789062
                    }
                },
                "velocity": {
                    "x": -9.092117309570312,
                    "y": -0.05216480791568756,
                    "z": -0.2600051760673523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.824405670166016,
                "transform": {
                    "location": {
                        "x": -2027.7572021484375,
                        "y": 4069.06396484375,
                        "z": 360.17437744140625
                    },
                    "rotation": {
                        "roll": 0.009435216896235943,
                        "pitch": 2.518017292022705,
                        "yaw": 0.4096550941467285
                    }
                },
                "velocity": {
                    "x": 7.81671142578125,
                    "y": 0.04842784255743027,
                    "z": 0.3435099720954895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060050964355469,
                "transform": {
                    "location": {
                        "x": -2026.9180908203125,
                        "y": 4072.318603515625,
                        "z": 360.22357177734375
                    },
                    "rotation": {
                        "roll": 0.014521376229822636,
                        "pitch": 2.5746123790740967,
                        "yaw": 0.40366142988204956
                    }
                },
                "velocity": {
                    "x": 8.052108764648438,
                    "y": 0.05254555121064186,
                    "z": 0.3538339138031006
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.031916618347168,
                "transform": {
                    "location": {
                        "x": -1984.1143798828125,
                        "y": 4072.516845703125,
                        "z": 361.8648986816406
                    },
                    "rotation": {
                        "roll": 0.00021969774388708174,
                        "pitch": 1.9959040880203247,
                        "yaw": 0.24962295591831207
                    }
                },
                "velocity": {
                    "x": 8.026899337768555,
                    "y": 0.03505745902657509,
                    "z": 0.2816888093948364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023896217346191,
                "transform": {
                    "location": {
                        "x": -1984.9815673828125,
                        "y": 4069.263671875,
                        "z": 361.83978271484375
                    },
                    "rotation": {
                        "roll": 0.0014729946851730347,
                        "pitch": 2.0225212574005127,
                        "yaw": 0.25471043586730957
                    }
                },
                "velocity": {
                    "x": 8.018834114074707,
                    "y": 0.03449779003858566,
                    "z": 0.28288209438323975
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.031007766723633,
                "transform": {
                    "location": {
                        "x": -1969.6943359375,
                        "y": 4062.629638671875,
                        "z": 362.3547058105469
                    },
                    "rotation": {
                        "roll": -0.0005493169883266091,
                        "pitch": -1.8596487045288086,
                        "yaw": -179.75003051757812
                    }
                },
                "velocity": {
                    "x": -9.026215553283691,
                    "y": -0.0410771444439888,
                    "z": -0.2912871241569519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.974801063537598,
                "transform": {
                    "location": {
                        "x": -1988.60888671875,
                        "y": 4062.546875,
                        "z": 361.7051086425781
                    },
                    "rotation": {
                        "roll": 5.292371861287393e-05,
                        "pitch": -2.013969898223877,
                        "yaw": -179.757080078125
                    }
                },
                "velocity": {
                    "x": -9.968457221984863,
                    "y": -0.04109638184309006,
                    "z": -0.35330548882484436
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094429016113281,
                "transform": {
                    "location": {
                        "x": -2010.1171875,
                        "y": 4062.454345703125,
                        "z": 360.9156188964844
                    },
                    "rotation": {
                        "roll": -0.00033569306833669543,
                        "pitch": -2.242917776107788,
                        "yaw": -179.75367736816406
                    }
                },
                "velocity": {
                    "x": -8.088156700134277,
                    "y": -0.035875048488378525,
                    "z": -0.31655004620552063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.289456367492676,
                "transform": {
                    "location": {
                        "x": -1954.911865234375,
                        "y": 4065.94677734375,
                        "z": 362.8092346191406
                    },
                    "rotation": {
                        "roll": 0.00023424802930094302,
                        "pitch": -1.6443747282028198,
                        "yaw": -179.7113037109375
                    }
                },
                "velocity": {
                    "x": -10.284852981567383,
                    "y": -0.04892260581254959,
                    "z": -0.3038329780101776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.86380386352539,
                "transform": {
                    "location": {
                        "x": -1974.490234375,
                        "y": 4065.858642578125,
                        "z": 362.1931457519531
                    },
                    "rotation": {
                        "roll": 0.00033068557968363166,
                        "pitch": -1.7716007232666016,
                        "yaw": -179.74911499023438
                    }
                },
                "velocity": {
                    "x": -10.857688903808594,
                    "y": -0.04871319234371185,
                    "z": -0.36118388175964355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0019246585434302688,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883544921875
                    },
                    "rotation": {
                        "roll": 4.8625952331349254e-05,
                        "pitch": -0.40127357840538025,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -2.1727269995608367e-05,
                    "y": -4.9537855375092477e-05,
                    "z": 0.001923898234963417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.11626305431127548,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            17.03751424423893,
            -0.2902426920816872
        ],
        "target_point_next": [
            68.03673300544241,
            -0.5719312510032242
        ]
    },
    "140": {
        "acceleration": [
            -1.4468002319335938,
            0.30404651165008545,
            -0.05238652229309082
        ],
        "angular_velocity": [
            0.16622498631477356,
            -0.3018900752067566,
            -1.5028846263885498
        ],
        "forward_vector": [
            -0.9994945526123047,
            -0.003443571738898754,
            -0.031602125614881516
        ],
        "right_vector": [
            0.0034940610639750957,
            -0.9999926686286926,
            -0.0015425713500007987
        ],
        "location": [
            -1994.286376953125,
            4065.67236328125,
            361.5047607421875
        ],
        "rotation": [
            0.08842702955007553,
            -1.8109699487686157,
            -179.80259704589844
        ],
        "velocity": [
            -12.311403274536133,
            -0.030710365623235703,
            -0.43546417355537415
        ],
        "speed": 12.311441577443956,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 149.91964721679688,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2066.435302734375,
                        "y": 4072.05810546875,
                        "z": 358.82147216796875
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2066.421142578125,
                        "y": 4068.80810546875,
                        "z": 358.82147216796875
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.022504806518555,
                "transform": {
                    "location": {
                        "x": -1952.6859130859375,
                        "y": 4062.706787109375,
                        "z": 362.8791198730469
                    },
                    "rotation": {
                        "roll": 0.0034165207762271166,
                        "pitch": -1.6868244409561157,
                        "yaw": -179.70729064941406
                    }
                },
                "velocity": {
                    "x": -9.018535614013672,
                    "y": -0.046357326209545135,
                    "z": -0.2635383605957031
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.171269416809082,
                "transform": {
                    "location": {
                        "x": -2025.7486572265625,
                        "y": 4069.076171875,
                        "z": 360.2626037597656
                    },
                    "rotation": {
                        "roll": 0.005713266786187887,
                        "pitch": 2.54197096824646,
                        "yaw": 0.3498185873031616
                    }
                },
                "velocity": {
                    "x": 8.163209915161133,
                    "y": 0.04827992245554924,
                    "z": 0.3595927357673645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.072683334350586,
                "transform": {
                    "location": {
                        "x": -2024.888671875,
                        "y": 4072.331787109375,
                        "z": 360.3128356933594
                    },
                    "rotation": {
                        "roll": 0.007585649378597736,
                        "pitch": 2.5567376613616943,
                        "yaw": 0.3453136682510376
                    }
                },
                "velocity": {
                    "x": 8.064644813537598,
                    "y": 0.04919305816292763,
                    "z": 0.35679054260253906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06460952758789,
                "transform": {
                    "location": {
                        "x": -1982.1033935546875,
                        "y": 4072.525634765625,
                        "z": 361.9350280761719
                    },
                    "rotation": {
                        "roll": 3.010629916389007e-05,
                        "pitch": 1.9970448017120361,
                        "yaw": 0.24995814263820648
                    }
                },
                "velocity": {
                    "x": 8.059680938720703,
                    "y": 0.03515847772359848,
                    "z": 0.279714971780777
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.022313117980957,
                "transform": {
                    "location": {
                        "x": -1982.9769287109375,
                        "y": 4069.272705078125,
                        "z": 361.9100036621094
                    },
                    "rotation": {
                        "roll": -0.0011901849647983909,
                        "pitch": 2.0130889415740967,
                        "yaw": 0.25238466262817383
                    }
                },
                "velocity": {
                    "x": 8.017390251159668,
                    "y": 0.03532564640045166,
                    "z": 0.27875062823295593
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.910730361938477,
                "transform": {
                    "location": {
                        "x": -1972.0611572265625,
                        "y": 4062.61962890625,
                        "z": 362.2779541015625
                    },
                    "rotation": {
                        "roll": -0.0003967281663790345,
                        "pitch": -1.74853515625,
                        "yaw": -179.75177001953125
                    }
                },
                "velocity": {
                    "x": -9.905335426330566,
                    "y": -0.044447991997003555,
                    "z": -0.32393527030944824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.81656551361084,
                "transform": {
                    "location": {
                        "x": -1991.128662109375,
                        "y": 4062.536865234375,
                        "z": 361.6159362792969
                    },
                    "rotation": {
                        "roll": 0.00013741114526055753,
                        "pitch": -2.0291738510131836,
                        "yaw": -179.75758361816406
                    }
                },
                "velocity": {
                    "x": -9.810312271118164,
                    "y": -0.04302924871444702,
                    "z": -0.3476906418800354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.12873649597168,
                "transform": {
                    "location": {
                        "x": -2012.1436767578125,
                        "y": 4062.4453125,
                        "z": 360.83636474609375
                    },
                    "rotation": {
                        "roll": -0.00036621143226511776,
                        "pitch": -2.2416064739227295,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": -8.12243366241455,
                    "y": -0.034336354583501816,
                    "z": -0.31819069385528564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.92626953125,
                "transform": {
                    "location": {
                        "x": -1957.5465087890625,
                        "y": 4065.934814453125,
                        "z": 362.7312316894531
                    },
                    "rotation": {
                        "roll": 0.0003971902187913656,
                        "pitch": -1.6245057582855225,
                        "yaw": -179.739990234375
                    }
                },
                "velocity": {
                    "x": -10.921260833740234,
                    "y": -0.04969695955514908,
                    "z": -0.32703977823257446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.01828670501709,
                "transform": {
                    "location": {
                        "x": -1977.3907470703125,
                        "y": 4065.846435546875,
                        "z": 362.0951843261719
                    },
                    "rotation": {
                        "roll": 0.0007285024621523917,
                        "pitch": -1.578033208847046,
                        "yaw": -179.75558471679688
                    }
                },
                "velocity": {
                    "x": -12.01131534576416,
                    "y": -0.051646966487169266,
                    "z": -0.4060126543045044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008418948855251074,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.0649412615748588e-05,
                    "y": -7.464960162906209e-06,
                    "z": 0.0008417944191023707
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.10109326988458633,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            14.010422909885103,
            -0.18767346924776082
        ],
        "target_point_next": [
            65.01039821288816,
            -0.14096383005073132
        ]
    },
    "145": {
        "acceleration": [
            -1.6176033020019531,
            0.3476005792617798,
            -0.09657740592956543
        ],
        "angular_velocity": [
            0.11921987682580948,
            -0.46733084321022034,
            -1.5516232252120972
        ],
        "forward_vector": [
            -0.9994441866874695,
            0.003244903637096286,
            -0.03317902982234955
        ],
        "right_vector": [
            -0.0031744325533509254,
            -0.9999926090240479,
            -0.002176417503505945
        ],
        "location": [
            -1997.414306640625,
            4065.674072265625,
            361.3933410644531
        ],
        "rotation": [
            0.12476832419633865,
            -1.901367425918579,
            179.81398010253906
        ],
        "velocity": [
            -12.698748588562012,
            0.05200586095452309,
            -0.4589545428752899
        ],
        "speed": 12.698855079300625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 146.79039001464844,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.3552374839782715,
                "transform": {
                    "location": {
                        "x": -2064.4912109375,
                        "y": 4072.068115234375,
                        "z": 358.7140197753906
                    },
                    "rotation": {
                        "roll": -0.0012207026593387127,
                        "pitch": 1.5618456602096558,
                        "yaw": 0.2895817160606384
                    }
                },
                "velocity": {
                    "x": 6.35223913192749,
                    "y": 0.06288430839776993,
                    "z": -0.18479736149311066
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.354570388793945,
                "transform": {
                    "location": {
                        "x": -2064.47705078125,
                        "y": 4068.818115234375,
                        "z": 358.7139892578125
                    },
                    "rotation": {
                        "roll": -0.003234862582758069,
                        "pitch": 1.5609644651412964,
                        "yaw": 0.2903563976287842
                    }
                },
                "velocity": {
                    "x": 6.351595878601074,
                    "y": 0.06282595545053482,
                    "z": -0.18396537005901337
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.707843780517578,
                "transform": {
                    "location": {
                        "x": -1955.012451171875,
                        "y": 4062.69482421875,
                        "z": 362.8102722167969
                    },
                    "rotation": {
                        "roll": 0.0023240491282194853,
                        "pitch": -1.5877046585083008,
                        "yaw": -179.72447204589844
                    }
                },
                "velocity": {
                    "x": -9.70352840423584,
                    "y": -0.045632634311914444,
                    "z": -0.2857973277568817
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.945266246795654,
                "transform": {
                    "location": {
                        "x": -2023.7357177734375,
                        "y": 4069.088134765625,
                        "z": 360.3514099121094
                    },
                    "rotation": {
                        "roll": 0.004941080696880817,
                        "pitch": 2.5242602825164795,
                        "yaw": 0.3306664526462555
                    }
                },
                "velocity": {
                    "x": 7.937449932098389,
                    "y": 0.04253784194588661,
                    "z": 0.34976905584335327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.942053318023682,
                "transform": {
                    "location": {
                        "x": -2022.8980712890625,
                        "y": 4072.343017578125,
                        "z": 360.3994140625
                    },
                    "rotation": {
                        "roll": 0.0077916160225868225,
                        "pitch": 2.4748165607452393,
                        "yaw": 0.33733469247817993
                    }
                },
                "velocity": {
                    "x": 7.934732437133789,
                    "y": 0.042861904948949814,
                    "z": 0.33822500705718994
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033414840698242,
                "transform": {
                    "location": {
                        "x": -1980.0924072265625,
                        "y": 4072.533935546875,
                        "z": 362.00433349609375
                    },
                    "rotation": {
                        "roll": 0.0008189016371034086,
                        "pitch": 1.9669986963272095,
                        "yaw": 0.25108999013900757
                    }
                },
                "velocity": {
                    "x": 8.02867317199707,
                    "y": 0.035964854061603546,
                    "z": 0.273607462644577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025940895080566,
                "transform": {
                    "location": {
                        "x": -1980.97216796875,
                        "y": 4069.28125,
                        "z": 361.97955322265625
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 2.003103017807007,
                        "yaw": 0.2450515180826187
                    }
                },
                "velocity": {
                    "x": 8.02114200592041,
                    "y": 0.034121472388505936,
                    "z": 0.2754006087779999
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.891446113586426,
                "transform": {
                    "location": {
                        "x": -1974.539306640625,
                        "y": 4062.60888671875,
                        "z": 362.1961669921875
                    },
                    "rotation": {
                        "roll": 0.0009421404101885855,
                        "pitch": -1.8803987503051758,
                        "yaw": -179.75341796875
                    }
                },
                "velocity": {
                    "x": -9.885908126831055,
                    "y": -0.04116758331656456,
                    "z": -0.32838690280914307
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.061311721801758,
                "transform": {
                    "location": {
                        "x": -1993.4517822265625,
                        "y": 4062.52685546875,
                        "z": 361.5339050292969
                    },
                    "rotation": {
                        "roll": -0.0008850102312862873,
                        "pitch": -2.045074701309204,
                        "yaw": -179.74612426757812
                    }
                },
                "velocity": {
                    "x": -9.055521965026855,
                    "y": -0.0404425710439682,
                    "z": -0.3213367462158203
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097249984741211,
                "transform": {
                    "location": {
                        "x": -2014.169921875,
                        "y": 4062.435546875,
                        "z": 360.75537109375
                    },
                    "rotation": {
                        "roll": -0.0002441408287268132,
                        "pitch": -2.3193955421447754,
                        "yaw": -179.7474822998047
                    }
                },
                "velocity": {
                    "x": -8.090415000915527,
                    "y": -0.036033935844898224,
                    "z": -0.33067217469215393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.824034690856934,
                "transform": {
                    "location": {
                        "x": -1960.3599853515625,
                        "y": 4065.921142578125,
                        "z": 362.64654541015625
                    },
                    "rotation": {
                        "roll": -3.0517539926222526e-05,
                        "pitch": -1.6219171285629272,
                        "yaw": -179.7272186279297
                    }
                },
                "velocity": {
                    "x": -11.818377494812012,
                    "y": -0.05593859404325485,
                    "z": -0.3614271581172943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.106803894042969,
                "transform": {
                    "location": {
                        "x": -1980.406494140625,
                        "y": 4065.833251953125,
                        "z": 361.9932861328125
                    },
                    "rotation": {
                        "roll": -0.0029907224234193563,
                        "pitch": -1.807431936264038,
                        "yaw": -179.74208068847656
                    }
                },
                "velocity": {
                    "x": -12.099493026733398,
                    "y": -0.05443478375673294,
                    "z": -0.41713470220565796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016911446582525969,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -2.438463161524851e-05,
                    "y": 2.3364758817479014e-05,
                    "z": 0.0016908074030652642
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.07328454405069351,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            10.883446294368644,
            -0.10236503177265674
        ],
        "target_point_next": [
            61.881967271706884,
            0.2856050976275103
        ]
    },
    "150": {
        "acceleration": [
            -1.3395500183105469,
            0.16485124826431274,
            -0.06181299686431885
        ],
        "angular_velocity": [
            -0.1180511936545372,
            -0.06143872067332268,
            -0.9035637378692627
        ],
        "forward_vector": [
            -0.9993724226951599,
            0.009134207852184772,
            -0.034224025905132294
        ],
        "right_vector": [
            -0.009060708805918694,
            -0.9999562501907349,
            -0.002302059205248952
        ],
        "location": [
            -2000.6356201171875,
            4065.695556640625,
            361.2760314941406
        ],
        "rotation": [
            0.1319757103919983,
            -1.9612751007080078,
            179.47633361816406
        ],
        "velocity": [
            -13.061233520507812,
            0.1199994832277298,
            -0.48026609420776367
        ],
        "speed": 13.06178475374678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 143.56776428222656,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.527164936065674,
                "transform": {
                    "location": {
                        "x": -2062.87646484375,
                        "y": 4072.08544921875,
                        "z": 358.7322998046875
                    },
                    "rotation": {
                        "roll": 0.009451660327613354,
                        "pitch": 1.7171982526779175,
                        "yaw": 0.6380082964897156
                    }
                },
                "velocity": {
                    "x": 6.523643493652344,
                    "y": 0.0882851779460907,
                    "z": 0.19535350799560547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.526702880859375,
                "transform": {
                    "location": {
                        "x": -2062.86279296875,
                        "y": 4068.83544921875,
                        "z": 358.7322998046875
                    },
                    "rotation": {
                        "roll": 0.008695030584931374,
                        "pitch": 1.7166792154312134,
                        "yaw": 0.639166533946991
                    }
                },
                "velocity": {
                    "x": 6.523184776306152,
                    "y": 0.08827747404575348,
                    "z": 0.19523578882217407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.79443645477295,
                "transform": {
                    "location": {
                        "x": -1957.4815673828125,
                        "y": 4062.68310546875,
                        "z": 362.7373352050781
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -1.6244169473648071,
                        "yaw": -179.73544311523438
                    }
                },
                "velocity": {
                    "x": -9.789908409118652,
                    "y": -0.04556373134255409,
                    "z": -0.29427608847618103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053565979003906,
                "transform": {
                    "location": {
                        "x": -2021.743408203125,
                        "y": 4069.09814453125,
                        "z": 360.4366760253906
                    },
                    "rotation": {
                        "roll": 0.0025536033790558577,
                        "pitch": 2.425072193145752,
                        "yaw": 0.30259111523628235
                    }
                },
                "velocity": {
                    "x": 8.046332359313965,
                    "y": 0.04098143056035042,
                    "z": 0.3387953042984009
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.069609642028809,
                "transform": {
                    "location": {
                        "x": -2020.8970947265625,
                        "y": 4072.35302734375,
                        "z": 360.4848327636719
                    },
                    "rotation": {
                        "roll": 0.0035876508336514235,
                        "pitch": 2.4121289253234863,
                        "yaw": 0.2848963141441345
                    }
                },
                "velocity": {
                    "x": 8.062285423278809,
                    "y": 0.04074302688241005,
                    "z": 0.34132423996925354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.065523147583008,
                "transform": {
                    "location": {
                        "x": -1978.0811767578125,
                        "y": 4072.543701171875,
                        "z": 362.0731201171875
                    },
                    "rotation": {
                        "roll": 0.0016623359406366944,
                        "pitch": 1.9289478063583374,
                        "yaw": 0.25686967372894287
                    }
                },
                "velocity": {
                    "x": 8.060843467712402,
                    "y": 0.036334507167339325,
                    "z": 0.27229371666908264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021158218383789,
                "transform": {
                    "location": {
                        "x": -1978.9677734375,
                        "y": 4069.289794921875,
                        "z": 362.0481872558594
                    },
                    "rotation": {
                        "roll": 0.0003253579488955438,
                        "pitch": 1.9575730562210083,
                        "yaw": 0.2491004467010498
                    }
                },
                "velocity": {
                    "x": 8.016389846801758,
                    "y": 0.033950965851545334,
                    "z": 0.2744389772415161
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.467362403869629,
                "transform": {
                    "location": {
                        "x": -1976.9735107421875,
                        "y": 4062.599365234375,
                        "z": 362.1148681640625
                    },
                    "rotation": {
                        "roll": -0.00045776396291330457,
                        "pitch": -2.020998239517212,
                        "yaw": -179.7535858154297
                    }
                },
                "velocity": {
                    "x": -9.461868286132812,
                    "y": -0.04064013436436653,
                    "z": -0.31992486119270325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.49244499206543,
                "transform": {
                    "location": {
                        "x": -1995.763916015625,
                        "y": 4062.517333984375,
                        "z": 361.45166015625
                    },
                    "rotation": {
                        "roll": 8.033387712202966e-05,
                        "pitch": -2.0296316146850586,
                        "yaw": -179.74200439453125
                    }
                },
                "velocity": {
                    "x": -9.486260414123535,
                    "y": -0.04250820726156235,
                    "z": -0.33994972705841064
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.132766723632812,
                "transform": {
                    "location": {
                        "x": -2016.197021484375,
                        "y": 4062.426513671875,
                        "z": 360.67279052734375
                    },
                    "rotation": {
                        "roll": 0.00046734928037039936,
                        "pitch": -2.396972894668579,
                        "yaw": -179.75054931640625
                    }
                },
                "velocity": {
                    "x": -8.125658988952637,
                    "y": -0.035158682614564896,
                    "z": -0.3381103575229645
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.069758415222168,
                "transform": {
                    "location": {
                        "x": -1963.3792724609375,
                        "y": 4065.907470703125,
                        "z": 362.55364990234375
                    },
                    "rotation": {
                        "roll": 0.000603150692768395,
                        "pitch": -1.7178608179092407,
                        "yaw": -179.7460174560547
                    }
                },
                "velocity": {
                    "x": -12.063844680786133,
                    "y": -0.055376991629600525,
                    "z": -0.37369924783706665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.413795471191406,
                "transform": {
                    "location": {
                        "x": -1983.46337890625,
                        "y": 4065.819580078125,
                        "z": 361.8875427246094
                    },
                    "rotation": {
                        "roll": -0.0005493166972883046,
                        "pitch": -1.8945646286010742,
                        "yaw": -179.75291442871094
                    }
                },
                "velocity": {
                    "x": -12.406099319458008,
                    "y": -0.05445700138807297,
                    "z": -0.43366843461990356
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011070157634094357,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.541398341942113e-05,
                    "y": 5.510858954949072e-06,
                    "z": 0.0011068946914747357
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.040374789386987686,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            7.662485268095948,
            -0.046182358814209165
        ],
        "target_point_next": [
            58.65783427033192,
            0.6423253299347536
        ]
    },
    "155": {
        "acceleration": [
            -1.4038467407226562,
            -0.02850741147994995,
            -0.04536569118499756
        ],
        "angular_velocity": [
            -0.24575753509998322,
            -0.018802234902977943,
            0.3135414719581604
        ],
        "forward_vector": [
            -0.9993590116500854,
            0.009864197112619877,
            -0.03441190347075462
        ],
        "right_vector": [
            -0.009823710657656193,
            -0.9999508857727051,
            -0.0013454403961077332
        ],
        "location": [
            -2003.946533203125,
            4065.726806640625,
            361.1544494628906
        ],
        "rotation": [
            0.07713375985622406,
            -1.9720462560653687,
            179.43447875976562
        ],
        "velocity": [
            -13.407525062561035,
            0.12658655643463135,
            -0.4918450713157654
        ],
        "speed": 13.408122629938624,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 140.2555694580078,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.2156758308410645,
                "transform": {
                    "location": {
                        "x": -2061.2861328125,
                        "y": 4072.106201171875,
                        "z": 358.7830810546875
                    },
                    "rotation": {
                        "roll": 0.016299935057759285,
                        "pitch": 1.7302985191345215,
                        "yaw": 0.8239510655403137
                    }
                },
                "velocity": {
                    "x": 6.211932182312012,
                    "y": 0.08981607854366302,
                    "z": 0.19610406458377838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.215880870819092,
                "transform": {
                    "location": {
                        "x": -2061.2724609375,
                        "y": 4068.856201171875,
                        "z": 358.7830810546875
                    },
                    "rotation": {
                        "roll": 0.015631843358278275,
                        "pitch": 1.7308449745178223,
                        "yaw": 0.8251835703849792
                    }
                },
                "velocity": {
                    "x": 6.212147235870361,
                    "y": 0.08979413658380508,
                    "z": 0.19580338895320892
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.662439346313477,
                "transform": {
                    "location": {
                        "x": -1959.8895263671875,
                        "y": 4062.672607421875,
                        "z": 362.6661376953125
                    },
                    "rotation": {
                        "roll": 0.0006073405384086072,
                        "pitch": -1.8281546831130981,
                        "yaw": -179.74722290039062
                    }
                },
                "velocity": {
                    "x": -9.657889366149902,
                    "y": -0.04283009096980095,
                    "z": -0.2933986485004425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016926765441895,
                "transform": {
                    "location": {
                        "x": -2019.7322998046875,
                        "y": 4069.108154296875,
                        "z": 360.5209655761719
                    },
                    "rotation": {
                        "roll": 0.00188421830534935,
                        "pitch": 2.380669116973877,
                        "yaw": 0.2915787696838379
                    }
                },
                "velocity": {
                    "x": 8.00997257232666,
                    "y": 0.03944355621933937,
                    "z": 0.33151328563690186
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.005595207214355,
                "transform": {
                    "location": {
                        "x": -2018.887451171875,
                        "y": 4072.36279296875,
                        "z": 360.56829833984375
                    },
                    "rotation": {
                        "roll": 0.0047392877750098705,
                        "pitch": 2.3930933475494385,
                        "yaw": 0.3007241487503052
                    }
                },
                "velocity": {
                    "x": 7.998692512512207,
                    "y": 0.03874769061803818,
                    "z": 0.33012014627456665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.032515525817871,
                "transform": {
                    "location": {
                        "x": -1976.0699462890625,
                        "y": 4072.553466796875,
                        "z": 362.1407775878906
                    },
                    "rotation": {
                        "roll": 0.00020258009317331016,
                        "pitch": 1.9328546524047852,
                        "yaw": 0.25476428866386414
                    }
                },
                "velocity": {
                    "x": 8.027877807617188,
                    "y": 0.03490366414189339,
                    "z": 0.27065718173980713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026859283447266,
                "transform": {
                    "location": {
                        "x": -1976.9632568359375,
                        "y": 4069.298583984375,
                        "z": 362.1160583496094
                    },
                    "rotation": {
                        "roll": 2.1123116312082857e-05,
                        "pitch": 1.94973886013031,
                        "yaw": 0.2474287897348404
                    }
                },
                "velocity": {
                    "x": 8.022204399108887,
                    "y": 0.03453432768583298,
                    "z": 0.2711227834224701
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.45948600769043,
                "transform": {
                    "location": {
                        "x": -1979.208251953125,
                        "y": 4062.58935546875,
                        "z": 362.03900146484375
                    },
                    "rotation": {
                        "roll": -0.0002136226394213736,
                        "pitch": -2.1416945457458496,
                        "yaw": -179.74012756347656
                    }
                },
                "velocity": {
                    "x": -8.454435348510742,
                    "y": -0.038463108241558075,
                    "z": -0.28972217440605164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.135234832763672,
                "transform": {
                    "location": {
                        "x": -1998.078857421875,
                        "y": 4062.50732421875,
                        "z": 361.36846923828125
                    },
                    "rotation": {
                        "roll": 0.00035977637162432075,
                        "pitch": -2.100795269012451,
                        "yaw": -179.73915100097656
                    }
                },
                "velocity": {
                    "x": -9.12912654876709,
                    "y": -0.04239498823881149,
                    "z": -0.3313066065311432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0982084274292,
                "transform": {
                    "location": {
                        "x": -2018.224365234375,
                        "y": 4062.41845703125,
                        "z": 360.5881042480469
                    },
                    "rotation": {
                        "roll": 0.0007082021911628544,
                        "pitch": -2.3859829902648926,
                        "yaw": -179.7574920654297
                    }
                },
                "velocity": {
                    "x": -8.091110229492188,
                    "y": -0.03394785150885582,
                    "z": -0.33730024099349976
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.095598220825195,
                "transform": {
                    "location": {
                        "x": -1966.383056640625,
                        "y": 4065.89404296875,
                        "z": 362.4595642089844
                    },
                    "rotation": {
                        "roll": 0.0008328796830028296,
                        "pitch": -1.8061546087265015,
                        "yaw": -179.7332305908203
                    }
                },
                "velocity": {
                    "x": -12.089404106140137,
                    "y": -0.054760634899139404,
                    "z": -0.3831528425216675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.821737289428711,
                "transform": {
                    "location": {
                        "x": -1986.6201171875,
                        "y": 4065.805908203125,
                        "z": 361.7765808105469
                    },
                    "rotation": {
                        "roll": -0.0004577634099405259,
                        "pitch": -1.8841280937194824,
                        "yaw": -179.75161743164062
                    }
                },
                "velocity": {
                    "x": -12.813660621643066,
                    "y": -0.05619792267680168,
                    "z": -0.4515630304813385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001119905849918723,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -3.0307470296975225e-05,
                    "y": -3.925610144506209e-06,
                    "z": 0.001119488850235939
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.01911737211048603,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            55.346289140733745,
            0.6837457172342282
        ],
        "target_point_next": [
            106.34112157127535,
            1.4095060621815865
        ]
    },
    "160": {
        "acceleration": [
            -1.2407112121582031,
            -0.11555984616279602,
            -0.18580079078674316
        ],
        "angular_velocity": [
            -0.10040061920881271,
            -0.46443650126457214,
            0.5706474184989929
        ],
        "forward_vector": [
            -0.9992836117744446,
            0.00774740893393755,
            -0.03704402968287468
        ],
        "right_vector": [
            -0.007736241444945335,
            -0.9999699592590332,
            -0.0004447896499186754
        ],
        "location": [
            -2007.33935546875,
            4065.755615234375,
            361.0264892578125
        ],
        "rotation": [
            0.025502076372504234,
            -2.122952461242676,
            179.55580139160156
        ],
        "velocity": [
            -13.731901168823242,
            0.10367776453495026,
            -0.5308200120925903
        ],
        "speed": 13.732292554019816,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 136.86141967773438,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.174502372741699,
                "transform": {
                    "location": {
                        "x": -2059.716796875,
                        "y": 4072.12890625,
                        "z": 358.833984375
                    },
                    "rotation": {
                        "roll": 0.022091267630457878,
                        "pitch": 1.8389941453933716,
                        "yaw": 0.8871774673461914
                    }
                },
                "velocity": {
                    "x": 6.170342445373535,
                    "y": 0.09338056296110153,
                    "z": 0.20647300779819489
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.174002170562744,
                "transform": {
                    "location": {
                        "x": -2059.703125,
                        "y": 4068.87890625,
                        "z": 358.83392333984375
                    },
                    "rotation": {
                        "roll": 0.021086467429995537,
                        "pitch": 1.8391034603118896,
                        "yaw": 0.886866569519043
                    }
                },
                "velocity": {
                    "x": 6.169804096221924,
                    "y": 0.09316844493150711,
                    "z": 0.20770202577114105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.028059959411621,
                "transform": {
                    "location": {
                        "x": -1962.2408447265625,
                        "y": 4062.6630859375,
                        "z": 362.59466552734375
                    },
                    "rotation": {
                        "roll": 0.0008746121311560273,
                        "pitch": -1.8878164291381836,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": -9.023663520812988,
                    "y": -0.039665739983320236,
                    "z": -0.2789078950881958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03100299835205,
                "transform": {
                    "location": {
                        "x": -2017.73046875,
                        "y": 4069.11767578125,
                        "z": 360.6039733886719
                    },
                    "rotation": {
                        "roll": 0.0014663750771433115,
                        "pitch": 2.3851020336151123,
                        "yaw": 0.28293970227241516
                    }
                },
                "velocity": {
                    "x": 8.024030685424805,
                    "y": 0.03807784616947174,
                    "z": 0.3323884606361389
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007730484008789,
                "transform": {
                    "location": {
                        "x": -2016.8909912109375,
                        "y": 4072.372314453125,
                        "z": 360.651123046875
                    },
                    "rotation": {
                        "roll": 0.00157438893802464,
                        "pitch": 2.4000942707061768,
                        "yaw": 0.2563994526863098
                    }
                },
                "velocity": {
                    "x": 8.000744819641113,
                    "y": 0.03681441396474838,
                    "z": 0.33236274123191833
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067317008972168,
                "transform": {
                    "location": {
                        "x": -1974.058349609375,
                        "y": 4072.561279296875,
                        "z": 362.2077331542969
                    },
                    "rotation": {
                        "roll": 0.0008313086582347751,
                        "pitch": 1.893253207206726,
                        "yaw": 0.24926267564296722
                    }
                },
                "velocity": {
                    "x": 8.062868118286133,
                    "y": 0.035091642290353775,
                    "z": 0.26556718349456787
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023015975952148,
                "transform": {
                    "location": {
                        "x": -1974.95849609375,
                        "y": 4069.307373046875,
                        "z": 362.18310546875
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": 1.9291595220565796,
                        "yaw": 0.25576794147491455
                    }
                },
                "velocity": {
                    "x": 8.018498420715332,
                    "y": 0.03711538761854172,
                    "z": 0.2666071951389313
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.890324592590332,
                "transform": {
                    "location": {
                        "x": -1981.3502197265625,
                        "y": 4062.57958984375,
                        "z": 361.9654541015625
                    },
                    "rotation": {
                        "roll": 0.0010264154989272356,
                        "pitch": -1.9880356788635254,
                        "yaw": -179.74111938476562
                    }
                },
                "velocity": {
                    "x": -8.885015487670898,
                    "y": -0.03914138302206993,
                    "z": -0.3046993911266327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.453396797180176,
                "transform": {
                    "location": {
                        "x": -2000.411376953125,
                        "y": 4062.496826171875,
                        "z": 361.282958984375
                    },
                    "rotation": {
                        "roll": 0.0005812855088151991,
                        "pitch": -2.098083734512329,
                        "yaw": -179.73312377929688
                    }
                },
                "velocity": {
                    "x": -9.446938514709473,
                    "y": -0.04265716299414635,
                    "z": -0.34675392508506775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.132944107055664,
                "transform": {
                    "location": {
                        "x": -2020.2518310546875,
                        "y": 4062.4091796875,
                        "z": 360.5036926269531
                    },
                    "rotation": {
                        "roll": 0.001052598119713366,
                        "pitch": -2.3832099437713623,
                        "yaw": -179.7515106201172
                    }
                },
                "velocity": {
                    "x": -8.125835418701172,
                    "y": -0.035626120865345,
                    "z": -0.33810946345329285
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.569388389587402,
                "transform": {
                    "location": {
                        "x": -1969.466796875,
                        "y": 4065.880126953125,
                        "z": 362.3611755371094
                    },
                    "rotation": {
                        "roll": 0.00282471370883286,
                        "pitch": -1.7982453107833862,
                        "yaw": -179.75453186035156
                    }
                },
                "velocity": {
                    "x": -12.562776565551758,
                    "y": -0.053764961659908295,
                    "z": -0.40408292412757874
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.124905586242676,
                "transform": {
                    "location": {
                        "x": -1989.864013671875,
                        "y": 4065.7919921875,
                        "z": 361.6618347167969
                    },
                    "rotation": {
                        "roll": 8.342284640860953e-10,
                        "pitch": -1.9133613109588623,
                        "yaw": -179.7583770751953
                    }
                },
                "velocity": {
                    "x": -13.116557121276855,
                    "y": -0.056106433272361755,
                    "z": -0.4646727740764618
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013961843214929104,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.6165897250175476e-05,
                    "y": 2.837786496456829e-06,
                    "z": 0.0013960878131911159
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.003708486445248127,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            51.95466932020325,
            0.5690465518932553
        ],
        "target_point_next": [
            102.9509243043656,
            1.1868169684824548
        ]
    },
    "165": {
        "acceleration": [
            -1.3095474243164062,
            -0.13991475105285645,
            -0.03637075424194336
        ],
        "angular_velocity": [
            -0.14828163385391235,
            0.01671551913022995,
            0.593854546546936
        ],
        "forward_vector": [
            -0.9992897510528564,
            0.005168776027858257,
            -0.03732767701148987
        ],
        "right_vector": [
            -0.005178782623261213,
            -0.9999865889549255,
            0.00017138803377747536
        ],
        "location": [
            -2010.814208984375,
            4065.77734375,
            360.89019775390625
        ],
        "rotation": [
            -0.009826659224927425,
            -2.1392152309417725,
            179.70364379882812
        ],
        "velocity": [
            -14.054632186889648,
            0.07069269567728043,
            -0.5531641840934753
        ],
        "speed": 14.054809972602854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 133.3851776123047,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.613953113555908,
                "transform": {
                    "location": {
                        "x": -2058.275634765625,
                        "y": 4072.149658203125,
                        "z": 358.880615234375
                    },
                    "rotation": {
                        "roll": 0.02058268152177334,
                        "pitch": 1.9598885774612427,
                        "yaw": 0.8442896008491516
                    }
                },
                "velocity": {
                    "x": 5.610541820526123,
                    "y": 0.06815687566995621,
                    "z": 0.1834152787923813
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.614182949066162,
                "transform": {
                    "location": {
                        "x": -2058.26171875,
                        "y": 4068.899658203125,
                        "z": 358.880615234375
                    },
                    "rotation": {
                        "roll": 0.020868072286248207,
                        "pitch": 1.959628939628601,
                        "yaw": 0.8424334526062012
                    }
                },
                "velocity": {
                    "x": 5.6107635498046875,
                    "y": 0.06807085126638412,
                    "z": 0.1837175488471985
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.557592391967773,
                "transform": {
                    "location": {
                        "x": -1964.412109375,
                        "y": 4062.653076171875,
                        "z": 362.52728271484375
                    },
                    "rotation": {
                        "roll": 0.0003411561483517289,
                        "pitch": -1.953338384628296,
                        "yaw": -179.7498321533203
                    }
                },
                "velocity": {
                    "x": -8.553316116333008,
                    "y": -0.037133775651454926,
                    "z": -0.2679234445095062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.011176109313965,
                "transform": {
                    "location": {
                        "x": -2015.7265625,
                        "y": 4069.12744140625,
                        "z": 360.6872253417969
                    },
                    "rotation": {
                        "roll": 0.00097409583395347,
                        "pitch": 2.389336585998535,
                        "yaw": 0.2722724974155426
                    }
                },
                "velocity": {
                    "x": 8.004189491271973,
                    "y": 0.037907086312770844,
                    "z": 0.33235129714012146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038525581359863,
                "transform": {
                    "location": {
                        "x": -2014.8851318359375,
                        "y": 4072.38232421875,
                        "z": 360.7339782714844
                    },
                    "rotation": {
                        "roll": 0.0013408560771495104,
                        "pitch": 2.3849925994873047,
                        "yaw": 0.2828892469406128
                    }
                },
                "velocity": {
                    "x": 8.031831741333008,
                    "y": 0.03786337375640869,
                    "z": 0.3257961869239807
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.032331466674805,
                "transform": {
                    "location": {
                        "x": -1972.047119140625,
                        "y": 4072.569091796875,
                        "z": 362.27392578125
                    },
                    "rotation": {
                        "roll": -0.0005493168719112873,
                        "pitch": 1.867175579071045,
                        "yaw": 0.2488798052072525
                    }
                },
                "velocity": {
                    "x": 8.027989387512207,
                    "y": 0.034852102398872375,
                    "z": 0.2617742717266083
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02458667755127,
                "transform": {
                    "location": {
                        "x": -1972.9539794921875,
                        "y": 4069.3173828125,
                        "z": 362.2496337890625
                    },
                    "rotation": {
                        "roll": 0.00046019189176149666,
                        "pitch": 1.8860814571380615,
                        "yaw": 0.2589711546897888
                    }
                },
                "velocity": {
                    "x": 8.0200777053833,
                    "y": 0.03627738356590271,
                    "z": 0.2665289044380188
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.303471565246582,
                "transform": {
                    "location": {
                        "x": -1983.657470703125,
                        "y": 4062.56982421875,
                        "z": 361.88531494140625
                    },
                    "rotation": {
                        "roll": 0.0009725564159452915,
                        "pitch": -1.9477239847183228,
                        "yaw": -179.74729919433594
                    }
                },
                "velocity": {
                    "x": -9.297657012939453,
                    "y": -0.041023582220077515,
                    "z": -0.32630056142807007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.640854835510254,
                "transform": {
                    "location": {
                        "x": -2002.6571044921875,
                        "y": 4062.48681640625,
                        "z": 361.2007751464844
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -2.1146538257598877,
                        "yaw": -179.7457275390625
                    }
                },
                "velocity": {
                    "x": -8.634965896606445,
                    "y": -0.0382668599486351,
                    "z": -0.31664222478866577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.100543022155762,
                "transform": {
                    "location": {
                        "x": -2022.2786865234375,
                        "y": 4062.40087890625,
                        "z": 360.41839599609375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -2.4324965476989746,
                        "yaw": -179.7530517578125
                    }
                },
                "velocity": {
                    "x": -8.092884063720703,
                    "y": -0.03455926477909088,
                    "z": -0.35046881437301636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.8632173538208,
                "transform": {
                    "location": {
                        "x": -1972.6492919921875,
                        "y": 4065.866455078125,
                        "z": 362.2575988769531
                    },
                    "rotation": {
                        "roll": 0.0006261449307203293,
                        "pitch": -1.8345272541046143,
                        "yaw": -179.7480010986328
                    }
                },
                "velocity": {
                    "x": -12.856218338012695,
                    "y": -0.05548037961125374,
                    "z": -0.42063820362091064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.41925048828125,
                "transform": {
                    "location": {
                        "x": -1993.180908203125,
                        "y": 4065.7783203125,
                        "z": 361.54437255859375
                    },
                    "rotation": {
                        "roll": -0.0015869138296693563,
                        "pitch": -1.9231284856796265,
                        "yaw": -179.74853515625
                    }
                },
                "velocity": {
                    "x": -13.410693168640137,
                    "y": -0.05945516750216484,
                    "z": -0.47543424367904663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000942068116273731,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -2.575166399765294e-05,
                    "y": 2.2868121959618293e-05,
                    "z": 0.0009414383675903082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.00757632777094841,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            48.48104519482231,
            0.4387486685148189
        ],
        "target_point_next": [
            99.47872437989115,
            0.9249383785166554
        ]
    },
    "170": {
        "acceleration": [
            -1.2492942810058594,
            0.03792800009250641,
            -0.11911630630493164
        ],
        "angular_velocity": [
            0.08880230784416199,
            -0.7267197370529175,
            -0.13656914234161377
        ],
        "forward_vector": [
            -0.9992575645446777,
            0.003747708396986127,
            -0.03834332153201103
        ],
        "right_vector": [
            -0.0037535298615694046,
            -0.9999929666519165,
            7.983608520589769e-05
        ],
        "location": [
            -2014.3680419921875,
            4065.79296875,
            360.7492980957031
        ],
        "rotation": [
            -0.004577637184411287,
            -2.197449207305908,
            179.7851104736328
        ],
        "velocity": [
            -14.369586944580078,
            0.05975745990872383,
            -0.5816294550895691
        ],
        "speed": 14.369711197928126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 129.8299560546875,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.289072036743164,
                "transform": {
                    "location": {
                        "x": -2056.8037109375,
                        "y": 4072.166748046875,
                        "z": 358.9306945800781
                    },
                    "rotation": {
                        "roll": 0.016142582520842552,
                        "pitch": 2.00038480758667,
                        "yaw": 0.6805415749549866
                    }
                },
                "velocity": {
                    "x": 6.284947872161865,
                    "y": 0.06319492310285568,
                    "z": 0.21878346800804138
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.291765213012695,
                "transform": {
                    "location": {
                        "x": -2056.789794921875,
                        "y": 4068.916748046875,
                        "z": 358.9306945800781
                    },
                    "rotation": {
                        "roll": 0.01672949269413948,
                        "pitch": 2.0009584426879883,
                        "yaw": 0.6789134740829468
                    }
                },
                "velocity": {
                    "x": 6.287649631500244,
                    "y": 0.06315495818853378,
                    "z": 0.21858593821525574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.22137451171875,
                "transform": {
                    "location": {
                        "x": -1966.622314453125,
                        "y": 4062.643310546875,
                        "z": 362.4559631347656
                    },
                    "rotation": {
                        "roll": 0.0010154518531635404,
                        "pitch": -1.7288163900375366,
                        "yaw": -179.7520751953125
                    }
                },
                "velocity": {
                    "x": -9.21666145324707,
                    "y": -0.039857830852270126,
                    "z": -0.292091965675354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.048933982849121,
                "transform": {
                    "location": {
                        "x": -2013.7205810546875,
                        "y": 4069.137451171875,
                        "z": 360.76898193359375
                    },
                    "rotation": {
                        "roll": 0.0012270985171198845,
                        "pitch": 2.316096544265747,
                        "yaw": 0.26700133085250854
                    }
                },
                "velocity": {
                    "x": 8.04255199432373,
                    "y": 0.03752617537975311,
                    "z": 0.3182612359523773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006516456604004,
                "transform": {
                    "location": {
                        "x": -2012.882568359375,
                        "y": 4072.391845703125,
                        "z": 360.8147277832031
                    },
                    "rotation": {
                        "roll": 0.0008588474011048675,
                        "pitch": 2.2750470638275146,
                        "yaw": 0.2470017671585083
                    }
                },
                "velocity": {
                    "x": 7.999948024749756,
                    "y": 0.034723468124866486,
                    "z": 0.3223815858364105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067004203796387,
                "transform": {
                    "location": {
                        "x": -1970.0355224609375,
                        "y": 4072.578125,
                        "z": 362.33935546875
                    },
                    "rotation": {
                        "roll": 0.0005306744133122265,
                        "pitch": 1.8670662641525269,
                        "yaw": 0.2580551505088806
                    }
                },
                "velocity": {
                    "x": 8.06274127960205,
                    "y": 0.03753266856074333,
                    "z": 0.25950735807418823
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024014472961426,
                "transform": {
                    "location": {
                        "x": -1970.94873046875,
                        "y": 4069.325927734375,
                        "z": 362.3152160644531
                    },
                    "rotation": {
                        "roll": 0.002109393011778593,
                        "pitch": 1.8862180709838867,
                        "yaw": 0.2481015920639038
                    }
                },
                "velocity": {
                    "x": 8.01970386505127,
                    "y": 0.03383580595254898,
                    "z": 0.2607775330543518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.367840766906738,
                "transform": {
                    "location": {
                        "x": -1986.0084228515625,
                        "y": 4062.559326171875,
                        "z": 361.80279541015625
                    },
                    "rotation": {
                        "roll": -0.0014038082445040345,
                        "pitch": -2.0032944679260254,
                        "yaw": -179.738037109375
                    }
                },
                "velocity": {
                    "x": -9.361955642700195,
                    "y": -0.04265289381146431,
                    "z": -0.32927650213241577
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.97890567779541,
                "transform": {
                    "location": {
                        "x": -2004.8433837890625,
                        "y": 4062.47705078125,
                        "z": 361.1197814941406
                    },
                    "rotation": {
                        "roll": 0.0002541794965509325,
                        "pitch": -2.132507801055908,
                        "yaw": -179.7412109375
                    }
                },
                "velocity": {
                    "x": -8.972278594970703,
                    "y": -0.040639545768499374,
                    "z": -0.34251776337623596
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.136102676391602,
                "transform": {
                    "location": {
                        "x": -2024.3055419921875,
                        "y": 4062.39208984375,
                        "z": 360.3312683105469
                    },
                    "rotation": {
                        "roll": -0.0005493160570040345,
                        "pitch": -2.5361924171447754,
                        "yaw": -179.7517547607422
                    }
                },
                "velocity": {
                    "x": -8.128253936767578,
                    "y": -0.03533581271767616,
                    "z": -0.3555363118648529
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.109156608581543,
                "transform": {
                    "location": {
                        "x": -1975.8936767578125,
                        "y": 4065.85302734375,
                        "z": 362.1501770019531
                    },
                    "rotation": {
                        "roll": -0.0006408689660020173,
                        "pitch": -1.8996598720550537,
                        "yaw": -179.7506866455078
                    }
                },
                "velocity": {
                    "x": -13.101794242858887,
                    "y": -0.05767044425010681,
                    "z": -0.43549713492393494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.725746154785156,
                "transform": {
                    "location": {
                        "x": -1996.5731201171875,
                        "y": 4065.7626953125,
                        "z": 361.4239501953125
                    },
                    "rotation": {
                        "roll": -0.00091552670346573,
                        "pitch": -1.9406137466430664,
                        "yaw": -179.74961853027344
                    }
                },
                "velocity": {
                    "x": -13.716728210449219,
                    "y": -0.06030731648206711,
                    "z": -0.4938121736049652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015688987914472818,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.9803381292149425e-05,
                    "y": -1.1855311640829314e-05,
                    "z": 0.0015687290579080582
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.019434336572885513,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            44.92775343809409,
            0.3721086105261199
        ],
        "target_point_next": [
            95.92607239429412,
            0.7857828047942694
        ]
    },
    "175": {
        "acceleration": [
            -1.2370109558105469,
            0.2270674705505371,
            -0.06788492202758789
        ],
        "angular_velocity": [
            0.32066279649734497,
            0.0203638207167387,
            -0.8796356320381165
        ],
        "forward_vector": [
            -0.9991812109947205,
            0.006014172453433275,
            -0.04000811278820038
        ],
        "right_vector": [
            -0.0059885671362280846,
            -0.9999817609786987,
            -0.0007598138181492686
        ],
        "location": [
            -2018.000244140625,
            4065.811279296875,
            360.59979248046875
        ],
        "rotation": [
            0.043569013476371765,
            -2.292907953262329,
            179.65513610839844
        ],
        "velocity": [
            -14.68099308013916,
            0.09437424689531326,
            -0.6139335632324219
        ],
        "speed": 14.681296411338167,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 126.19636535644531,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2095.9404296875,
                        "y": 4071.9296875,
                        "z": 358.5040283203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6034130454063416,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2095.92626953125,
                        "y": 4068.6796875,
                        "z": 358.5040283203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6034130454063416,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.31486701965332,
                "transform": {
                    "location": {
                        "x": -2055.093994140625,
                        "y": 4072.184326171875,
                        "z": 358.99176025390625
                    },
                    "rotation": {
                        "roll": 0.012485971674323082,
                        "pitch": 2.1026735305786133,
                        "yaw": 0.5629778504371643
                    }
                },
                "velocity": {
                    "x": 7.3094048500061035,
                    "y": 0.06741629540920258,
                    "z": 0.27448511123657227
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.353658199310303,
                "transform": {
                    "location": {
                        "x": -2055.076416015625,
                        "y": 4068.934326171875,
                        "z": 358.9919128417969
                    },
                    "rotation": {
                        "roll": 0.012768307700753212,
                        "pitch": 2.103916645050049,
                        "yaw": 0.5329602956771851
                    }
                },
                "velocity": {
                    "x": 7.348195552825928,
                    "y": 0.06738787144422531,
                    "z": 0.27526605129241943
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.466897010803223,
                "transform": {
                    "location": {
                        "x": -1968.97216796875,
                        "y": 4062.633544921875,
                        "z": 362.380859375
                    },
                    "rotation": {
                        "roll": -0.0009155269945040345,
                        "pitch": -1.7254900932312012,
                        "yaw": -179.74632263183594
                    }
                },
                "velocity": {
                    "x": -9.461841583251953,
                    "y": -0.042168982326984406,
                    "z": -0.3064534366130829
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99843168258667,
                "transform": {
                    "location": {
                        "x": -2011.7181396484375,
                        "y": 4069.146728515625,
                        "z": 360.84869384765625
                    },
                    "rotation": {
                        "roll": 0.0003964249917771667,
                        "pitch": 2.2350223064422607,
                        "yaw": 0.2580280303955078
                    }
                },
                "velocity": {
                    "x": 7.992293357849121,
                    "y": 0.033241089433431625,
                    "z": 0.3115193545818329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024002075195312,
                "transform": {
                    "location": {
                        "x": -2010.880859375,
                        "y": 4072.401123046875,
                        "z": 360.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0010712099028751254,
                        "pitch": 2.255676746368408,
                        "yaw": 0.2679981291294098
                    }
                },
                "velocity": {
                    "x": 8.017882347106934,
                    "y": 0.035628460347652435,
                    "z": 0.3112960159778595
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03369140625,
                "transform": {
                    "location": {
                        "x": -1968.0242919921875,
                        "y": 4072.588134765625,
                        "z": 362.4039611816406
                    },
                    "rotation": {
                        "roll": 0.0013062682701274753,
                        "pitch": 1.8195486068725586,
                        "yaw": 0.2582643926143646
                    }
                },
                "velocity": {
                    "x": 8.02952766418457,
                    "y": 0.03594847768545151,
                    "z": 0.2561253011226654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02561092376709,
                "transform": {
                    "location": {
                        "x": -1968.94384765625,
                        "y": 4069.333740234375,
                        "z": 362.3797912597656
                    },
                    "rotation": {
                        "roll": -6.103514533606358e-05,
                        "pitch": 1.8560149669647217,
                        "yaw": 0.24224182963371277
                    }
                },
                "velocity": {
                    "x": 8.021368026733398,
                    "y": 0.03397705778479576,
                    "z": 0.25870442390441895
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.52333927154541,
                "transform": {
                    "location": {
                        "x": -1988.2371826171875,
                        "y": 4062.54931640625,
                        "z": 361.7242126464844
                    },
                    "rotation": {
                        "roll": 0.000370787107385695,
                        "pitch": -2.1705589294433594,
                        "yaw": -179.74473571777344
                    }
                },
                "velocity": {
                    "x": -8.51792049407959,
                    "y": -0.03800889104604721,
                    "z": -0.30149775743484497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.520790100097656,
                "transform": {
                    "location": {
                        "x": -2007.0596923828125,
                        "y": 4062.467041015625,
                        "z": 361.03570556640625
                    },
                    "rotation": {
                        "roll": -0.0002441408869344741,
                        "pitch": -2.258634090423584,
                        "yaw": -179.74766540527344
                    }
                },
                "velocity": {
                    "x": -8.514335632324219,
                    "y": -0.03738967329263687,
                    "z": -0.329465389251709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.102102279663086,
                "transform": {
                    "location": {
                        "x": -2026.3328857421875,
                        "y": 4062.3828125,
                        "z": 360.24169921875
                    },
                    "rotation": {
                        "roll": -0.0003356926026754081,
                        "pitch": -2.5299086570739746,
                        "yaw": -179.75100708007812
                    }
                },
                "velocity": {
                    "x": -8.094111442565918,
                    "y": -0.035177212208509445,
                    "z": -0.3580273985862732
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.402849197387695,
                "transform": {
                    "location": {
                        "x": -1979.206787109375,
                        "y": 4065.838623046875,
                        "z": 362.0382080078125
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -1.9074053764343262,
                        "yaw": -179.74493408203125
                    }
                },
                "velocity": {
                    "x": -13.394926071166992,
                    "y": -0.059856660664081573,
                    "z": -0.45687583088874817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.024956703186035,
                "transform": {
                    "location": {
                        "x": -2000.04052734375,
                        "y": 4065.7470703125,
                        "z": 361.29815673828125
                    },
                    "rotation": {
                        "roll": 0.0007865769439376891,
                        "pitch": -2.0033490657806396,
                        "yaw": -179.75369262695312
                    }
                },
                "velocity": {
                    "x": -14.015382766723633,
                    "y": -0.060176972299814224,
                    "z": -0.5146203637123108
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003003661404363811,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -5.939081347605679e-06,
                    "y": 1.8538892732067325e-07,
                    "z": 0.0003003073506988585
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.045028142631053925,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            41.2945472311868,
            0.4704673126329713
        ],
        "target_point_next": [
            92.29179664558049,
            0.9998205627768026
        ]
    },
    "180": {
        "acceleration": [
            -1.1066436767578125,
            0.3099742531776428,
            -0.1812148094177246
        ],
        "angular_velocity": [
            0.26985007524490356,
            -0.3788904845714569,
            -1.2250796556472778
        ],
        "forward_vector": [
            -0.9991360902786255,
            0.011002683080732822,
            -0.04007505252957344
        ],
        "right_vector": [
            -0.01093642134219408,
            -0.9999384880065918,
            -0.0018723106477409601
        ],
        "location": [
            -2021.7095947265625,
            4065.843017578125,
            360.44451904296875
        ],
        "rotation": [
            0.1073618084192276,
            -2.2967464923858643,
            179.36907958984375
        ],
        "velocity": [
            -14.974998474121094,
            0.16582274436950684,
            -0.633014976978302
        ],
        "speed": 14.975916548995569,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 122.4857406616211,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2093.87646484375,
                        "y": 4071.938232421875,
                        "z": 358.2854919433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6034130454063416,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2093.8623046875,
                        "y": 4068.688232421875,
                        "z": 358.2854919433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6034130454063416,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.353437423706055,
                "transform": {
                    "location": {
                        "x": -2053.17431640625,
                        "y": 4072.201904296875,
                        "z": 359.062255859375
                    },
                    "rotation": {
                        "roll": 0.010704421438276768,
                        "pitch": 2.2754499912261963,
                        "yaw": 0.47446849942207336
                    }
                },
                "velocity": {
                    "x": 8.347244262695312,
                    "y": 0.06257205456495285,
                    "z": 0.31547462940216064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.324335098266602,
                "transform": {
                    "location": {
                        "x": -2053.14453125,
                        "y": 4068.951904296875,
                        "z": 359.0628356933594
                    },
                    "rotation": {
                        "roll": 0.008388902060687542,
                        "pitch": 2.271761655807495,
                        "yaw": 0.4497319757938385
                    }
                },
                "velocity": {
                    "x": 8.318137168884277,
                    "y": 0.06235986575484276,
                    "z": 0.3150378465652466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.444694519042969,
                "transform": {
                    "location": {
                        "x": -1971.365478515625,
                        "y": 4062.622314453125,
                        "z": 362.304443359375
                    },
                    "rotation": {
                        "roll": 7.966026896610856e-05,
                        "pitch": -1.8910539150238037,
                        "yaw": -179.7416229248047
                    }
                },
                "velocity": {
                    "x": -9.439562797546387,
                    "y": -0.04242396354675293,
                    "z": -0.30837830901145935
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0543212890625,
                "transform": {
                    "location": {
                        "x": -2009.71240234375,
                        "y": 4069.155517578125,
                        "z": 360.9267883300781
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 2.243771553039551,
                        "yaw": 0.25613436102867126
                    }
                },
                "velocity": {
                    "x": 8.048117637634277,
                    "y": 0.0382385179400444,
                    "z": 0.3137263357639313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021921157836914,
                "transform": {
                    "location": {
                        "x": -2008.875732421875,
                        "y": 4072.4111328125,
                        "z": 360.9717102050781
                    },
                    "rotation": {
                        "roll": -0.00045776416664011776,
                        "pitch": 2.2592010498046875,
                        "yaw": 0.24286623299121857
                    }
                },
                "velocity": {
                    "x": 8.015746116638184,
                    "y": 0.03585604205727577,
                    "z": 0.3126325309276581
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066225051879883,
                "transform": {
                    "location": {
                        "x": -1966.012451171875,
                        "y": 4072.59765625,
                        "z": 362.4677734375
                    },
                    "rotation": {
                        "roll": -0.0005493161734193563,
                        "pitch": 1.806646466255188,
                        "yaw": 0.2550946772098541
                    }
                },
                "velocity": {
                    "x": 8.06215763092041,
                    "y": 0.035750456154346466,
                    "z": 0.2536261975765228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024527549743652,
                "transform": {
                    "location": {
                        "x": -1966.93896484375,
                        "y": 4069.342041015625,
                        "z": 362.4440002441406
                    },
                    "rotation": {
                        "roll": 0.00012105358473490924,
                        "pitch": 1.8217411041259766,
                        "yaw": 0.24888375401496887
                    }
                },
                "velocity": {
                    "x": 8.020456314086914,
                    "y": 0.03488870710134506,
                    "z": 0.25317633152008057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.243741989135742,
                "transform": {
                    "location": {
                        "x": -1990.2994384765625,
                        "y": 4062.53955078125,
                        "z": 361.651123046875
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": -2.120664358139038,
                        "yaw": -179.74429321289062
                    }
                },
                "velocity": {
                    "x": -8.238496780395508,
                    "y": -0.03667812421917915,
                    "z": -0.29175639152526855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.720921516418457,
                "transform": {
                    "location": {
                        "x": -2009.1961669921875,
                        "y": 4062.45751953125,
                        "z": 360.9518127441406
                    },
                    "rotation": {
                        "roll": 6.537812441820279e-05,
                        "pitch": -2.246858835220337,
                        "yaw": -179.75128173828125
                    }
                },
                "velocity": {
                    "x": -8.71410083770752,
                    "y": -0.03775304928421974,
                    "z": -0.34275713562965393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.13701343536377,
                "transform": {
                    "location": {
                        "x": -2028.36083984375,
                        "y": 4062.3740234375,
                        "z": 360.1522216796875
                    },
                    "rotation": {
                        "roll": 5.013535337639041e-05,
                        "pitch": -2.5253872871398926,
                        "yaw": -179.75360107421875
                    }
                },
                "velocity": {
                    "x": -8.129045486450195,
                    "y": -0.034739091992378235,
                    "z": -0.358325719833374
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.687013626098633,
                "transform": {
                    "location": {
                        "x": -1982.5924072265625,
                        "y": 4065.82373046875,
                        "z": 361.9215393066406
                    },
                    "rotation": {
                        "roll": 0.0007414558785967529,
                        "pitch": -1.9683852195739746,
                        "yaw": -179.7560272216797
                    }
                },
                "velocity": {
                    "x": -13.678576469421387,
                    "y": -0.058068763464689255,
                    "z": -0.47698089480400085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.314827919006348,
                "transform": {
                    "location": {
                        "x": -2003.5821533203125,
                        "y": 4065.7314453125,
                        "z": 361.1679992675781
                    },
                    "rotation": {
                        "roll": 0.0006987990345805883,
                        "pitch": -2.0027480125427246,
                        "yaw": -179.75650024414062
                    }
                },
                "velocity": {
                    "x": -14.305071830749512,
                    "y": -0.06099075824022293,
                    "z": -0.5248606204986572
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011423524701967835,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -7.192343218775932e-06,
                    "y": 2.0580198906827718e-05,
                    "z": 0.0011421444360166788
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.08010828495025635,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            37.58220830573694,
            0.6675340319965983
        ],
        "target_point_next": [
            88.57617901957414,
            1.4515069483842176
        ]
    },
    "185": {
        "acceleration": [
            -0.21894454956054688,
            0.2726954221725464,
            -0.12217402458190918
        ],
        "angular_velocity": [
            0.14521023631095886,
            -0.3507974147796631,
            -1.1422855854034424
        ],
        "forward_vector": [
            -0.9989344477653503,
            0.01641664281487465,
            -0.04313251003623009
        ],
        "right_vector": [
            -0.01631752960383892,
            -0.9998633861541748,
            -0.002648966619744897
        ],
        "location": [
            -2025.478759765625,
            4065.894287109375,
            360.2822265625
        ],
        "rotation": [
            0.15191616117954254,
            -2.4720776081085205,
            179.0584716796875
        ],
        "velocity": [
            -15.142313957214355,
            0.24538032710552216,
            -0.6675916314125061
        ],
        "speed": 15.144302013753526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 118.71546936035156,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.811263561248779,
                "transform": {
                    "location": {
                        "x": -2091.902099609375,
                        "y": 4071.948974609375,
                        "z": 358.2696533203125
                    },
                    "rotation": {
                        "roll": -0.01904296875,
                        "pitch": 0.3317764103412628,
                        "yaw": 0.3139740526676178
                    }
                },
                "velocity": {
                    "x": 6.8102264404296875,
                    "y": 0.0625484436750412,
                    "z": -0.1010717824101448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.096324920654297,
                "transform": {
                    "location": {
                        "x": -2091.944580078125,
                        "y": 4068.6982421875,
                        "z": 358.2591247558594
                    },
                    "rotation": {
                        "roll": -0.00347900390625,
                        "pitch": 0.5612093210220337,
                        "yaw": 0.29796791076660156
                    }
                },
                "velocity": {
                    "x": 7.094611644744873,
                    "y": 0.06471621245145798,
                    "z": -0.14185763895511627
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.365626335144043,
                "transform": {
                    "location": {
                        "x": -2051.049072265625,
                        "y": 4072.217529296875,
                        "z": 359.14544677734375
                    },
                    "rotation": {
                        "roll": 0.006060368847101927,
                        "pitch": 2.26611328125,
                        "yaw": 0.3638349771499634
                    }
                },
                "velocity": {
                    "x": 8.358502388000488,
                    "y": 0.05334479361772537,
                    "z": 0.34102103114128113
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.42915153503418,
                "transform": {
                    "location": {
                        "x": -2051.00244140625,
                        "y": 4068.967529296875,
                        "z": 359.1468200683594
                    },
                    "rotation": {
                        "roll": 0.0048933373764157295,
                        "pitch": 2.26958966255188,
                        "yaw": 0.36444351077079773
                    }
                },
                "velocity": {
                    "x": 8.421937942504883,
                    "y": 0.05370583012700081,
                    "z": 0.34447798132896423
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.516534805297852,
                "transform": {
                    "location": {
                        "x": -1973.597900390625,
                        "y": 4062.61279296875,
                        "z": 362.2328796386719
                    },
                    "rotation": {
                        "roll": 0.0010777186835184693,
                        "pitch": -2.1113274097442627,
                        "yaw": -179.7477569580078
                    }
                },
                "velocity": {
                    "x": -8.511770248413086,
                    "y": -0.03717459738254547,
                    "z": -0.282412052154541
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.998657703399658,
                "transform": {
                    "location": {
                        "x": -2007.707763671875,
                        "y": 4069.1640625,
                        "z": 361.0050964355469
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 2.245055675506592,
                        "yaw": 0.25003382563591003
                    }
                },
                "velocity": {
                    "x": 7.992486476898193,
                    "y": 0.036245252937078476,
                    "z": 0.31204697489738464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.016491889953613,
                "transform": {
                    "location": {
                        "x": -2006.8734130859375,
                        "y": 4072.4208984375,
                        "z": 361.0499267578125
                    },
                    "rotation": {
                        "roll": 0.0005852491594851017,
                        "pitch": 2.2585384845733643,
                        "yaw": 0.26728296279907227
                    }
                },
                "velocity": {
                    "x": 8.010290145874023,
                    "y": 0.03547273576259613,
                    "z": 0.3132702708244324
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034744262695312,
                "transform": {
                    "location": {
                        "x": -1964.0010986328125,
                        "y": 4072.60546875,
                        "z": 362.5308532714844
                    },
                    "rotation": {
                        "roll": -0.0003051760431844741,
                        "pitch": 1.7940925359725952,
                        "yaw": 0.24802027642726898
                    }
                },
                "velocity": {
                    "x": 8.03088092803955,
                    "y": 0.034731511026620865,
                    "z": 0.24671590328216553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026005744934082,
                "transform": {
                    "location": {
                        "x": -1964.9337158203125,
                        "y": 4069.350830078125,
                        "z": 362.5072326660156
                    },
                    "rotation": {
                        "roll": -9.155237057711929e-05,
                        "pitch": 1.8247737884521484,
                        "yaw": 0.2521969974040985
                    }
                },
                "velocity": {
                    "x": 8.02197265625,
                    "y": 0.03536007180809975,
                    "z": 0.2519245147705078
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.069178581237793,
                "transform": {
                    "location": {
                        "x": -1992.4696044921875,
                        "y": 4062.530029296875,
                        "z": 361.5743408203125
                    },
                    "rotation": {
                        "roll": 0.00030813043122179806,
                        "pitch": -1.9285584688186646,
                        "yaw": -179.747802734375
                    }
                },
                "velocity": {
                    "x": -9.063409805297852,
                    "y": -0.03989856690168381,
                    "z": -0.3209606111049652
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.538946151733398,
                "transform": {
                    "location": {
                        "x": -2011.3941650390625,
                        "y": 4062.44775390625,
                        "z": 360.86566162109375
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -2.2443795204162598,
                        "yaw": -179.75250244140625
                    }
                },
                "velocity": {
                    "x": -8.532341003417969,
                    "y": -0.036879368126392365,
                    "z": -0.3337721824645996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.10303783416748,
                "transform": {
                    "location": {
                        "x": -2030.38818359375,
                        "y": 4062.364990234375,
                        "z": 360.0626525878906
                    },
                    "rotation": {
                        "roll": 0.0004896976170130074,
                        "pitch": -2.5368893146514893,
                        "yaw": -179.74989318847656
                    }
                },
                "velocity": {
                    "x": -8.09483814239502,
                    "y": -0.03512054681777954,
                    "z": -0.3627326488494873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.951570510864258,
                "transform": {
                    "location": {
                        "x": -1986.046630859375,
                        "y": 4065.80810546875,
                        "z": 361.8005065917969
                    },
                    "rotation": {
                        "roll": -0.0006408692570403218,
                        "pitch": -1.9835482835769653,
                        "yaw": -179.748779296875
                    }
                },
                "velocity": {
                    "x": -13.942813873291016,
                    "y": -0.06033090129494667,
                    "z": -0.4905425012111664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.573285102844238,
                "transform": {
                    "location": {
                        "x": -2007.192138671875,
                        "y": 4065.7158203125,
                        "z": 361.0323791503906
                    },
                    "rotation": {
                        "roll": 0.0011550287017598748,
                        "pitch": -2.144590377807617,
                        "yaw": -179.75149536132812
                    }
                },
                "velocity": {
                    "x": -14.562350273132324,
                    "y": -0.060820307582616806,
                    "z": -0.5611612796783447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005754398880526423,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -7.943250238895416e-06,
                    "y": -8.875264029484242e-06,
                    "z": 0.0005753166042268276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.12119459360837936,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            33.8085386550486,
            0.8605901004576159
        ],
        "target_point_next": [
            84.79751001688733,
            1.9209967012041265
        ]
    },
    "190": {
        "acceleration": [
            0.7622146606445312,
            0.17440199851989746,
            0.05682826042175293
        ],
        "angular_velocity": [
            0.028456106781959534,
            -0.3544261157512665,
            -0.6377170085906982
        ],
        "forward_vector": [
            -0.998799204826355,
            0.020091937854886055,
            -0.044681448489427567
        ],
        "right_vector": [
            -0.019992103800177574,
            -0.9997965693473816,
            -0.002680137986317277
        ],
        "location": [
            -2029.25244140625,
            4065.961669921875,
            360.1153564453125
        ],
        "rotation": [
            0.15371429920196533,
            -2.560910940170288,
            178.84759521484375
        ],
        "velocity": [
            -15.023921012878418,
            0.2976776659488678,
            -0.6647723913192749
        ],
        "speed": 15.02686975367839,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 114.94093322753906,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.983415603637695,
                "transform": {
                    "location": {
                        "x": -2090.17529296875,
                        "y": 4071.9716796875,
                        "z": 358.2637023925781
                    },
                    "rotation": {
                        "roll": -0.0216064415872097,
                        "pitch": 0.521198034286499,
                        "yaw": 0.7240974307060242
                    }
                },
                "velocity": {
                    "x": 6.982508182525635,
                    "y": 0.10846639424562454,
                    "z": 0.03015666827559471
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.831315517425537,
                "transform": {
                    "location": {
                        "x": -2090.20556640625,
                        "y": 4068.717041015625,
                        "z": 358.2507629394531
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.5941513180732727,
                        "yaw": 0.6700186729431152
                    }
                },
                "velocity": {
                    "x": 6.830377578735352,
                    "y": 0.10499139875173569,
                    "z": 0.04235753044486046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9634599685668945,
                "transform": {
                    "location": {
                        "x": -2049.013916015625,
                        "y": 4072.230224609375,
                        "z": 359.2293701171875
                    },
                    "rotation": {
                        "roll": 0.0031031148973852396,
                        "pitch": 2.4195055961608887,
                        "yaw": 0.30285903811454773
                    }
                },
                "velocity": {
                    "x": 7.956296920776367,
                    "y": 0.04524388536810875,
                    "z": 0.3346475064754486
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991695404052734,
                "transform": {
                    "location": {
                        "x": -2048.95703125,
                        "y": 4068.980224609375,
                        "z": 359.2310791015625
                    },
                    "rotation": {
                        "roll": 0.0038450935389846563,
                        "pitch": 2.423036813735962,
                        "yaw": 0.3155039846897125
                    }
                },
                "velocity": {
                    "x": 7.984526634216309,
                    "y": 0.04567471519112587,
                    "z": 0.3353261351585388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.453605651855469,
                "transform": {
                    "location": {
                        "x": -1975.700927734375,
                        "y": 4062.60302734375,
                        "z": 362.1617736816406
                    },
                    "rotation": {
                        "roll": 0.001847561914473772,
                        "pitch": -2.022186756134033,
                        "yaw": -179.75662231445312
                    }
                },
                "velocity": {
                    "x": -8.448805809020996,
                    "y": -0.03596746549010277,
                    "z": -0.2825457453727722
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05631160736084,
                "transform": {
                    "location": {
                        "x": -2005.70263671875,
                        "y": 4069.172607421875,
                        "z": 361.0827331542969
                    },
                    "rotation": {
                        "roll": 0.0005400083609856665,
                        "pitch": 2.2102558612823486,
                        "yaw": 0.24692368507385254
                    }
                },
                "velocity": {
                    "x": 8.050617218017578,
                    "y": 0.03455236554145813,
                    "z": 0.30086761713027954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024935722351074,
                "transform": {
                    "location": {
                        "x": -2004.8702392578125,
                        "y": 4072.4287109375,
                        "z": 361.1260070800781
                    },
                    "rotation": {
                        "roll": -0.00012207060353830457,
                        "pitch": 2.1669321060180664,
                        "yaw": 0.2246434986591339
                    }
                },
                "velocity": {
                    "x": 8.019126892089844,
                    "y": 0.033280033618211746,
                    "z": 0.3034575283527374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067554473876953,
                "transform": {
                    "location": {
                        "x": -1961.989501953125,
                        "y": 4072.6142578125,
                        "z": 362.59320068359375
                    },
                    "rotation": {
                        "roll": 0.00014214555267244577,
                        "pitch": 1.7464860677719116,
                        "yaw": 0.2495352178812027
                    }
                },
                "velocity": {
                    "x": 8.0636625289917,
                    "y": 0.035447653383016586,
                    "z": 0.24803735315799713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024192810058594,
                "transform": {
                    "location": {
                        "x": -1962.9287109375,
                        "y": 4069.360595703125,
                        "z": 362.5694580078125
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 1.7849059104919434,
                        "yaw": 0.25236865878105164
                    }
                },
                "velocity": {
                    "x": 8.020298957824707,
                    "y": 0.03528428077697754,
                    "z": 0.24744397401809692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.929118156433105,
                "transform": {
                    "location": {
                        "x": -1994.70166015625,
                        "y": 4062.520263671875,
                        "z": 361.4952697753906
                    },
                    "rotation": {
                        "roll": 0.0013093756278976798,
                        "pitch": -2.0304784774780273,
                        "yaw": -179.75759887695312
                    }
                },
                "velocity": {
                    "x": -8.923455238342285,
                    "y": -0.036777205765247345,
                    "z": -0.3158370852470398
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.49073314666748,
                "transform": {
                    "location": {
                        "x": -2013.493408203125,
                        "y": 4062.43798828125,
                        "z": 360.7828369140625
                    },
                    "rotation": {
                        "roll": 0.00028420626767911017,
                        "pitch": -2.283475637435913,
                        "yaw": -179.75514221191406
                    }
                },
                "velocity": {
                    "x": -8.48361873626709,
                    "y": -0.03624856472015381,
                    "z": -0.34561699628829956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.138150215148926,
                "transform": {
                    "location": {
                        "x": -2032.4163818359375,
                        "y": 4062.356201171875,
                        "z": 359.9719543457031
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -2.5921318531036377,
                        "yaw": -179.7511444091797
                    }
                },
                "velocity": {
                    "x": -8.129863739013672,
                    "y": -0.035273563116788864,
                    "z": -0.3654714822769165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.157708168029785,
                "transform": {
                    "location": {
                        "x": -1989.5615234375,
                        "y": 4065.79248046875,
                        "z": 361.67633056640625
                    },
                    "rotation": {
                        "roll": -0.0007019044132903218,
                        "pitch": -2.0050907135009766,
                        "yaw": -179.7498321533203
                    }
                },
                "velocity": {
                    "x": -14.148662567138672,
                    "y": -0.061951249837875366,
                    "z": -0.5022101402282715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.646310806274414,
                "transform": {
                    "location": {
                        "x": -2010.847412109375,
                        "y": 4065.7001953125,
                        "z": 360.8892517089844
                    },
                    "rotation": {
                        "roll": 0.0010145361302420497,
                        "pitch": -2.2137460708618164,
                        "yaw": -179.75582885742188
                    }
                },
                "velocity": {
                    "x": -14.634838104248047,
                    "y": -0.06255447119474411,
                    "z": -0.5762161016464233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0340310331666842e-05,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -7.108598765626084e-06,
                    "y": 3.713830665219575e-07,
                    "z": 2.9493463443941437e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.16648611426353455,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            30.030868984034193,
            0.9764814821760446
        ],
        "target_point_next": [
            81.01559251622113,
            2.224531578839131
        ]
    },
    "195": {
        "acceleration": [
            0.7933425903320312,
            -0.08170187473297119,
            0.0010335445404052734
        ],
        "angular_velocity": [
            -0.2638145685195923,
            -0.4481257498264313,
            0.3411732614040375
        ],
        "forward_vector": [
            -0.9986832737922668,
            0.020790640264749527,
            -0.04689915105700493
        ],
        "right_vector": [
            -0.02072274684906006,
            -0.999783456325531,
            -0.0019334511598572135
        ],
        "location": [
            -2032.9805908203125,
            4066.037353515625,
            359.94915771484375
        ],
        "rotation": [
            0.11090068519115448,
            -2.6881096363067627,
            178.80738830566406
        ],
        "velocity": [
            -14.82016658782959,
            0.3001770079135895,
            -0.6663737297058105
        ],
        "speed": 14.823206263393237,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 111.21222686767578,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.737904071807861,
                "transform": {
                    "location": {
                        "x": -2088.461181640625,
                        "y": 4071.998779296875,
                        "z": 358.27691650390625
                    },
                    "rotation": {
                        "roll": 0.010039301589131355,
                        "pitch": 0.5786809325218201,
                        "yaw": 0.8524689674377441
                    }
                },
                "velocity": {
                    "x": 6.736979961395264,
                    "y": 0.09150339663028717,
                    "z": 0.06386037915945053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.009994029998779,
                "transform": {
                    "location": {
                        "x": -2088.474365234375,
                        "y": 4068.742431640625,
                        "z": 358.2673645019531
                    },
                    "rotation": {
                        "roll": 0.00727442791685462,
                        "pitch": 0.6023816466331482,
                        "yaw": 0.961753249168396
                    }
                },
                "velocity": {
                    "x": 7.008799076080322,
                    "y": 0.10440753400325775,
                    "z": 0.07646375149488449
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.87308406829834,
                "transform": {
                    "location": {
                        "x": -2047.042724609375,
                        "y": 4072.240966796875,
                        "z": 359.31304931640625
                    },
                    "rotation": {
                        "roll": 0.0023756311275064945,
                        "pitch": 2.4873976707458496,
                        "yaw": 0.2772069573402405
                    }
                },
                "velocity": {
                    "x": 7.865551471710205,
                    "y": 0.03991609066724777,
                    "z": 0.34198516607284546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.869735240936279,
                "transform": {
                    "location": {
                        "x": -2046.9832763671875,
                        "y": 4068.990966796875,
                        "z": 359.3150329589844
                    },
                    "rotation": {
                        "roll": 0.0024595684371888638,
                        "pitch": 2.4852802753448486,
                        "yaw": 0.28440847992897034
                    }
                },
                "velocity": {
                    "x": 7.862193584442139,
                    "y": 0.04048663005232811,
                    "z": 0.34205740690231323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.818266868591309,
                "transform": {
                    "location": {
                        "x": -1977.864990234375,
                        "y": 4062.593017578125,
                        "z": 362.0876770019531
                    },
                    "rotation": {
                        "roll": 0.0006773753557354212,
                        "pitch": -1.853911280632019,
                        "yaw": -179.75897216796875
                    }
                },
                "velocity": {
                    "x": -8.81313419342041,
                    "y": -0.03703610226511955,
                    "z": -0.29854628443717957
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.999706745147705,
                "transform": {
                    "location": {
                        "x": -2003.69775390625,
                        "y": 4069.181884765625,
                        "z": 361.1581115722656
                    },
                    "rotation": {
                        "roll": 0.000520256464369595,
                        "pitch": 2.096731424331665,
                        "yaw": 0.2519017457962036
                    }
                },
                "velocity": {
                    "x": 7.994226932525635,
                    "y": 0.03373934328556061,
                    "z": 0.29411935806274414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020524024963379,
                "transform": {
                    "location": {
                        "x": -2002.866943359375,
                        "y": 4072.436767578125,
                        "z": 361.2007751464844
                    },
                    "rotation": {
                        "roll": -0.0008544924785383046,
                        "pitch": 2.1081924438476562,
                        "yaw": 0.25501421093940735
                    }
                },
                "velocity": {
                    "x": 8.01511287689209,
                    "y": 0.03525090217590332,
                    "z": 0.2924616038799286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1959.951416015625,
                        "y": 4072.5654296875,
                        "z": 362.65869140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.731801152229309,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1960.9080810546875,
                        "y": 4069.34765625,
                        "z": 362.6316833496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.731801152229309,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.657733917236328,
                "transform": {
                    "location": {
                        "x": -1996.9227294921875,
                        "y": 4062.510498046875,
                        "z": 361.415771484375
                    },
                    "rotation": {
                        "roll": 0.0010974006727337837,
                        "pitch": -2.1244754791259766,
                        "yaw": -179.75726318359375
                    }
                },
                "velocity": {
                    "x": -8.652036666870117,
                    "y": -0.0366496667265892,
                    "z": -0.3118831515312195
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.590667724609375,
                "transform": {
                    "location": {
                        "x": -2015.65869140625,
                        "y": 4062.427978515625,
                        "z": 360.6950988769531
                    },
                    "rotation": {
                        "roll": 0.0005368745769374073,
                        "pitch": -2.3902313709259033,
                        "yaw": -179.75767517089844
                    }
                },
                "velocity": {
                    "x": -8.583333969116211,
                    "y": -0.03738980367779732,
                    "z": -0.35292378067970276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.104241371154785,
                "transform": {
                    "location": {
                        "x": -2034.4444580078125,
                        "y": 4062.34716796875,
                        "z": 359.8802795410156
                    },
                    "rotation": {
                        "roll": 0.00018602686759550124,
                        "pitch": -2.5996038913726807,
                        "yaw": -179.750732421875
                    }
                },
                "velocity": {
                    "x": -8.09582233428955,
                    "y": -0.03528568148612976,
                    "z": -0.36762967705726624
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.144559860229492,
                "transform": {
                    "location": {
                        "x": -1993.102783203125,
                        "y": 4065.77685546875,
                        "z": 361.55084228515625
                    },
                    "rotation": {
                        "roll": 0.0019583087414503098,
                        "pitch": -2.0325002670288086,
                        "yaw": -179.7555389404297
                    }
                },
                "velocity": {
                    "x": -14.135542869567871,
                    "y": -0.059347622096538544,
                    "z": -0.5014708638191223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.462091445922852,
                "transform": {
                    "location": {
                        "x": -2014.4837646484375,
                        "y": 4065.6845703125,
                        "z": 360.74530029296875
                    },
                    "rotation": {
                        "roll": 0.0008748424588702619,
                        "pitch": -2.368197202682495,
                        "yaw": -179.75584411621094
                    }
                },
                "velocity": {
                    "x": -14.450091361999512,
                    "y": -0.061600904911756516,
                    "z": -0.5857868790626526
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008431310416199267,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -7.188431936810957e-06,
                    "y": 3.820876372628845e-06,
                    "z": 0.0008430917514488101
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2034740298986435,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            26.30125914308186,
            0.9956318418609995
        ],
        "target_point_next": [
            77.28509410430293,
            2.279468024669649
        ]
    },
    "200": {
        "acceleration": [
            0.6810951232910156,
            -0.20123302936553955,
            0.0427556037902832
        ],
        "angular_velocity": [
            -0.21043238043785095,
            -0.01081709936261177,
            0.8238046765327454
        ],
        "forward_vector": [
            -0.9987179636955261,
            0.017797641456127167,
            -0.04738951101899147
        ],
        "right_vector": [
            -0.017780110239982605,
            -0.9998416304588318,
            -0.0007914835587143898
        ],
        "location": [
            -2036.660888671875,
            4066.107421875,
            359.7823486328125
        ],
        "rotation": [
            0.04539967700839043,
            -2.7162363529205322,
            178.97906494140625
        ],
        "velocity": [
            -14.637118339538574,
            0.25781869888305664,
            -0.6658165454864502
        ],
        "speed": 14.639388777102349,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 107.5315933227539,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.6192498207092285,
                "transform": {
                    "location": {
                        "x": -2086.978759765625,
                        "y": 4072.017333984375,
                        "z": 358.2916259765625
                    },
                    "rotation": {
                        "roll": 0.011162671260535717,
                        "pitch": 0.4466055631637573,
                        "yaw": 0.7464298009872437
                    }
                },
                "velocity": {
                    "x": 5.618546485900879,
                    "y": 0.06731351464986801,
                    "z": 0.05806741490960121
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.4715800285339355,
                "transform": {
                    "location": {
                        "x": -2086.7705078125,
                        "y": 4068.766357421875,
                        "z": 358.2858581542969
                    },
                    "rotation": {
                        "roll": 0.008342835120856762,
                        "pitch": 0.5949367880821228,
                        "yaw": 0.8945971131324768
                    }
                },
                "velocity": {
                    "x": 6.470671653747559,
                    "y": 0.08400972187519073,
                    "z": 0.06855770200490952
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.93396520614624,
                "transform": {
                    "location": {
                        "x": -2045.0693359375,
                        "y": 4072.25048828125,
                        "z": 359.4000244140625
                    },
                    "rotation": {
                        "roll": 0.00031690302421338856,
                        "pitch": 2.538712978363037,
                        "yaw": 0.2602880597114563
                    }
                },
                "velocity": {
                    "x": 7.925928115844727,
                    "y": 0.03684145212173462,
                    "z": 0.355121910572052
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.923763751983643,
                "transform": {
                    "location": {
                        "x": -2045.0125732421875,
                        "y": 4069.00048828125,
                        "z": 359.4019470214844
                    },
                    "rotation": {
                        "roll": 0.0014321045018732548,
                        "pitch": 2.5401129722595215,
                        "yaw": 0.2661452293395996
                    }
                },
                "velocity": {
                    "x": 7.915737152099609,
                    "y": 0.037160590291023254,
                    "z": 0.35462599992752075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.04068374633789,
                "transform": {
                    "location": {
                        "x": -1980.0853271484375,
                        "y": 4062.583740234375,
                        "z": 362.0121765136719
                    },
                    "rotation": {
                        "roll": 0.0010765418410301208,
                        "pitch": -1.9107589721679688,
                        "yaw": -179.76475524902344
                    }
                },
                "velocity": {
                    "x": -9.035243034362793,
                    "y": -0.03726227581501007,
                    "z": -0.3113843500614166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053055763244629,
                "transform": {
                    "location": {
                        "x": -2001.6927490234375,
                        "y": 4069.190185546875,
                        "z": 361.2313232421875
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 2.099839210510254,
                        "yaw": 0.25216972827911377
                    }
                },
                "velocity": {
                    "x": 8.047599792480469,
                    "y": 0.0376766063272953,
                    "z": 0.29397767782211304
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021145820617676,
                "transform": {
                    "location": {
                        "x": -2000.863037109375,
                        "y": 4072.4453125,
                        "z": 361.2738952636719
                    },
                    "rotation": {
                        "roll": -4.1716605170272203e-10,
                        "pitch": 2.115835428237915,
                        "yaw": 0.23518480360507965
                    }
                },
                "velocity": {
                    "x": 8.01577377319336,
                    "y": 0.0337989442050457,
                    "z": 0.29156437516212463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1957.86962890625,
                        "y": 4072.541748046875,
                        "z": 362.7228698730469
                    },
                    "rotation": {
                        "roll": 8.341199952965894e-10,
                        "pitch": 1.675739049911499,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4263,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1958.82666015625,
                        "y": 4069.29296875,
                        "z": 362.69464111328125
                    },
                    "rotation": {
                        "roll": 8.341199952965894e-10,
                        "pitch": 1.675739049911499,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.949420928955078,
                "transform": {
                    "location": {
                        "x": -1998.98681640625,
                        "y": 4062.501708984375,
                        "z": 361.3410949707031
                    },
                    "rotation": {
                        "roll": -0.0006713871844112873,
                        "pitch": -2.2442634105682373,
                        "yaw": -179.7545928955078
                    }
                },
                "velocity": {
                    "x": -7.944028854370117,
                    "y": -0.035264842212200165,
                    "z": -0.29060792922973633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.610617637634277,
                "transform": {
                    "location": {
                        "x": -2017.7821044921875,
                        "y": 4062.41845703125,
                        "z": 360.60662841796875
                    },
                    "rotation": {
                        "roll": 0.0001166038928204216,
                        "pitch": -2.3887014389038086,
                        "yaw": -179.75552368164062
                    }
                },
                "velocity": {
                    "x": -8.60302734375,
                    "y": -0.03578246384859085,
                    "z": -0.3596932888031006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.137986183166504,
                "transform": {
                    "location": {
                        "x": -2036.4730224609375,
                        "y": 4062.33837890625,
                        "z": 359.78826904296875
                    },
                    "rotation": {
                        "roll": 0.0005193760152906179,
                        "pitch": -2.596038579940796,
                        "yaw": -179.7544708251953
                    }
                },
                "velocity": {
                    "x": -8.129562377929688,
                    "y": -0.03387339785695076,
                    "z": -0.36864063143730164
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.914629936218262,
                "transform": {
                    "location": {
                        "x": -1996.6087646484375,
                        "y": 4065.76171875,
                        "z": 361.42608642578125
                    },
                    "rotation": {
                        "roll": 0.002325344830751419,
                        "pitch": -2.0892317295074463,
                        "yaw": -179.76307678222656
                    }
                },
                "velocity": {
                    "x": -13.905536651611328,
                    "y": -0.05832513049244881,
                    "z": -0.4995766282081604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.238574981689453,
                "transform": {
                    "location": {
                        "x": -2018.064697265625,
                        "y": 4065.6689453125,
                        "z": 360.5978698730469
                    },
                    "rotation": {
                        "roll": -0.00015258771600201726,
                        "pitch": -2.5082366466522217,
                        "yaw": -179.7563018798828
                    }
                },
                "velocity": {
                    "x": -14.22600269317627,
                    "y": -0.06052275002002716,
                    "z": -0.5951469540596008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002787932171486318,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -6.196833965077531e-06,
                    "y": -1.3275490573505522e-06,
                    "z": 0.0002787211851682514
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2414393424987793,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            22.62316235075258,
            0.9213007651347838
        ],
        "target_point_next": [
            73.61061536672517,
            2.0523611708177465
        ]
    },
    "205": {
        "acceleration": [
            0.27141571044921875,
            -0.2218124270439148,
            0.027619600296020508
        ],
        "angular_velocity": [
            -0.14022594690322876,
            0.12009608745574951,
            0.8514969348907471
        ],
        "forward_vector": [
            -0.9987891912460327,
            0.014079799875617027,
            -0.04713647440075874
        ],
        "right_vector": [
            -0.014096647500991821,
            -0.9999006390571594,
            2.5005865609273314e-05
        ],
        "location": [
            -2040.3026123046875,
            4066.165283203125,
            359.6169128417969
        ],
        "rotation": [
            -0.00143432489130646,
            -2.7017221450805664,
            179.19236755371094
        ],
        "velocity": [
            -14.519624710083008,
            0.2031550407409668,
            -0.6586489081382751
        ],
        "speed": 14.521045888372901,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 103.88970947265625,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.79898738861084,
                "transform": {
                    "location": {
                        "x": -2085.547119140625,
                        "y": 4072.0341796875,
                        "z": 358.3066711425781
                    },
                    "rotation": {
                        "roll": 0.00905209593474865,
                        "pitch": 0.5953534245491028,
                        "yaw": 0.6857612729072571
                    }
                },
                "velocity": {
                    "x": 5.798300266265869,
                    "y": 0.06627622246742249,
                    "z": 0.059827059507369995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.282904624938965,
                "transform": {
                    "location": {
                        "x": -2085.204833984375,
                        "y": 4068.787353515625,
                        "z": 358.3024597167969
                    },
                    "rotation": {
                        "roll": 0.006519916467368603,
                        "pitch": 0.5948684811592102,
                        "yaw": 0.7589102983474731
                    }
                },
                "velocity": {
                    "x": 6.2820892333984375,
                    "y": 0.07481053471565247,
                    "z": 0.06819496303796768
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0046968460083,
                "transform": {
                    "location": {
                        "x": -2043.0755615234375,
                        "y": 4072.260498046875,
                        "z": 359.4886779785156
                    },
                    "rotation": {
                        "roll": 0.00026496147620491683,
                        "pitch": 2.6125130653381348,
                        "yaw": 0.25387391448020935
                    }
                },
                "velocity": {
                    "x": 7.996401309967041,
                    "y": 0.0361088402569294,
                    "z": 0.36252716183662415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.006545066833496,
                "transform": {
                    "location": {
                        "x": -2043.0196533203125,
                        "y": 4069.010498046875,
                        "z": 359.4905700683594
                    },
                    "rotation": {
                        "roll": 0.0006103966734372079,
                        "pitch": 2.6132233142852783,
                        "yaw": 0.25839242339134216
                    }
                },
                "velocity": {
                    "x": 7.998289585113525,
                    "y": 0.0367930643260479,
                    "z": 0.36162757873535156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.430266380310059,
                "transform": {
                    "location": {
                        "x": -1982.285888671875,
                        "y": 4062.573974609375,
                        "z": 361.9376220703125
                    },
                    "rotation": {
                        "roll": 0.0007340775919146836,
                        "pitch": -2.10723614692688,
                        "yaw": -179.76528930664062
                    }
                },
                "velocity": {
                    "x": -8.425093650817871,
                    "y": -0.03458709269762039,
                    "z": -0.2932412326335907
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.001750946044922,
                "transform": {
                    "location": {
                        "x": -1999.687744140625,
                        "y": 4069.199951171875,
                        "z": 361.30462646484375
                    },
                    "rotation": {
                        "roll": 0.0009971881518140435,
                        "pitch": 2.1032679080963135,
                        "yaw": 0.2570042014122009
                    }
                },
                "velocity": {
                    "x": 7.996312618255615,
                    "y": 0.033887896686792374,
                    "z": 0.2929988503456116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.022223472595215,
                "transform": {
                    "location": {
                        "x": -1998.8590087890625,
                        "y": 4072.453125,
                        "z": 361.3471374511719
                    },
                    "rotation": {
                        "roll": -0.0010375980054959655,
                        "pitch": 2.117180824279785,
                        "yaw": 0.2570059299468994
                    }
                },
                "velocity": {
                    "x": 8.016794204711914,
                    "y": 0.03564754128456116,
                    "z": 0.2929346561431885
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.388829231262207,
                "transform": {
                    "location": {
                        "x": -2001.0018310546875,
                        "y": 4062.492919921875,
                        "z": 361.26715087890625
                    },
                    "rotation": {
                        "roll": -0.00042724524973891675,
                        "pitch": -2.080810070037842,
                        "yaw": -179.7489013671875
                    }
                },
                "velocity": {
                    "x": -8.383097648620605,
                    "y": -0.038413695991039276,
                    "z": -0.3076666295528412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.948020935058594,
                "transform": {
                    "location": {
                        "x": -2019.972412109375,
                        "y": 4062.408935546875,
                        "z": 360.5152587890625
                    },
                    "rotation": {
                        "roll": 0.0011352243600413203,
                        "pitch": -2.375669479370117,
                        "yaw": -179.76797485351562
                    }
                },
                "velocity": {
                    "x": -8.940218925476074,
                    "y": -0.03671809658408165,
                    "z": -0.3717806935310364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.141054153442383,
                "transform": {
                    "location": {
                        "x": -2038.503662109375,
                        "y": 4062.32958984375,
                        "z": 359.69622802734375
                    },
                    "rotation": {
                        "roll": -0.00018310590530745685,
                        "pitch": -2.5953965187072754,
                        "yaw": -179.75054931640625
                    }
                },
                "velocity": {
                    "x": -8.13263988494873,
                    "y": -0.03572382032871246,
                    "z": -0.36832094192504883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.692611694335938,
                "transform": {
                    "location": {
                        "x": -2000.0537109375,
                        "y": 4065.748046875,
                        "z": 361.3009948730469
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -2.1484358310699463,
                        "yaw": -179.75576782226562
                    }
                },
                "velocity": {
                    "x": -13.683262825012207,
                    "y": -0.05896991118788719,
                    "z": -0.5024439096450806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.080123901367188,
                "transform": {
                    "location": {
                        "x": -2021.59912109375,
                        "y": 4065.6533203125,
                        "z": 360.4499206542969
                    },
                    "rotation": {
                        "roll": -0.0029907214920967817,
                        "pitch": -2.5065836906433105,
                        "yaw": -179.7444305419922
                    }
                },
                "velocity": {
                    "x": -14.067435264587402,
                    "y": -0.06236055865883827,
                    "z": -0.5943564176559448
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010409950045868754,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -7.15974692866439e-06,
                    "y": 9.559166755934712e-06,
                    "z": 0.0010409264359623194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.26595205068588257,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            18.984257857424176,
            0.84360043657584
        ],
        "target_point_next": [
            69.97556812755518,
            1.7848440992637147
        ]
    },
    "210": {
        "acceleration": [
            -0.110015869140625,
            -0.217418372631073,
            0.05385279655456543
        ],
        "angular_velocity": [
            -0.07303591817617416,
            0.276682585477829,
            0.8548535108566284
        ],
        "forward_vector": [
            -0.9988657236099243,
            0.010344723239541054,
            -0.04647868499159813
        ],
        "right_vector": [
            -0.010379851795732975,
            -0.9999459981918335,
            0.0005144985043443739
        ],
        "location": [
            -2043.929931640625,
            4066.209228515625,
            359.45245361328125
        ],
        "rotation": [
            -0.029510486871004105,
            -2.663992166519165,
            179.40664672851562
        ],
        "velocity": [
            -14.510825157165527,
            0.14827175438404083,
            -0.6554906964302063
        ],
        "speed": 14.511582658517163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 100.26239776611328,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.113728523254395,
                "transform": {
                    "location": {
                        "x": -2083.78515625,
                        "y": 4072.0537109375,
                        "z": 358.32672119140625
                    },
                    "rotation": {
                        "roll": 0.01452083420008421,
                        "pitch": 1.0185177326202393,
                        "yaw": 0.6280425786972046
                    }
                },
                "velocity": {
                    "x": 8.112810134887695,
                    "y": 0.0764116421341896,
                    "z": 0.09524770826101303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0296630859375,
                "transform": {
                    "location": {
                        "x": -2083.55029296875,
                        "y": 4068.807373046875,
                        "z": 358.3211669921875
                    },
                    "rotation": {
                        "roll": 0.0059501673094928265,
                        "pitch": 0.6973007917404175,
                        "yaw": 0.6334548592567444
                    }
                },
                "velocity": {
                    "x": 7.028831481933594,
                    "y": 0.06706209480762482,
                    "z": 0.08480081707239151
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941711902618408,
                "transform": {
                    "location": {
                        "x": -2041.0843505859375,
                        "y": 4072.26953125,
                        "z": 359.5792541503906
                    },
                    "rotation": {
                        "roll": 4.635827644960955e-05,
                        "pitch": 2.600252866744995,
                        "yaw": 0.25045645236968994
                    }
                },
                "velocity": {
                    "x": 7.933492660522461,
                    "y": 0.03472268953919411,
                    "z": 0.359547883272171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9453277587890625,
                "transform": {
                    "location": {
                        "x": -2041.027587890625,
                        "y": 4069.020263671875,
                        "z": 359.5811767578125
                    },
                    "rotation": {
                        "roll": 0.00025222799740731716,
                        "pitch": 2.600273370742798,
                        "yaw": 0.25456902384757996
                    }
                },
                "velocity": {
                    "x": 7.937095642089844,
                    "y": 0.03534401208162308,
                    "z": 0.35985755920410156
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049825668334961,
                "transform": {
                    "location": {
                        "x": -1984.3221435546875,
                        "y": 4062.566162109375,
                        "z": 361.8669738769531
                    },
                    "rotation": {
                        "roll": 0.0006767494487576187,
                        "pitch": -2.170893430709839,
                        "yaw": -179.76075744628906
                    }
                },
                "velocity": {
                    "x": -8.044803619384766,
                    "y": -0.033621545881032944,
                    "z": -0.28230687975883484
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053647994995117,
                "transform": {
                    "location": {
                        "x": -1997.6822509765625,
                        "y": 4069.208251953125,
                        "z": 361.3780517578125
                    },
                    "rotation": {
                        "roll": 0.0004249454941600561,
                        "pitch": 2.100959300994873,
                        "yaw": 0.25001081824302673
                    }
                },
                "velocity": {
                    "x": 8.048345565795898,
                    "y": 0.03529326990246773,
                    "z": 0.29006391763687134
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021800994873047,
                "transform": {
                    "location": {
                        "x": -1996.85546875,
                        "y": 4072.46142578125,
                        "z": 361.4197998046875
                    },
                    "rotation": {
                        "roll": -3.0517176128341816e-05,
                        "pitch": 2.084812641143799,
                        "yaw": 0.23565155267715454
                    }
                },
                "velocity": {
                    "x": 8.0165376663208,
                    "y": 0.034950532019138336,
                    "z": 0.288438081741333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.060758590698242,
                "transform": {
                    "location": {
                        "x": -2003.2255859375,
                        "y": 4062.4833984375,
                        "z": 361.1856994628906
                    },
                    "rotation": {
                        "roll": 0.001102680223993957,
                        "pitch": -1.9978028535842896,
                        "yaw": -179.75645446777344
                    }
                },
                "velocity": {
                    "x": -9.054611206054688,
                    "y": -0.03849449381232262,
                    "z": -0.3314965069293976
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.364912033081055,
                "transform": {
                    "location": {
                        "x": -2022.138427734375,
                        "y": 4062.39990234375,
                        "z": 360.424560546875
                    },
                    "rotation": {
                        "roll": -0.0002746580576058477,
                        "pitch": -2.434142589569092,
                        "yaw": -179.7639923095703
                    }
                },
                "velocity": {
                    "x": -8.357034683227539,
                    "y": -0.03448876738548279,
                    "z": -0.3613009452819824
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.5849027633667,
                "transform": {
                    "location": {
                        "x": -2040.5821533203125,
                        "y": 4062.320556640625,
                        "z": 359.60198974609375
                    },
                    "rotation": {
                        "roll": -0.00012207022518850863,
                        "pitch": -2.5871593952178955,
                        "yaw": -179.75628662109375
                    }
                },
                "velocity": {
                    "x": -8.576078414916992,
                    "y": -0.0352695994079113,
                    "z": -0.38755273818969727
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.56991195678711,
                "transform": {
                    "location": {
                        "x": -2003.4566650390625,
                        "y": 4065.73388671875,
                        "z": 361.1760559082031
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -2.1344544887542725,
                        "yaw": -179.7569580078125
                    }
                },
                "velocity": {
                    "x": -13.5606689453125,
                    "y": -0.059287622570991516,
                    "z": -0.49724823236465454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.011133193969727,
                "transform": {
                    "location": {
                        "x": -2025.103515625,
                        "y": 4065.637939453125,
                        "z": 360.2991027832031
                    },
                    "rotation": {
                        "roll": 0.0010081288637593389,
                        "pitch": -2.6244795322418213,
                        "yaw": -179.75856018066406
                    }
                },
                "velocity": {
                    "x": -13.997453689575195,
                    "y": -0.05960015207529068,
                    "z": -0.6161037087440491
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005989643977954984,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.3456717169901822e-05,
                    "y": 3.154937439830974e-05,
                    "z": 0.0005979815032333136
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2823285758495331,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            15.359700097653993,
            0.7789760680594948
        ],
        "target_point_next": [
            66.35417386355176,
            1.5295145657251354
        ]
    },
    "215": {
        "acceleration": [
            -0.4400825500488281,
            -0.26632159948349,
            0.12965083122253418
        ],
        "angular_velocity": [
            -0.13937808573246002,
            0.3752705156803131,
            1.0711227655410767
        ],
        "forward_vector": [
            -0.9990336298942566,
            0.006186453625559807,
            -0.043513499200344086
        ],
        "right_vector": [
            -0.0062344735488295555,
            -0.999980092048645,
            0.0009679399663582444
        ],
        "location": [
            -2047.56787109375,
            4066.2392578125,
            359.29144287109375
        ],
        "rotation": [
            -0.0555114671587944,
            -2.493927240371704,
            179.64520263671875
        ],
        "velocity": [
            -14.589444160461426,
            0.08605825901031494,
            -0.6305262446403503
        ],
        "speed": 14.58969797271917,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 96.62461853027344,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2123.108154296875,
                        "y": 4071.810791015625,
                        "z": 358.7117004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2760568857192993,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2123.09423828125,
                        "y": 4068.560791015625,
                        "z": 358.7117004394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2760568857192993,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.190995216369629,
                "transform": {
                    "location": {
                        "x": -2081.693603515625,
                        "y": 4072.071533203125,
                        "z": 358.3513488769531
                    },
                    "rotation": {
                        "roll": 0.013589189387857914,
                        "pitch": 0.842476487159729,
                        "yaw": 0.4826272130012512
                    }
                },
                "velocity": {
                    "x": 8.190082550048828,
                    "y": 0.06486979126930237,
                    "z": 0.10366260260343552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.751820087432861,
                "transform": {
                    "location": {
                        "x": -2081.66748046875,
                        "y": 4068.824951171875,
                        "z": 358.3433837890625
                    },
                    "rotation": {
                        "roll": 0.004169904626905918,
                        "pitch": 0.7686284780502319,
                        "yaw": 0.4723241925239563
                    }
                },
                "velocity": {
                    "x": 7.750970840454102,
                    "y": 0.060032252222299576,
                    "z": 0.09776807576417923
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.961855888366699,
                "transform": {
                    "location": {
                        "x": -2039.09912109375,
                        "y": 4072.278076171875,
                        "z": 359.66925048828125
                    },
                    "rotation": {
                        "roll": -0.0005798342754133046,
                        "pitch": 2.5961616039276123,
                        "yaw": 0.24983270466327667
                    }
                },
                "velocity": {
                    "x": 7.9535980224609375,
                    "y": 0.03504742309451103,
                    "z": 0.36083105206489563
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.961732864379883,
                "transform": {
                    "location": {
                        "x": -2039.0419921875,
                        "y": 4069.0283203125,
                        "z": 359.67120361328125
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": 2.5963187217712402,
                        "yaw": 0.24572300910949707
                    }
                },
                "velocity": {
                    "x": 7.95348596572876,
                    "y": 0.03355026990175247,
                    "z": 0.36072829365730286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.668478965759277,
                "transform": {
                    "location": {
                        "x": -1986.3973388671875,
                        "y": 4062.55712890625,
                        "z": 361.7919006347656
                    },
                    "rotation": {
                        "roll": -0.0010070797288790345,
                        "pitch": -1.9280052185058594,
                        "yaw": -179.75270080566406
                    }
                },
                "velocity": {
                    "x": -8.663023948669434,
                    "y": -0.03759170323610306,
                    "z": -0.30519381165504456
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00168228149414,
                "transform": {
                    "location": {
                        "x": -1995.677490234375,
                        "y": 4069.216796875,
                        "z": 361.4500732421875
                    },
                    "rotation": {
                        "roll": -0.0007629396277479827,
                        "pitch": 2.0435855388641357,
                        "yaw": 0.2488025724887848
                    }
                },
                "velocity": {
                    "x": 7.996480464935303,
                    "y": 0.0361599326133728,
                    "z": 0.2861916422843933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.022195816040039,
                "transform": {
                    "location": {
                        "x": -1994.8519287109375,
                        "y": 4072.469970703125,
                        "z": 361.49176025390625
                    },
                    "rotation": {
                        "roll": 0.001536784926429391,
                        "pitch": 2.041236162185669,
                        "yaw": 0.2621595561504364
                    }
                },
                "velocity": {
                    "x": 8.017060279846191,
                    "y": 0.03583589568734169,
                    "z": 0.284752756357193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.85366153717041,
                "transform": {
                    "location": {
                        "x": -2005.450439453125,
                        "y": 4062.4736328125,
                        "z": 361.10247802734375
                    },
                    "rotation": {
                        "roll": -9.155324369203299e-05,
                        "pitch": -2.1837480068206787,
                        "yaw": -179.75682067871094
                    }
                },
                "velocity": {
                    "x": -8.847186088562012,
                    "y": -0.03754985332489014,
                    "z": -0.33647364377975464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.355704307556152,
                "transform": {
                    "location": {
                        "x": -2024.2095947265625,
                        "y": 4062.391845703125,
                        "z": 360.3355407714844
                    },
                    "rotation": {
                        "roll": 0.00014357328473124653,
                        "pitch": -2.535550594329834,
                        "yaw": -179.759033203125
                    }
                },
                "velocity": {
                    "x": -8.347655296325684,
                    "y": -0.035946350544691086,
                    "z": -0.36489853262901306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.330159187316895,
                "transform": {
                    "location": {
                        "x": -2042.8187255859375,
                        "y": 4062.310546875,
                        "z": 359.5006408691406
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": -2.5783073902130127,
                        "yaw": -179.75433349609375
                    }
                },
                "velocity": {
                    "x": -9.320538520812988,
                    "y": -0.03982386365532875,
                    "z": -0.4217236340045929
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.546165466308594,
                "transform": {
                    "location": {
                        "x": -2006.840576171875,
                        "y": 4065.71826171875,
                        "z": 361.04901123046875
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -2.2584497928619385,
                        "yaw": -179.73919677734375
                    }
                },
                "velocity": {
                    "x": -13.536273002624512,
                    "y": -0.05935855582356453,
                    "z": -0.5141866207122803
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.041155815124512,
                "transform": {
                    "location": {
                        "x": -2028.605224609375,
                        "y": 4065.622314453125,
                        "z": 360.1437683105469
                    },
                    "rotation": {
                        "roll": -0.0004272462101653218,
                        "pitch": -2.585294723510742,
                        "yaw": -179.75149536132812
                    }
                },
                "velocity": {
                    "x": -14.02733325958252,
                    "y": -0.06033928692340851,
                    "z": -0.619949221611023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2841055393218994,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            11.724754746111161,
            0.7225177041314177
        ],
        "target_point_next": [
            62.72191151316213,
            1.2607224738463747
        ]
    },
    "220": {
        "acceleration": [
            -0.7545280456542969,
            -0.36616769433021545,
            0.01838207244873047
        ],
        "angular_velocity": [
            -0.19656763970851898,
            1.5515973567962646,
            1.489944338798523
        ],
        "forward_vector": [
            -0.9992198944091797,
            0.0004384988860692829,
            -0.0394885316491127
        ],
        "right_vector": [
            -0.0005050940089859068,
            -0.9999984502792358,
            0.0016764819156378508
        ],
        "location": [
            -2051.236328125,
            4066.251220703125,
            359.1380920410156
        ],
        "rotation": [
            -0.0961303636431694,
            -2.2631146907806396,
            179.974853515625
        ],
        "velocity": [
            -14.746490478515625,
            0.0015719853108748794,
            -0.5943731069564819
        ],
        "speed": 14.746490562302943,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 92.9564208984375,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2121.03662109375,
                        "y": 4071.8203125,
                        "z": 358.4851379394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2760568857192993,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2121.022705078125,
                        "y": 4068.5703125,
                        "z": 358.4851989746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2760568857192993,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.792910575866699,
                "transform": {
                    "location": {
                        "x": -2079.717529296875,
                        "y": 4072.086181640625,
                        "z": 358.3777770996094
                    },
                    "rotation": {
                        "roll": 0.007821383886039257,
                        "pitch": 0.745815634727478,
                        "yaw": 0.42742735147476196
                    }
                },
                "velocity": {
                    "x": 7.7918314933776855,
                    "y": 0.056395262479782104,
                    "z": 0.11677274107933044
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.640970230102539,
                "transform": {
                    "location": {
                        "x": -2079.5458984375,
                        "y": 4068.841064453125,
                        "z": 358.371826171875
                    },
                    "rotation": {
                        "roll": 0.002878352301195264,
                        "pitch": 0.8152649998664856,
                        "yaw": 0.38375207781791687
                    }
                },
                "velocity": {
                    "x": 8.639723777770996,
                    "y": 0.05971825122833252,
                    "z": 0.134091317653656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.939152717590332,
                "transform": {
                    "location": {
                        "x": -2037.1138916015625,
                        "y": 4072.2861328125,
                        "z": 359.7591857910156
                    },
                    "rotation": {
                        "roll": 0.0009638741030357778,
                        "pitch": 2.5972135066986084,
                        "yaw": 0.25077441334724426
                    }
                },
                "velocity": {
                    "x": 7.930907249450684,
                    "y": 0.03513548895716667,
                    "z": 0.3600252568721771
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.937906742095947,
                "transform": {
                    "location": {
                        "x": -2037.056884765625,
                        "y": 4069.036865234375,
                        "z": 359.7611389160156
                    },
                    "rotation": {
                        "roll": -0.0002746586687862873,
                        "pitch": 2.5974457263946533,
                        "yaw": 0.24695946276187897
                    }
                },
                "velocity": {
                    "x": 7.929670333862305,
                    "y": 0.035772889852523804,
                    "z": 0.3597405254840851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.624565124511719,
                "transform": {
                    "location": {
                        "x": -1988.5911865234375,
                        "y": 4062.54736328125,
                        "z": 361.71484375
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": -1.9741499423980713,
                        "yaw": -179.74899291992188
                    }
                },
                "velocity": {
                    "x": -8.619101524353027,
                    "y": -0.03647903725504875,
                    "z": -0.30476701259613037
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053780555725098,
                "transform": {
                    "location": {
                        "x": -1993.671875,
                        "y": 4069.225830078125,
                        "z": 361.5212707519531
                    },
                    "rotation": {
                        "roll": 0.0001417064922861755,
                        "pitch": 2.0293309688568115,
                        "yaw": 0.24932421743869781
                    }
                },
                "velocity": {
                    "x": 8.048660278320312,
                    "y": 0.03337007388472557,
                    "z": 0.28519949316978455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021474838256836,
                "transform": {
                    "location": {
                        "x": -1992.8480224609375,
                        "y": 4072.47900390625,
                        "z": 361.56256103515625
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 2.044173002243042,
                        "yaw": 0.24334900081157684
                    }
                },
                "velocity": {
                    "x": 8.01639175415039,
                    "y": 0.03502349928021431,
                    "z": 0.28335732221603394
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.156402587890625,
                "transform": {
                    "location": {
                        "x": -2007.563720703125,
                        "y": 4062.46435546875,
                        "z": 361.0216979980469
                    },
                    "rotation": {
                        "roll": -0.00015258869098033756,
                        "pitch": -2.3733813762664795,
                        "yaw": -179.75576782226562
                    }
                },
                "velocity": {
                    "x": -8.150092124938965,
                    "y": -0.03567766025662422,
                    "z": -0.3187991678714752
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.02686595916748,
                "transform": {
                    "location": {
                        "x": -2026.3768310546875,
                        "y": 4062.3818359375,
                        "z": 360.23968505859375
                    },
                    "rotation": {
                        "roll": -0.00027465791208669543,
                        "pitch": -2.5178534984588623,
                        "yaw": -179.75498962402344
                    }
                },
                "velocity": {
                    "x": -9.017987251281738,
                    "y": -0.039455484598875046,
                    "z": -0.3983233571052551
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.253007888793945,
                "transform": {
                    "location": {
                        "x": -2045.2679443359375,
                        "y": 4062.30029296875,
                        "z": 359.39105224609375
                    },
                    "rotation": {
                        "roll": 2.9500219170586206e-05,
                        "pitch": -2.512293815612793,
                        "yaw": -179.7515411376953
                    }
                },
                "velocity": {
                    "x": -10.243063926696777,
                    "y": -0.044666774570941925,
                    "z": -0.44924110174179077
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.611174583435059,
                "transform": {
                    "location": {
                        "x": -2010.231201171875,
                        "y": 4065.70263671875,
                        "z": 360.91619873046875
                    },
                    "rotation": {
                        "roll": 0.001355317304842174,
                        "pitch": -2.2526166439056396,
                        "yaw": -179.74859619140625
                    }
                },
                "velocity": {
                    "x": -13.600584030151367,
                    "y": -0.06060988828539848,
                    "z": -0.5333886742591858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.152324676513672,
                "transform": {
                    "location": {
                        "x": -2032.1251220703125,
                        "y": 4065.606689453125,
                        "z": 359.9871826171875
                    },
                    "rotation": {
                        "roll": 0.0016001351177692413,
                        "pitch": -2.587425708770752,
                        "yaw": -179.761962890625
                    }
                },
                "velocity": {
                    "x": -14.137971878051758,
                    "y": -0.059412721544504166,
                    "z": -0.6344446539878845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015484889736399055,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.1433660802140366e-05,
                    "y": -1.986659481190145e-05,
                    "z": 0.0015483192401006818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.29091355204582214,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            8.06025575353927,
            0.6654011572605207
        ],
        "target_point_next": [
            59.05966499779745,
            0.910185621613245
        ]
    },
    "225": {
        "acceleration": [
            -0.9834480285644531,
            -0.40531545877456665,
            0.19277572631835938
        ],
        "angular_velocity": [
            -0.10389021039009094,
            1.3293968439102173,
            1.5739191770553589
        ],
        "forward_vector": [
            -0.9993312358856201,
            -0.006296231877058744,
            -0.03601892292499542
        ],
        "right_vector": [
            0.006216390524059534,
            -0.9999779462814331,
            0.0023282188922166824
        ],
        "location": [
            -2054.953125,
            4066.240234375,
            358.9954528808594
        ],
        "rotation": [
            -0.1334838569164276,
            -2.064178705215454,
            -179.63902282714844
        ],
        "velocity": [
            -14.971457481384277,
            -0.09627297520637512,
            -0.5398011803627014
        ],
        "speed": 14.97176701671023,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 89.23988342285156,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.712989330291748,
                "transform": {
                    "location": {
                        "x": -2119.0439453125,
                        "y": 4071.838623046875,
                        "z": 358.2945251464844
                    },
                    "rotation": {
                        "roll": -0.0432434044778347,
                        "pitch": -1.2910423278808594,
                        "yaw": 0.6367428302764893
                    }
                },
                "velocity": {
                    "x": 7.707090377807617,
                    "y": 0.12051703035831451,
                    "z": -0.2764784097671509
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.04331636428833,
                "transform": {
                    "location": {
                        "x": -2119.3486328125,
                        "y": 4068.58642578125,
                        "z": 358.2850036621094
                    },
                    "rotation": {
                        "roll": 0.01316855102777481,
                        "pitch": -1.1185868978500366,
                        "yaw": 0.5460074543952942
                    }
                },
                "velocity": {
                    "x": 6.039455890655518,
                    "y": 0.12508966028690338,
                    "z": -0.17606288194656372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.187963485717773,
                "transform": {
                    "location": {
                        "x": -2077.7138671875,
                        "y": 4072.099853515625,
                        "z": 358.4078674316406
                    },
                    "rotation": {
                        "roll": 0.008695249445736408,
                        "pitch": 1.0148431062698364,
                        "yaw": 0.38131964206695557
                    }
                },
                "velocity": {
                    "x": 8.18690013885498,
                    "y": 0.050729021430015564,
                    "z": 0.12179192900657654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.145438194274902,
                "transform": {
                    "location": {
                        "x": -2077.4560546875,
                        "y": 4068.85498046875,
                        "z": 358.4035339355469
                    },
                    "rotation": {
                        "roll": 0.0028882862534374,
                        "pitch": 0.9719836711883545,
                        "yaw": 0.3281991183757782
                    }
                },
                "velocity": {
                    "x": 8.144248962402344,
                    "y": 0.04760272428393364,
                    "z": 0.13079653680324554
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974989414215088,
                "transform": {
                    "location": {
                        "x": -2035.1258544921875,
                        "y": 4072.295166015625,
                        "z": 359.8492431640625
                    },
                    "rotation": {
                        "roll": 0.000278053485089913,
                        "pitch": 2.5973501205444336,
                        "yaw": 0.2542531490325928
                    }
                },
                "velocity": {
                    "x": 7.966710567474365,
                    "y": 0.03470131382346153,
                    "z": 0.36161863803863525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.97450590133667,
                "transform": {
                    "location": {
                        "x": -2035.0693359375,
                        "y": 4069.045654296875,
                        "z": 359.85113525390625
                    },
                    "rotation": {
                        "roll": 0.00026959122624248266,
                        "pitch": 2.5972952842712402,
                        "yaw": 0.25367850065231323
                    }
                },
                "velocity": {
                    "x": 7.966272830963135,
                    "y": 0.03506923466920853,
                    "z": 0.3605749309062958
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.401277542114258,
                "transform": {
                    "location": {
                        "x": -1990.7174072265625,
                        "y": 4062.537841796875,
                        "z": 361.6406555175781
                    },
                    "rotation": {
                        "roll": 0.000991669250652194,
                        "pitch": -2.1225290298461914,
                        "yaw": -179.75537109375
                    }
                },
                "velocity": {
                    "x": -8.395933151245117,
                    "y": -0.035818371921777725,
                    "z": -0.29747962951660156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.001218795776367,
                "transform": {
                    "location": {
                        "x": -1991.6668701171875,
                        "y": 4069.23486328125,
                        "z": 361.5921936035156
                    },
                    "rotation": {
                        "roll": 8.23984737507999e-06,
                        "pitch": 2.032609462738037,
                        "yaw": 0.2502649128437042
                    }
                },
                "velocity": {
                    "x": 7.996121883392334,
                    "y": 0.03348729759454727,
                    "z": 0.28358060121536255
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021859169006348,
                "transform": {
                    "location": {
                        "x": -1990.843994140625,
                        "y": 4072.48828125,
                        "z": 361.6334228515625
                    },
                    "rotation": {
                        "roll": 0.0011462338734418154,
                        "pitch": 2.0464816093444824,
                        "yaw": 0.2673167586326599
                    }
                },
                "velocity": {
                    "x": 8.016770362854004,
                    "y": 0.035415638238191605,
                    "z": 0.2834979295730591
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.560237884521484,
                "transform": {
                    "location": {
                        "x": -2009.625244140625,
                        "y": 4062.45556640625,
                        "z": 360.9408264160156
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -2.2264435291290283,
                        "yaw": -179.7539520263672
                    }
                },
                "velocity": {
                    "x": -8.553565979003906,
                    "y": -0.03677856922149658,
                    "z": -0.33591628074645996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.848129272460938,
                "transform": {
                    "location": {
                        "x": -2028.7352294921875,
                        "y": 4062.3720703125,
                        "z": 360.1355895996094
                    },
                    "rotation": {
                        "roll": -6.10352581134066e-05,
                        "pitch": -2.5065016746520996,
                        "yaw": -179.75381469726562
                    }
                },
                "velocity": {
                    "x": -9.83843994140625,
                    "y": -0.043047770857810974,
                    "z": -0.4346252977848053
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.196521759033203,
                "transform": {
                    "location": {
                        "x": -2047.949951171875,
                        "y": 4062.288330078125,
                        "z": 359.2738342285156
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -2.433288812637329,
                        "yaw": -179.75473022460938
                    }
                },
                "velocity": {
                    "x": -11.186123847961426,
                    "y": -0.04687776789069176,
                    "z": -0.4801498353481293
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.747523307800293,
                "transform": {
                    "location": {
                        "x": -2013.6474609375,
                        "y": 4065.687744140625,
                        "z": 360.7815246582031
                    },
                    "rotation": {
                        "roll": 0.002539908979088068,
                        "pitch": -2.277376174926758,
                        "yaw": -179.75698852539062
                    }
                },
                "velocity": {
                    "x": -13.736368179321289,
                    "y": -0.056869715452194214,
                    "z": -0.5507796406745911
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.332122802734375,
                "transform": {
                    "location": {
                        "x": -2035.681396484375,
                        "y": 4065.591796875,
                        "z": 359.8262023925781
                    },
                    "rotation": {
                        "roll": 0.0014875434571877122,
                        "pitch": -2.584775686264038,
                        "yaw": -179.76275634765625
                    }
                },
                "velocity": {
                    "x": -14.31716537475586,
                    "y": -0.06066123768687248,
                    "z": -0.6517983078956604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010211606277152896,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -1.573316694702953e-05,
                    "y": 1.7804803746912512e-06,
                    "z": 0.001021037925966084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2694374620914459,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            55.34766537435463,
            0.5245879111234812
        ],
        "target_point_next": [
            101.34752695478925,
            0.43520716015319705
        ]
    },
    "230": {
        "acceleration": [
            -1.0741806030273438,
            -0.4308846592903137,
            0.29394984245300293
        ],
        "angular_velocity": [
            -0.0945919081568718,
            0.6612632274627686,
            1.591747760772705
        ],
        "forward_vector": [
            -0.9993913769721985,
            -0.01318840030580759,
            -0.032294731587171555
        ],
        "right_vector": [
            0.013104502111673355,
            -0.9999101758003235,
            0.0028081650380045176
        ],
        "location": [
            -2058.732177734375,
            4066.203857421875,
            358.8634033203125
        ],
        "rotation": [
            -0.16098017990589142,
            -1.850673794746399,
            -179.2439422607422
        ],
        "velocity": [
            -15.236663818359375,
            -0.20155730843544006,
            -0.5005965828895569
        ],
        "speed": 15.23799690452408,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.46102905273438,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2144.18701171875,
                4065.218994140625,
                359.1607360839844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.961129665374756,
                "transform": {
                    "location": {
                        "x": -2117.080810546875,
                        "y": 4071.865478515625,
                        "z": 358.25238037109375
                    },
                    "rotation": {
                        "roll": -0.01934814266860485,
                        "pitch": -1.0993939638137817,
                        "yaw": 0.7741349935531616
                    }
                },
                "velocity": {
                    "x": 7.9591851234436035,
                    "y": 0.10819323360919952,
                    "z": -0.1387357860803604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.829409599304199,
                "transform": {
                    "location": {
                        "x": -2117.866943359375,
                        "y": 4068.608154296875,
                        "z": 358.26702880859375
                    },
                    "rotation": {
                        "roll": -0.013031005859375,
                        "pitch": -1.162962555885315,
                        "yaw": 0.7382962107658386
                    }
                },
                "velocity": {
                    "x": 5.828584671020508,
                    "y": 0.07774095237255096,
                    "z": -0.059742093086242676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.997108459472656,
                "transform": {
                    "location": {
                        "x": -2075.6845703125,
                        "y": 4072.111572265625,
                        "z": 358.4417419433594
                    },
                    "rotation": {
                        "roll": 0.004693483002483845,
                        "pitch": 0.980480432510376,
                        "yaw": 0.33729755878448486
                    }
                },
                "velocity": {
                    "x": 7.995769023895264,
                    "y": 0.046037930995225906,
                    "z": 0.13891832530498505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941794395446777,
                "transform": {
                    "location": {
                        "x": -2075.451904296875,
                        "y": 4068.8662109375,
                        "z": 358.43792724609375
                    },
                    "rotation": {
                        "roll": 0.0011035321513190866,
                        "pitch": 0.9889703392982483,
                        "yaw": 0.28947126865386963
                    }
                },
                "velocity": {
                    "x": 7.940339088439941,
                    "y": 0.04085198789834976,
                    "z": 0.14645101130008698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940500259399414,
                "transform": {
                    "location": {
                        "x": -2033.138427734375,
                        "y": 4072.302978515625,
                        "z": 359.9392395019531
                    },
                    "rotation": {
                        "roll": -0.00024414111976511776,
                        "pitch": 2.5971791744232178,
                        "yaw": 0.2516705095767975
                    }
                },
                "velocity": {
                    "x": 7.9322686195373535,
                    "y": 0.03453923389315605,
                    "z": 0.3598122298717499
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940925121307373,
                "transform": {
                    "location": {
                        "x": -2033.0816650390625,
                        "y": 4069.0537109375,
                        "z": 359.941162109375
                    },
                    "rotation": {
                        "roll": 0.0002961764403153211,
                        "pitch": 2.5973567962646484,
                        "yaw": 0.25058645009994507
                    }
                },
                "velocity": {
                    "x": 7.932681083679199,
                    "y": 0.033602502197027206,
                    "z": 0.3601831793785095
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4268,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.442984580993652,
                "transform": {
                    "location": {
                        "x": -1992.804931640625,
                        "y": 4062.528564453125,
                        "z": 361.5663146972656
                    },
                    "rotation": {
                        "roll": 0.0004416078154463321,
                        "pitch": -2.0774154663085938,
                        "yaw": -179.7592315673828
                    }
                },
                "velocity": {
                    "x": -8.437616348266602,
                    "y": -0.036381062120199203,
                    "z": -0.2988526523113251
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054145812988281,
                "transform": {
                    "location": {
                        "x": -1989.6610107421875,
                        "y": 4069.24365234375,
                        "z": 361.6631164550781
                    },
                    "rotation": {
                        "roll": -0.00024414126528427005,
                        "pitch": 2.0337159633636475,
                        "yaw": 0.24695105850696564
                    }
                },
                "velocity": {
                    "x": 8.049032211303711,
                    "y": 0.03492891415953636,
                    "z": 0.2848384976387024
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.022046089172363,
                "transform": {
                    "location": {
                        "x": -1988.8402099609375,
                        "y": 4072.497314453125,
                        "z": 361.7043762207031
                    },
                    "rotation": {
                        "roll": -0.00039672828279435635,
                        "pitch": 2.0463178157806396,
                        "yaw": 0.24035890400409698
                    }
                },
                "velocity": {
                    "x": 8.01696491241455,
                    "y": 0.0345342680811882,
                    "z": 0.28336670994758606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4262,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.239422798156738,
                "transform": {
                    "location": {
                        "x": -2011.8858642578125,
                        "y": 4062.44580078125,
                        "z": 360.852294921875
                    },
                    "rotation": {
                        "roll": 0.0009138475870713592,
                        "pitch": -2.145963430404663,
                        "yaw": -179.75621032714844
                    }
                },
                "velocity": {
                    "x": -9.232287406921387,
                    "y": -0.03790589049458504,
                    "z": -0.3610575795173645
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4261,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.811408996582031,
                "transform": {
                    "location": {
                        "x": -2031.3187255859375,
                        "y": 4062.361083984375,
                        "z": 360.02099609375
                    },
                    "rotation": {
                        "roll": 0.00022750817879568785,
                        "pitch": -2.537346839904785,
                        "yaw": -179.75047302246094
                    }
                },
                "velocity": {
                    "x": -10.800389289855957,
                    "y": -0.04826517403125763,
                    "z": -0.4856373369693756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4260,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.205158233642578,
                "transform": {
                    "location": {
                        "x": -2050.8798828125,
                        "y": 4062.276123046875,
                        "z": 359.1521301269531
                    },
                    "rotation": {
                        "roll": 0.0006011670338921249,
                        "pitch": -2.251100540161133,
                        "yaw": -179.75918579101562
                    }
                },
                "velocity": {
                    "x": -12.195366859436035,
                    "y": -0.05140327289700508,
                    "z": -0.4860786199569702
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.943960189819336,
                "transform": {
                    "location": {
                        "x": -2017.10498046875,
                        "y": 4065.673095703125,
                        "z": 360.6402282714844
                    },
                    "rotation": {
                        "roll": -0.0010070806602016091,
                        "pitch": -2.3785107135772705,
                        "yaw": -179.75682067871094
                    }
                },
                "velocity": {
                    "x": -13.931685447692871,
                    "y": -0.059001099318265915,
                    "z": -0.5819734930992126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.568136215209961,
                "transform": {
                    "location": {
                        "x": -2039.290771484375,
                        "y": 4065.576171875,
                        "z": 359.6621398925781
                    },
                    "rotation": {
                        "roll": 0.0012171920388936996,
                        "pitch": -2.5514512062072754,
                        "yaw": -179.75616455078125
                    }
                },
                "velocity": {
                    "x": -14.553083419799805,
                    "y": -0.06039052829146385,
                    "z": -0.659331202507019
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.18701171875,
                        "y": 4065.218994140625,
                        "z": 359.1607360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010832981206476688,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1883850097656
                    },
                    "rotation": {
                        "roll": 0.000897278543561697,
                        "pitch": -0.4008159637451172,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": 1.272961435461184e-05,
                    "y": 4.553872349788435e-05,
                    "z": 0.0010822657495737076
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.239616259932518,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            51.57076302121069,
            0.1564440552997478
        ],
        "target_point_next": [
            97.5689148637471,
            -0.2501041075952042
        ]
    },
    "235": {
        "acceleration": [
            -1.031036376953125,
            -0.3682398796081543,
            0.1538175344467163
        ],
        "angular_velocity": [
            -0.0282099861651659,
            0.1745750457048416,
            1.2607344388961792
        ],
        "forward_vector": [
            -0.9994165301322937,
            -0.019656214863061905,
            -0.027931274846196175
        ],
        "right_vector": [
            0.01958109810948372,
            -0.9998038411140442,
            0.0029602746944874525
        ],
        "location": [
            -2062.578125,
            4066.141845703125,
            358.7427978515625
        ],
        "rotation": [
            -0.1696777045726776,
            -1.6005523204803467,
            -178.87327575683594
        ],
        "velocity": [
            -15.498836517333984,
            -0.3006726801395416,
            -0.4601444900035858
        ],
        "speed": 15.501752721922374,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.44805145263672,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2145.019775390625,
                4065.21533203125,
                359.18695068359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.787164688110352,
                "transform": {
                    "location": {
                        "x": -2115.111572265625,
                        "y": 4071.892822265625,
                        "z": 358.21795654296875
                    },
                    "rotation": {
                        "roll": -0.011352538131177425,
                        "pitch": -0.872098982334137,
                        "yaw": 0.7838565707206726
                    }
                },
                "velocity": {
                    "x": 7.785407066345215,
                    "y": 0.10667186230421066,
                    "z": -0.12645907700061798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.10228157043457,
                "transform": {
                    "location": {
                        "x": -2116.373779296875,
                        "y": 4068.62744140625,
                        "z": 358.24639892578125
                    },
                    "rotation": {
                        "roll": -0.00888061337172985,
                        "pitch": -1.025300145149231,
                        "yaw": 0.7524684071540833
                    }
                },
                "velocity": {
                    "x": 6.100989818572998,
                    "y": 0.08173642307519913,
                    "z": -0.09529689699411392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.995518684387207,
                "transform": {
                    "location": {
                        "x": -2073.695068359375,
                        "y": 4072.123046875,
                        "z": 358.4798889160156
                    },
                    "rotation": {
                        "roll": 0.00442112423479557,
                        "pitch": 1.1404707431793213,
                        "yaw": 0.31992414593696594
                    }
                },
                "velocity": {
                    "x": 7.993918418884277,
                    "y": 0.04205332696437836,
                    "z": 0.1543383002281189
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.914497375488281,
                "transform": {
                    "location": {
                        "x": -2073.4736328125,
                        "y": 4068.876220703125,
                        "z": 358.4758605957031
                    },
                    "rotation": {
                        "roll": 0.0016171124298125505,
                        "pitch": 1.155401587486267,
                        "yaw": 0.2673394978046417
                    }
                },
                "velocity": {
                    "x": 7.912779808044434,
                    "y": 0.03700661659240723,
                    "z": 0.16067130863666534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972620010375977,
                "transform": {
                    "location": {
                        "x": -2031.152099609375,
                        "y": 4072.3115234375,
                        "z": 360.0284729003906
                    },
                    "rotation": {
                        "roll": 0.00015249692660290748,
                        "pitch": 2.5629396438598633,
                        "yaw": 0.2524760663509369
                    }
                },
                "velocity": {
                    "x": 7.964733123779297,
                    "y": 0.035051822662353516,
                    "z": 0.35279959440231323
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972535133361816,
                "transform": {
                    "location": {
                        "x": -2031.09521484375,
                        "y": 4069.0625,
                        "z": 360.03033447265625
                    },
                    "rotation": {
                        "roll": 0.0006351176416501403,
                        "pitch": 2.561525821685791,
                        "yaw": 0.2516665458679199
                    }
                },
                "velocity": {
                    "x": 7.964630126953125,
                    "y": 0.03527534753084183,
                    "z": 0.35318082571029663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1987.5950927734375,
                        "y": 4069.218017578125,
                        "z": 361.7398681640625
                    },
                    "rotation": {
                        "roll": 4.1713887899419433e-10,
                        "pitch": 2.012235164642334,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1986.758056640625,
                        "y": 4072.4599609375,
                        "z": 361.7776794433594
                    },
                    "rotation": {
                        "roll": 4.1713887899419433e-10,
                        "pitch": 2.012235164642334,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.182890892028809,
                "transform": {
                    "location": {
                        "x": -2020.6185302734375,
                        "y": 4065.657470703125,
                        "z": 360.4934387207031
                    },
                    "rotation": {
                        "roll": -0.0010375973070040345,
                        "pitch": -2.361933946609497,
                        "yaw": -179.7469024658203
                    }
                },
                "velocity": {
                    "x": -14.170479774475098,
                    "y": -0.061916153877973557,
                    "z": -0.5899675488471985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.82651138305664,
                "transform": {
                    "location": {
                        "x": -2042.9627685546875,
                        "y": 4065.560546875,
                        "z": 359.4955749511719
                    },
                    "rotation": {
                        "roll": -0.0020446765702217817,
                        "pitch": -2.5305097103118896,
                        "yaw": -179.74412536621094
                    }
                },
                "velocity": {
                    "x": -14.811193466186523,
                    "y": -0.06572816520929337,
                    "z": -0.6705747246742249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2145.019775390625,
                        "y": 4065.21533203125,
                        "z": 359.18695068359375
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.5517578125,
                        "y": 4065.130615234375,
                        "z": 359.9704895019531
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6260473728179932,
                "transform": {
                    "location": {
                        "x": -2100.720458984375,
                        "y": 4062.164794921875,
                        "z": 358.1878356933594
                    },
                    "rotation": {
                        "roll": 0.046784743666648865,
                        "pitch": -0.3497534692287445,
                        "yaw": 179.98648071289062
                    }
                },
                "velocity": {
                    "x": -0.6035975217819214,
                    "y": 0.16612645983695984,
                    "z": -0.0027161978650838137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.19847923517227173,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            47.72427282955042,
            -0.16357870309600275
        ],
        "target_point_next": [
            93.71883175770382,
            -0.8677117462162676
        ]
    },
    "240": {
        "acceleration": [
            -0.8476448059082031,
            -0.11378645896911621,
            0.23920893669128418
        ],
        "angular_velocity": [
            0.20436684787273407,
            0.7273229956626892,
            0.3917211592197418
        ],
        "forward_vector": [
            -0.9994344711303711,
            -0.023598916828632355,
            -0.0239544827491045
        ],
        "right_vector": [
            0.02354750782251358,
            -0.9997197985649109,
            0.0024259728379547596
        ],
        "location": [
            -2066.486083984375,
            4066.058349609375,
            358.6339111328125
        ],
        "rotation": [
            -0.13903804123401642,
            -1.372622013092041,
            -178.64736938476562
        ],
        "velocity": [
            -15.7315092086792,
            -0.3620074689388275,
            -0.4102718234062195
        ],
        "speed": 15.735673846083808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.52584075927734,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2147.005126953125,
                4065.20654296875,
                359.241943359375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.355212688446045,
                "transform": {
                    "location": {
                        "x": -2113.409423828125,
                        "y": 4071.914306640625,
                        "z": 358.19476318359375
                    },
                    "rotation": {
                        "roll": 0.0011355940951034427,
                        "pitch": -0.9166523218154907,
                        "yaw": 0.700471818447113
                    }
                },
                "velocity": {
                    "x": 6.354369163513184,
                    "y": 0.06969249248504639,
                    "z": -0.07660162448883057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.4522013664245605,
                "transform": {
                    "location": {
                        "x": -2114.931884765625,
                        "y": 4068.646728515625,
                        "z": 358.22064208984375
                    },
                    "rotation": {
                        "roll": -0.008026123046875,
                        "pitch": -0.8225391507148743,
                        "yaw": 0.761242687702179
                    }
                },
                "velocity": {
                    "x": 5.450987815856934,
                    "y": 0.07239924371242523,
                    "z": -0.08938875049352646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.079848289489746,
                "transform": {
                    "location": {
                        "x": -2071.677734375,
                        "y": 4072.1328125,
                        "z": 358.5202941894531
                    },
                    "rotation": {
                        "roll": 0.002868719631806016,
                        "pitch": 1.2668224573135376,
                        "yaw": 0.28722065687179565
                    }
                },
                "velocity": {
                    "x": 8.077878952026367,
                    "y": 0.04043923318386078,
                    "z": 0.17374755442142487
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.017325401306152,
                "transform": {
                    "location": {
                        "x": -2071.48046875,
                        "y": 4068.885498046875,
                        "z": 358.5164489746094
                    },
                    "rotation": {
                        "roll": 0.00044560717651620507,
                        "pitch": 1.2558941841125488,
                        "yaw": 0.24851831793785095
                    }
                },
                "velocity": {
                    "x": 8.015356063842773,
                    "y": 0.03517390787601471,
                    "z": 0.1741710752248764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9408721923828125,
                "transform": {
                    "location": {
                        "x": -2029.1658935546875,
                        "y": 4072.321044921875,
                        "z": 360.116943359375
                    },
                    "rotation": {
                        "roll": -6.103497071308084e-05,
                        "pitch": 2.5182223320007324,
                        "yaw": 0.2582681179046631
                    }
                },
                "velocity": {
                    "x": 7.933080673217773,
                    "y": 0.03582467883825302,
                    "z": 0.34985649585723877
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9408063888549805,
                "transform": {
                    "location": {
                        "x": -2029.1090087890625,
                        "y": 4069.07080078125,
                        "z": 360.1187744140625
                    },
                    "rotation": {
                        "roll": 0.0009711788152344525,
                        "pitch": 2.5185160636901855,
                        "yaw": 0.2509133219718933
                    }
                },
                "velocity": {
                    "x": 7.933046817779541,
                    "y": 0.03391294553875923,
                    "z": 0.3493219017982483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4267,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1985.51318359375,
                        "y": 4069.184814453125,
                        "z": 361.8182067871094
                    },
                    "rotation": {
                        "roll": 4.1713887899419433e-10,
                        "pitch": 2.012235164642334,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.430065155029297,
                "transform": {
                    "location": {
                        "x": -2024.1922607421875,
                        "y": 4065.641845703125,
                        "z": 360.3414611816406
                    },
                    "rotation": {
                        "roll": -0.0004577640211209655,
                        "pitch": -2.5012218952178955,
                        "yaw": -179.7591552734375
                    }
                },
                "velocity": {
                    "x": -14.416526794433594,
                    "y": -0.06219026446342468,
                    "z": -0.6218451261520386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.06572437286377,
                "transform": {
                    "location": {
                        "x": -2046.6986083984375,
                        "y": 4065.544921875,
                        "z": 359.328857421875
                    },
                    "rotation": {
                        "roll": -0.00036621111212298274,
                        "pitch": -2.4183921813964844,
                        "yaw": -179.75335693359375
                    }
                },
                "velocity": {
                    "x": -15.05104923248291,
                    "y": -0.06502074748277664,
                    "z": -0.661608099937439
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2147.005126953125,
                        "y": 4065.20654296875,
                        "z": 359.241943359375
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.6005859375,
                        "y": 4065.130126953125,
                        "z": 359.970458984375
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1887738704681396,
                "transform": {
                    "location": {
                        "x": -2100.92578125,
                        "y": 4062.244384765625,
                        "z": 358.18670654296875
                    },
                    "rotation": {
                        "roll": 0.15186749398708344,
                        "pitch": -0.321626752614975,
                        "yaw": 176.85833740234375
                    }
                },
                "velocity": {
                    "x": -0.9701148867607117,
                    "y": 0.687062680721283,
                    "z": -0.0023448180872946978
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.16261053085327148,
        "expert_target_speed": 0,
        "target_point": [
            43.81441602628984,
            -0.34295270128924205
        ],
        "target_point_next": [
            89.8058414730051,
            -1.2284128737536741
        ]
    },
    "245": {
        "acceleration": [
            -0.5325508117675781,
            0.2658975124359131,
            0.06935596466064453
        ],
        "angular_velocity": [
            0.40080010890960693,
            1.314463496208191,
            -1.2477171421051025
        ],
        "forward_vector": [
            -0.9995563626289368,
            -0.021103501319885254,
            -0.021017074584960938
        ],
        "right_vector": [
            0.021094663068652153,
            -0.9997773170471191,
            0.000642212457023561
        ],
        "location": [
            -2070.444091796875,
            4065.97119140625,
            358.53802490234375
        ],
        "rotation": [
            -0.03680419921875,
            -1.2042783498764038,
            -178.79049682617188
        ],
        "velocity": [
            -15.89634895324707,
            -0.32782068848609924,
            -0.35854464769363403
        ],
        "speed": 15.89972881678171,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 77.9499740600586,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2148.38671875,
                4065.2001953125,
                359.2801818847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.521376609802246,
                "transform": {
                    "location": {
                        "x": -2111.798095703125,
                        "y": 4071.93017578125,
                        "z": 358.17523193359375
                    },
                    "rotation": {
                        "roll": 0.00184342241846025,
                        "pitch": -0.5805591940879822,
                        "yaw": 0.5728349089622498
                    }
                },
                "velocity": {
                    "x": 6.520562648773193,
                    "y": 0.06086669862270355,
                    "z": -0.08311283588409424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.924535751342773,
                "transform": {
                    "location": {
                        "x": -2113.535888671875,
                        "y": 4068.66357421875,
                        "z": 358.20159912109375
                    },
                    "rotation": {
                        "roll": -0.0113525390625,
                        "pitch": -0.8187552094459534,
                        "yaw": 0.7305322289466858
                    }
                },
                "velocity": {
                    "x": 5.923959255218506,
                    "y": 0.05262358859181404,
                    "z": -0.06372790038585663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9935150146484375,
                "transform": {
                    "location": {
                        "x": -2069.670166015625,
                        "y": 4072.142333984375,
                        "z": 358.5657653808594
                    },
                    "rotation": {
                        "roll": 0.0019240319961681962,
                        "pitch": 1.313349723815918,
                        "yaw": 0.277204692363739
                    }
                },
                "velocity": {
                    "x": 7.991191387176514,
                    "y": 0.03767018765211105,
                    "z": 0.18902087211608887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.981313228607178,
                "transform": {
                    "location": {
                        "x": -2069.479736328125,
                        "y": 4068.89501953125,
                        "z": 358.56207275390625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 1.3271056413650513,
                        "yaw": 0.24773487448692322
                    }
                },
                "velocity": {
                    "x": 7.978825092315674,
                    "y": 0.03535059466958046,
                    "z": 0.1961110234260559
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.974044322967529,
                "transform": {
                    "location": {
                        "x": -2027.177490234375,
                        "y": 4072.33056640625,
                        "z": 360.2043151855469
                    },
                    "rotation": {
                        "roll": 0.001262793317437172,
                        "pitch": 2.5236728191375732,
                        "yaw": 0.25635775923728943
                    }
                },
                "velocity": {
                    "x": 7.966274738311768,
                    "y": 0.0345420204102993,
                    "z": 0.35021787881851196
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.973841190338135,
                "transform": {
                    "location": {
                        "x": -2027.1207275390625,
                        "y": 4069.079833984375,
                        "z": 360.2061767578125
                    },
                    "rotation": {
                        "roll": 0.0016834348207339644,
                        "pitch": 2.5241646766662598,
                        "yaw": 0.25300413370132446
                    }
                },
                "velocity": {
                    "x": 7.966050148010254,
                    "y": 0.03529554232954979,
                    "z": 0.35063436627388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.645671844482422,
                "transform": {
                    "location": {
                        "x": -2027.8253173828125,
                        "y": 4065.626220703125,
                        "z": 360.1809997558594
                    },
                    "rotation": {
                        "roll": 7.450680277543142e-05,
                        "pitch": -2.507321357727051,
                        "yaw": -179.75457763671875
                    }
                },
                "velocity": {
                    "x": -14.6312255859375,
                    "y": -0.062409501522779465,
                    "z": -0.6473414301872253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.260998725891113,
                "transform": {
                    "location": {
                        "x": -2050.48974609375,
                        "y": 4065.5283203125,
                        "z": 359.16796875
                    },
                    "rotation": {
                        "roll": -0.0021362300030887127,
                        "pitch": -2.282287120819092,
                        "yaw": -179.74542236328125
                    }
                },
                "velocity": {
                    "x": -15.248305320739746,
                    "y": -0.06737884134054184,
                    "z": -0.6186312437057495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2148.38671875,
                        "y": 4065.2001953125,
                        "z": 359.2801818847656
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2165.12939453125,
                        "y": 4065.127197265625,
                        "z": 359.96990966796875
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7964876890182495,
                "transform": {
                    "location": {
                        "x": -2101.232177734375,
                        "y": 4062.421875,
                        "z": 358.185302734375
                    },
                    "rotation": {
                        "roll": 0.18983781337738037,
                        "pitch": -0.2878446578979492,
                        "yaw": 170.75709533691406
                    }
                },
                "velocity": {
                    "x": -1.3515870571136475,
                    "y": 1.183448314666748,
                    "z": -0.0055505274794995785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.14909584820270538,
        "expert_target_speed": 0,
        "target_point": [
            39.85617023305119,
            -0.23710882796926136
        ],
        "target_point_next": [
            85.84966381175971,
            -1.00769481479175
        ]
    },
    "250": {
        "acceleration": [
            -0.38089752197265625,
            0.39453625679016113,
            0.2155137062072754
        ],
        "angular_velocity": [
            0.3048882484436035,
            1.1959985494613647,
            -1.5341030359268188
        ],
        "forward_vector": [
            -0.9997234344482422,
            -0.014760972000658512,
            -0.018308211117982864
        ],
        "right_vector": [
            0.014783501625061035,
            -0.999890148639679,
            -0.0010958033381029963
        ],
        "location": [
            -2074.434326171875,
            4065.899169921875,
            358.45550537109375
        ],
        "rotation": [
            0.06279544532299042,
            -1.0490418672561646,
            -179.15408325195312
        ],
        "velocity": [
            -16.004804611206055,
            -0.24027076363563538,
            -0.2957824468612671
        ],
        "speed": 16.006608031770522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.98473358154297,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2149.410888671875,
                4065.19580078125,
                359.3101501464844
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -2153.3564453125,
                        "y": 4068.42919921875,
                        "z": 359.8292541503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9429291486740112,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": -5.915679057721945e-10,
                    "y": -2.5794854533606193e-12,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2150.556396484375,
                        "y": 4071.691162109375,
                        "z": 359.5798645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9765063524246216,
                        "yaw": 0.2498321384191513
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.556478500366211,
                "transform": {
                    "location": {
                        "x": -2109.905517578125,
                        "y": 4071.947021484375,
                        "z": 358.1585388183594
                    },
                    "rotation": {
                        "roll": 0.0013659805990755558,
                        "pitch": -0.21823136508464813,
                        "yaw": 0.519023060798645
                    }
                },
                "velocity": {
                    "x": 8.555962562561035,
                    "y": 0.07464844733476639,
                    "z": -0.057104989886283875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.544987678527832,
                "transform": {
                    "location": {
                        "x": -2111.9501953125,
                        "y": 4068.677978515625,
                        "z": 358.1833190917969
                    },
                    "rotation": {
                        "roll": -0.006439208518713713,
                        "pitch": -0.6849381327629089,
                        "yaw": 0.6134408712387085
                    }
                },
                "velocity": {
                    "x": 6.54433012008667,
                    "y": 0.05698990076780319,
                    "z": -0.0731733962893486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037213325500488,
                "transform": {
                    "location": {
                        "x": -2067.666748046875,
                        "y": 4072.152099609375,
                        "z": 358.6134033203125
                    },
                    "rotation": {
                        "roll": 0.0016120686195790768,
                        "pitch": 1.5010842084884644,
                        "yaw": 0.2681155800819397
                    }
                },
                "velocity": {
                    "x": 8.034788131713867,
                    "y": 0.036135997623205185,
                    "z": 0.19407238066196442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990899085998535,
                "transform": {
                    "location": {
                        "x": -2067.482421875,
                        "y": 4068.903564453125,
                        "z": 358.60968017578125
                    },
                    "rotation": {
                        "roll": -9.155245061265305e-05,
                        "pitch": 1.4981882572174072,
                        "yaw": 0.24956157803535461
                    }
                },
                "velocity": {
                    "x": 7.988245487213135,
                    "y": 0.033828094601631165,
                    "z": 0.20311538875102997
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941775321960449,
                "transform": {
                    "location": {
                        "x": -2025.189697265625,
                        "y": 4072.33837890625,
                        "z": 360.2917785644531
                    },
                    "rotation": {
                        "roll": -3.0517048799083568e-05,
                        "pitch": 2.5263161659240723,
                        "yaw": 0.2484963834285736
                    }
                },
                "velocity": {
                    "x": 7.934014797210693,
                    "y": 0.03485826030373573,
                    "z": 0.34926703572273254
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941267967224121,
                "transform": {
                    "location": {
                        "x": -2025.1328125,
                        "y": 4069.088623046875,
                        "z": 360.293701171875
                    },
                    "rotation": {
                        "roll": 0.0004023018409498036,
                        "pitch": 2.5257833003997803,
                        "yaw": 0.25235798954963684
                    }
                },
                "velocity": {
                    "x": 7.9334588050842285,
                    "y": 0.03612098470330238,
                    "z": 0.3502337634563446
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.807782173156738,
                "transform": {
                    "location": {
                        "x": -2031.5050048828125,
                        "y": 4065.610595703125,
                        "z": 360.0177917480469
                    },
                    "rotation": {
                        "roll": -0.0021972660906612873,
                        "pitch": -2.5473599433898926,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -14.792913436889648,
                    "y": -0.06611023843288422,
                    "z": -0.6601070761680603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.385808944702148,
                "transform": {
                    "location": {
                        "x": -2054.321533203125,
                        "y": 4065.51123046875,
                        "z": 359.0181884765625
                    },
                    "rotation": {
                        "roll": -0.0013732906663790345,
                        "pitch": -2.1180074214935303,
                        "yaw": -179.7436065673828
                    }
                },
                "velocity": {
                    "x": -15.37529468536377,
                    "y": -0.06854140758514404,
                    "z": -0.5645595192909241
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2149.410888671875,
                        "y": 4065.19580078125,
                        "z": 359.3101501464844
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2166.161376953125,
                        "y": 4065.1220703125,
                        "z": 359.9690246582031
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.5028727054595947,
                "transform": {
                    "location": {
                        "x": -2101.62646484375,
                        "y": 4062.724609375,
                        "z": 358.18310546875
                    },
                    "rotation": {
                        "roll": 0.22966746985912323,
                        "pitch": -0.22662566602230072,
                        "yaw": 162.2085723876953
                    }
                },
                "velocity": {
                    "x": -1.7378249168395996,
                    "y": 1.8011910915374756,
                    "z": -0.006788692437112331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.14062827825546265,
        "expert_target_speed": 0,
        "target_point": [
            35.86600959614678,
            0.0027259248571688266
        ],
        "target_point_next": [
            81.86346727341711,
            -0.4759614110039405
        ]
    },
    "255": {
        "acceleration": [
            -0.2626800537109375,
            0.3730201721191406,
            0.46971768140792847
        ],
        "angular_velocity": [
            0.1322825700044632,
            0.8438279032707214,
            -1.2868080139160156
        ],
        "forward_vector": [
            -0.9998469948768616,
            -0.008673900738358498,
            -0.015189539641141891
        ],
        "right_vector": [
            0.008704250678420067,
            -0.9999603033065796,
            -0.001933037070557475
        ],
        "location": [
            -2078.448974609375,
            4065.8505859375,
            358.3865051269531
        ],
        "rotation": [
            0.11076771467924118,
            -0.8703299760818481,
            -179.50296020507812
        ],
        "velocity": [
            -16.090177536010742,
            -0.1461048722267151,
            -0.23879511654376984
        ],
        "speed": 16.090840865971956,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.56526947021484,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2151.004638671875,
                4065.188720703125,
                359.3642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2152.086669921875,
                        "y": 4068.4345703125,
                        "z": 359.5426940917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9765063524246216,
                        "yaw": 0.2498321384191513
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2148.503173828125,
                        "y": 4071.7001953125,
                        "z": 359.2789611816406
                    },
                    "rotation": {
                        "roll": 4.1714035003970196e-10,
                        "pitch": -2.0179998874664307,
                        "yaw": 0.2498321682214737
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.11587142944336,
                "transform": {
                    "location": {
                        "x": -2107.797119140625,
                        "y": 4071.96435546875,
                        "z": 358.14447021484375
                    },
                    "rotation": {
                        "roll": 0.004615325480699539,
                        "pitch": -0.19564393162727356,
                        "yaw": 0.4426094889640808
                    }
                },
                "velocity": {
                    "x": 8.11552619934082,
                    "y": 0.058398712426424026,
                    "z": -0.04681016877293587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.352375030517578,
                "transform": {
                    "location": {
                        "x": -2110.072998046875,
                        "y": 4068.69482421875,
                        "z": 358.1646728515625
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.6489225625991821,
                        "yaw": 0.5252697467803955
                    }
                },
                "velocity": {
                    "x": 8.351893424987793,
                    "y": 0.07180505245923996,
                    "z": -0.05365348607301712
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031953811645508,
                "transform": {
                    "location": {
                        "x": -2065.65625,
                        "y": 4072.162109375,
                        "z": 358.66558837890625
                    },
                    "rotation": {
                        "roll": -0.0009155269945040345,
                        "pitch": 1.510141134262085,
                        "yaw": 0.26014500856399536
                    }
                },
                "velocity": {
                    "x": 8.0288724899292,
                    "y": 0.03642498329281807,
                    "z": 0.21944905817508698
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.954652786254883,
                "transform": {
                    "location": {
                        "x": -2065.490234375,
                        "y": 4068.911865234375,
                        "z": 358.6619567871094
                    },
                    "rotation": {
                        "roll": 0.0006527294171974063,
                        "pitch": 1.509382963180542,
                        "yaw": 0.2506345808506012
                    }
                },
                "velocity": {
                    "x": 7.951467514038086,
                    "y": 0.03479385003447533,
                    "z": 0.22238725423812866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9753522872924805,
                "transform": {
                    "location": {
                        "x": -2023.2015380859375,
                        "y": 4072.34716796875,
                        "z": 360.378662109375
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 2.4929301738739014,
                        "yaw": 0.2505338191986084
                    }
                },
                "velocity": {
                    "x": 7.968094825744629,
                    "y": 0.03534562885761261,
                    "z": 0.3383144438266754
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.975413799285889,
                "transform": {
                    "location": {
                        "x": -2023.1448974609375,
                        "y": 4069.09716796875,
                        "z": 360.3804626464844
                    },
                    "rotation": {
                        "roll": 0.0008608890930190682,
                        "pitch": 2.4897403717041016,
                        "yaw": 0.2517339587211609
                    }
                },
                "velocity": {
                    "x": 7.9681925773620605,
                    "y": 0.035164136439561844,
                    "z": 0.33749115467071533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.903295516967773,
                "transform": {
                    "location": {
                        "x": -2035.216552734375,
                        "y": 4065.594970703125,
                        "z": 359.8503723144531
                    },
                    "rotation": {
                        "roll": -0.0006408693734556437,
                        "pitch": -2.5949389934539795,
                        "yaw": -179.74501037597656
                    }
                },
                "velocity": {
                    "x": -14.88779354095459,
                    "y": -0.06499895453453064,
                    "z": -0.6764568090438843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.464446067810059,
                "transform": {
                    "location": {
                        "x": -2058.177978515625,
                        "y": 4065.49365234375,
                        "z": 358.88177490234375
                    },
                    "rotation": {
                        "roll": 0.0023445691913366318,
                        "pitch": -1.9185795783996582,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -15.455453872680664,
                    "y": -0.0662318617105484,
                    "z": -0.5231245160102844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2151.004638671875,
                        "y": 4065.188720703125,
                        "z": 359.3642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9350061416625977,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2167.6171875,
                        "y": 4065.1162109375,
                        "z": 359.9678039550781
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9866816997528076,
                "transform": {
                    "location": {
                        "x": -2102.1767578125,
                        "y": 4063.16064453125,
                        "z": 358.1802978515625
                    },
                    "rotation": {
                        "roll": 0.16040198504924774,
                        "pitch": -0.14486829936504364,
                        "yaw": 153.9199981689453
                    }
                },
                "velocity": {
                    "x": -2.1747653484344482,
                    "y": 2.047091245651245,
                    "z": -0.008968648500740528
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.1450430005788803,
        "expert_target_speed": 15.07525190630596,
        "target_point": [
            31.85040933806024,
            0.20734803048548284
        ],
        "target_point_next": [
            77.84992897519405,
            0.008734106679470832
        ]
    },
    "260": {
        "acceleration": [
            4.7217559814453125,
            0.35818642377853394,
            0.17268508672714233
        ],
        "angular_velocity": [
            0.06583739072084427,
            -1.3348890542984009,
            -1.2537205219268799
        ],
        "forward_vector": [
            -0.9998879432678223,
            -0.0031526554375886917,
            -0.014637185260653496
        ],
        "right_vector": [
            0.0031855134293437004,
            -0.9999924898147583,
            -0.0022220639511942863
        ],
        "location": [
            -2082.414306640625,
            4065.824951171875,
            358.33349609375
        ],
        "rotation": [
            0.12732863426208496,
            -0.8386788964271545,
            -179.81935119628906
        ],
        "velocity": [
            -15.419265747070312,
            -0.0543363131582737,
            -0.1850011795759201
        ],
        "speed": 15.419361485278936,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.37321472167969,
        "front_vehicle_info": {
            "id": 4256,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -2152.776123046875,
                4065.180908203125,
                359.4244384765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.199615478515625,
                "transform": {
                    "location": {
                        "x": -2150.0224609375,
                        "y": 4068.44482421875,
                        "z": 359.3653564453125
                    },
                    "rotation": {
                        "roll": -0.004974365700036287,
                        "pitch": -1.9837599992752075,
                        "yaw": 0.29289788007736206
                    }
                },
                "velocity": {
                    "x": 8.171847343444824,
                    "y": 0.0841195285320282,
                    "z": -0.6689746975898743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.610016822814941,
                "transform": {
                    "location": {
                        "x": -2146.713134765625,
                        "y": 4071.715576171875,
                        "z": 359.23553466796875
                    },
                    "rotation": {
                        "roll": -0.02438354305922985,
                        "pitch": -2.1376304626464844,
                        "yaw": 0.5044413208961487
                    }
                },
                "velocity": {
                    "x": 6.607606887817383,
                    "y": 0.09877672791481018,
                    "z": -0.14864325523376465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.869935989379883,
                "transform": {
                    "location": {
                        "x": -2105.822021484375,
                        "y": 4071.977294921875,
                        "z": 358.1399230957031
                    },
                    "rotation": {
                        "roll": 0.0011475856881588697,
                        "pitch": -0.10744570195674896,
                        "yaw": 0.3927193284034729
                    }
                },
                "velocity": {
                    "x": 7.869771957397461,
                    "y": 0.050467852503061295,
                    "z": -0.005798873957246542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.136985778808594,
                "transform": {
                    "location": {
                        "x": -2107.98486328125,
                        "y": 4068.71142578125,
                        "z": 358.1512451171875
                    },
                    "rotation": {
                        "roll": -0.005798338912427425,
                        "pitch": -0.2786853611469269,
                        "yaw": 0.4468579590320587
                    }
                },
                "velocity": {
                    "x": 8.136712074279785,
                    "y": 0.05269091948866844,
                    "z": -0.04094185307621956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.015186309814453,
                "transform": {
                    "location": {
                        "x": -2063.651123046875,
                        "y": 4072.171142578125,
                        "z": 358.72186279296875
                    },
                    "rotation": {
                        "roll": 0.0016421726904809475,
                        "pitch": 1.679099440574646,
                        "yaw": 0.25392666459083557
                    }
                },
                "velocity": {
                    "x": 8.011970520019531,
                    "y": 0.0345793180167675,
                    "z": 0.22436918318271637
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991127967834473,
                "transform": {
                    "location": {
                        "x": -2063.496826171875,
                        "y": 4068.9208984375,
                        "z": 358.7178039550781
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": 1.6850075721740723,
                        "yaw": 0.2564723491668701
                    }
                },
                "velocity": {
                    "x": 7.987680435180664,
                    "y": 0.03710101544857025,
                    "z": 0.23175828158855438
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.943734645843506,
                "transform": {
                    "location": {
                        "x": -2021.2142333984375,
                        "y": 4072.35595703125,
                        "z": 360.4636535644531
                    },
                    "rotation": {
                        "roll": 0.001058668247424066,
                        "pitch": 2.3853204250335693,
                        "yaw": 0.25261953473091125
                    }
                },
                "velocity": {
                    "x": 7.936506271362305,
                    "y": 0.03500325605273247,
                    "z": 0.336993008852005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.944087982177734,
                "transform": {
                    "location": {
                        "x": -2021.157470703125,
                        "y": 4069.10595703125,
                        "z": 360.4654541015625
                    },
                    "rotation": {
                        "roll": -0.00015258803614415228,
                        "pitch": 2.382690906524658,
                        "yaw": 0.2545534670352936
                    }
                },
                "velocity": {
                    "x": 7.936912536621094,
                    "y": 0.0346708744764328,
                    "z": 0.33578261733055115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.958992958068848,
                "transform": {
                    "location": {
                        "x": -2038.946533203125,
                        "y": 4065.578369140625,
                        "z": 359.6811218261719
                    },
                    "rotation": {
                        "roll": 0.00012149420217610896,
                        "pitch": -2.5987160205841064,
                        "yaw": -179.74484252929688
                    }
                },
                "velocity": {
                    "x": -14.943507194519043,
                    "y": -0.06541147083044052,
                    "z": -0.6773363947868347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.429125785827637,
                "transform": {
                    "location": {
                        "x": -2062.047119140625,
                        "y": 4065.476806640625,
                        "z": 358.7587890625
                    },
                    "rotation": {
                        "roll": -0.0008544927695766091,
                        "pitch": -1.707943320274353,
                        "yaw": -179.74911499023438
                    }
                },
                "velocity": {
                    "x": -15.422054290771484,
                    "y": -0.068867526948452,
                    "z": -0.46197256445884705
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2152.776123046875,
                        "y": 4065.180908203125,
                        "z": 359.4244384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9350061416625977,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2169.414794921875,
                        "y": 4065.10888671875,
                        "z": 359.97857666015625
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.240095853805542,
                "transform": {
                    "location": {
                        "x": -2102.67431640625,
                        "y": 4063.56689453125,
                        "z": 358.17864990234375
                    },
                    "rotation": {
                        "roll": 0.08818778395652771,
                        "pitch": -0.18118441104888916,
                        "yaw": 148.81729125976562
                    }
                },
                "velocity": {
                    "x": -1.6314836740493774,
                    "y": 1.535012125968933,
                    "z": -0.005281677003949881
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.16071265935897827,
        "expert_target_speed": 14.162839509372933,
        "target_point": [
            27.883385528795074,
            0.3700974086205154
        ],
        "target_point_next": [
            73.8833005745029,
            0.4255061213845682
        ]
    },
    "265": {
        "acceleration": [
            5.908870697021484,
            0.3123157322406769,
            0.18351107835769653
        ],
        "angular_velocity": [
            0.01799163408577442,
            -0.7324386835098267,
            -1.2059229612350464
        ],
        "forward_vector": [
            -0.9998334646224976,
            0.002272620564326644,
            -0.018107378855347633
        ],
        "right_vector": [
            -0.002232495928183198,
            -0.9999950528144836,
            -0.0022358414717018604
        ],
        "location": [
            -2086.08740234375,
            4065.821533203125,
            358.2944030761719
        ],
        "rotation": [
            0.12812539935112,
            -1.0375330448150635,
            179.86976623535156
        ],
        "velocity": [
            -14.003141403198242,
            0.028839534148573875,
            -0.14300011098384857
        ],
        "speed": 14.003171100743385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.108722686767578,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2103.08935546875,
                4063.916748046875,
                358.1769714355469
            ],
            "velocity": [
                -1.7008825540542603,
                1.5680010318756104,
                -0.005648612976074219
            ],
            "speed_kmh": 8.328116320452704,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038369178771973,
                "transform": {
                    "location": {
                        "x": -2147.9990234375,
                        "y": 4068.46923828125,
                        "z": 359.2540283203125
                    },
                    "rotation": {
                        "roll": -0.0197448693215847,
                        "pitch": -2.0142159461975098,
                        "yaw": 0.747626543045044
                    }
                },
                "velocity": {
                    "x": 8.031305313110352,
                    "y": 0.11299233138561249,
                    "z": -0.31740766763687134
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.890491485595703,
                "transform": {
                    "location": {
                        "x": -2145.024658203125,
                        "y": 4071.739990234375,
                        "z": 359.1861267089844
                    },
                    "rotation": {
                        "roll": -0.028045648708939552,
                        "pitch": -2.034726858139038,
                        "yaw": 0.8209519982337952
                    }
                },
                "velocity": {
                    "x": 6.88588285446167,
                    "y": 0.1167270764708519,
                    "z": -0.22330710291862488
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.170906066894531,
                "transform": {
                    "location": {
                        "x": -2103.80517578125,
                        "y": 4071.989013671875,
                        "z": 358.1390075683594
                    },
                    "rotation": {
                        "roll": 0.0041178008541464806,
                        "pitch": 0.16143150627613068,
                        "yaw": 0.329296350479126
                    }
                },
                "velocity": {
                    "x": 8.170767784118652,
                    "y": 0.046502768993377686,
                    "z": 0.010358419269323349
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.892514705657959,
                "transform": {
                    "location": {
                        "x": -2105.99560546875,
                        "y": 4068.724365234375,
                        "z": 358.1438903808594
                    },
                    "rotation": {
                        "roll": -0.001556396484375,
                        "pitch": -0.10394181311130524,
                        "yaw": 0.38168656826019287
                    }
                },
                "velocity": {
                    "x": 7.892359256744385,
                    "y": 0.04932490736246109,
                    "z": 0.004976749420166016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034552574157715,
                "transform": {
                    "location": {
                        "x": -2061.64453125,
                        "y": 4072.17919921875,
                        "z": 358.78045654296875
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 1.753630518913269,
                        "yaw": 0.24596016108989716
                    }
                },
                "velocity": {
                    "x": 8.03076457977295,
                    "y": 0.03553358092904091,
                    "z": 0.24412503838539124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.959284782409668,
                "transform": {
                    "location": {
                        "x": -2061.50390625,
                        "y": 4068.9296875,
                        "z": 358.7764892578125
                    },
                    "rotation": {
                        "roll": -0.0006103518535383046,
                        "pitch": 1.7477701902389526,
                        "yaw": 0.2554857134819031
                    }
                },
                "velocity": {
                    "x": 7.955550193786621,
                    "y": 0.03404957801103592,
                    "z": 0.24140623211860657
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.97688102722168,
                "transform": {
                    "location": {
                        "x": -2019.2259521484375,
                        "y": 4072.3642578125,
                        "z": 360.5464782714844
                    },
                    "rotation": {
                        "roll": 0.0006342271226458251,
                        "pitch": 2.375211715698242,
                        "yaw": 0.2540377676486969
                    }
                },
                "velocity": {
                    "x": 7.969955921173096,
                    "y": 0.036087848246097565,
                    "z": 0.33034902811050415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.975888252258301,
                "transform": {
                    "location": {
                        "x": -2019.1690673828125,
                        "y": 4069.114013671875,
                        "z": 360.5481872558594
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": 2.376591444015503,
                        "yaw": 0.2509085237979889
                    }
                },
                "velocity": {
                    "x": 7.968979835510254,
                    "y": 0.03566243499517441,
                    "z": 0.32997778058052063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.75101089477539,
                "transform": {
                    "location": {
                        "x": -2042.6683349609375,
                        "y": 4065.5625,
                        "z": 359.5123596191406
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -2.630244255065918,
                        "yaw": -179.74417114257812
                    }
                },
                "velocity": {
                    "x": -14.735719680786133,
                    "y": -0.06573892384767532,
                    "z": -0.6682491302490234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.542505264282227,
                "transform": {
                    "location": {
                        "x": -2065.80712890625,
                        "y": 4065.4609375,
                        "z": 358.65325927734375
                    },
                    "rotation": {
                        "roll": 0.0028281868435442448,
                        "pitch": -1.7481731176376343,
                        "yaw": -179.75682067871094
                    }
                },
                "velocity": {
                    "x": -14.5371675491333,
                    "y": -0.06216393783688545,
                    "z": -0.38906100392341614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.134714126586914,
                "transform": {
                    "location": {
                        "x": -2154.565673828125,
                        "y": 4065.162109375,
                        "z": 359.4835205078125
                    },
                    "rotation": {
                        "roll": -0.01498412899672985,
                        "pitch": 1.9138120412826538,
                        "yaw": -179.30052185058594
                    }
                },
                "velocity": {
                    "x": -7.129975318908691,
                    "y": -0.11517886072397232,
                    "z": 0.2330978512763977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2171.305419921875,
                        "y": 4065.1005859375,
                        "z": 360.0343017578125
                    },
                    "rotation": {
                        "roll": -4.170804257519478e-10,
                        "pitch": 1.7690120935440063,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3133656978607178,
                "transform": {
                    "location": {
                        "x": -2103.08935546875,
                        "y": 4063.916748046875,
                        "z": 358.1769714355469
                    },
                    "rotation": {
                        "roll": 0.07668191939592361,
                        "pitch": -0.11846962571144104,
                        "yaw": 145.80023193359375
                    }
                },
                "velocity": {
                    "x": -1.7008825540542603,
                    "y": 1.5680010318756104,
                    "z": -0.005648612976074219
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.1875893920660019,
        "expert_target_speed": 12.708197600655922,
        "target_point": [
            24.207888761908585,
            0.5096058144239441
        ],
        "target_point_next": [
            70.20682617715275,
            0.8145828729678664
        ]
    },
    "270": {
        "acceleration": [
            6.7376708984375,
            0.19181489944458008,
            0.05828261375427246
        ],
        "angular_velocity": [
            -0.062010377645492554,
            -0.6010032892227173,
            -1.036081314086914
        ],
        "forward_vector": [
            -0.9997507929801941,
            0.007254977710545063,
            -0.02111087180674076
        ],
        "right_vector": [
            -0.007212333846837282,
            -0.9999717473983765,
            -0.002095429925248027
        ],
        "location": [
            -2089.384033203125,
            4065.836181640625,
            358.2620544433594
        ],
        "rotation": [
            0.12008614838123322,
            -1.2096537351608276,
            179.584228515625
        ],
        "velocity": [
            -12.409832954406738,
            0.09157245606184006,
            -0.12572325766086578
        ],
        "speed": 12.410170807486441,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.299424171447754,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2103.6064453125,
                4064.356689453125,
                358.1748046875
            ],
            "velocity": [
                -2.3608899116516113,
                2.124177932739258,
                -0.005673875566571951
            ],
            "speed_kmh": 11.433027146836215,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.3073148727417,
                "transform": {
                    "location": {
                        "x": -2145.955322265625,
                        "y": 4068.497314453125,
                        "z": 359.18121337890625
                    },
                    "rotation": {
                        "roll": -0.02020263858139515,
                        "pitch": -2.0065865516662598,
                        "yaw": 0.8312747478485107
                    }
                },
                "velocity": {
                    "x": 8.301546096801758,
                    "y": 0.11703109741210938,
                    "z": -0.28656265139579773
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.04433536529541,
                "transform": {
                    "location": {
                        "x": -2143.35302734375,
                        "y": 4071.765625,
                        "z": 359.1299133300781
                    },
                    "rotation": {
                        "roll": -0.014770506881177425,
                        "pitch": -2.0704283714294434,
                        "yaw": 0.8748319149017334
                    }
                },
                "velocity": {
                    "x": 6.04032564163208,
                    "y": 0.07091668993234634,
                    "z": -0.20839999616146088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.008089065551758,
                "transform": {
                    "location": {
                        "x": -2101.780029296875,
                        "y": 4072.00048828125,
                        "z": 358.1471252441406
                    },
                    "rotation": {
                        "roll": 0.002942899940535426,
                        "pitch": 0.2793956995010376,
                        "yaw": 0.32561343908309937
                    }
                },
                "velocity": {
                    "x": 8.007869720458984,
                    "y": 0.043126173317432404,
                    "z": 0.04066597670316696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062846183776855,
                "transform": {
                    "location": {
                        "x": -2103.999755859375,
                        "y": 4068.736083984375,
                        "z": 358.1443176269531
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.08334196358919144,
                        "yaw": 0.3616505563259125
                    }
                },
                "velocity": {
                    "x": 8.062695503234863,
                    "y": 0.04908793419599533,
                    "z": 0.004984511993825436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01834487915039,
                "transform": {
                    "location": {
                        "x": -2059.63818359375,
                        "y": 4072.188720703125,
                        "z": 358.84417724609375
                    },
                    "rotation": {
                        "roll": 0.0011481292312964797,
                        "pitch": 1.8593617677688599,
                        "yaw": 0.2513108253479004
                    }
                },
                "velocity": {
                    "x": 8.014050483703613,
                    "y": 0.03521711006760597,
                    "z": 0.2600192427635193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984485626220703,
                "transform": {
                    "location": {
                        "x": -2059.510986328125,
                        "y": 4068.938232421875,
                        "z": 358.83978271484375
                    },
                    "rotation": {
                        "roll": 0.0007181585533544421,
                        "pitch": 1.8544987440109253,
                        "yaw": 0.2518457770347595
                    }
                },
                "velocity": {
                    "x": 7.979930877685547,
                    "y": 0.03544340282678604,
                    "z": 0.26731324195861816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2017.2005615234375,
                        "y": 4072.3505859375,
                        "z": 360.6321716308594
                    },
                    "rotation": {
                        "roll": -4.172226453214023e-10,
                        "pitch": 2.316711187362671,
                        "yaw": 0.24983206391334534
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2017.1436767578125,
                        "y": 4069.100341796875,
                        "z": 360.63397216796875
                    },
                    "rotation": {
                        "roll": -4.172226453214023e-10,
                        "pitch": 2.316711187362671,
                        "yaw": 0.24983206391334534
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.722362518310547,
                "transform": {
                    "location": {
                        "x": -2046.2315673828125,
                        "y": 4065.546875,
                        "z": 359.35308837890625
                    },
                    "rotation": {
                        "roll": 0.0002858916122931987,
                        "pitch": -2.6330854892730713,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": -13.70881462097168,
                    "y": -0.060604922473430634,
                    "z": -0.6065927147865295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.1427001953125,
                "transform": {
                    "location": {
                        "x": -2069.263671875,
                        "y": 4065.446044921875,
                        "z": 358.56793212890625
                    },
                    "rotation": {
                        "roll": 0.0021322262473404408,
                        "pitch": -1.8665403127670288,
                        "yaw": -179.75428771972656
                    }
                },
                "velocity": {
                    "x": -13.139161109924316,
                    "y": -0.05653085187077522,
                    "z": -0.29970866441726685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.823281288146973,
                "transform": {
                    "location": {
                        "x": -2156.30810546875,
                        "y": 4065.1376953125,
                        "z": 359.5413513183594
                    },
                    "rotation": {
                        "roll": 0.01386225875467062,
                        "pitch": 1.9196245670318604,
                        "yaw": -179.20339965820312
                    }
                },
                "velocity": {
                    "x": -6.818814754486084,
                    "y": -0.09401287883520126,
                    "z": 0.22823689877986908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2173.0947265625,
                        "y": 4065.0927734375,
                        "z": 360.08709716796875
                    },
                    "rotation": {
                        "roll": -4.170804257519478e-10,
                        "pitch": 1.7690120935440063,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1758408546447754,
                "transform": {
                    "location": {
                        "x": -2103.6064453125,
                        "y": 4064.356689453125,
                        "z": 358.1748046875
                    },
                    "rotation": {
                        "roll": 0.07411366701126099,
                        "pitch": -0.013305207714438438,
                        "yaw": 143.340576171875
                    }
                },
                "velocity": {
                    "x": -2.3608899116516113,
                    "y": 2.124177932739258,
                    "z": -0.005673875566571951
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2324894815683365,
        "expert_target_speed": 0,
        "target_point": [
            20.90839793412454,
            0.6209750038129974
        ],
        "target_point_next": [
            66.9052440908603,
            1.1552015207245425
        ]
    },
    "275": {
        "acceleration": [
            7.1495819091796875,
            0.0855429470539093,
            0.07639557123184204
        ],
        "angular_velocity": [
            -0.08658980578184128,
            -0.6969755291938782,
            -0.8667306900024414
        ],
        "forward_vector": [
            -0.9996922612190247,
            0.011262676678597927,
            -0.022100793197751045
        ],
        "right_vector": [
            -0.011226222850382328,
            -0.9999353885650635,
            -0.001772834686562419
        ],
        "location": [
            -2092.27978515625,
            4065.863037109375,
            358.23248291015625
        ],
        "rotation": [
            0.10160081833600998,
            -1.2663853168487549,
            179.35452270507812
        ],
        "velocity": [
            -10.794700622558594,
            0.1273721307516098,
            -0.11213608831167221
        ],
        "speed": 10.795452060490987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.070972442626953,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2104.31689453125,
                4064.96142578125,
                358.1735534667969
            ],
            "velocity": [
                -3.2325029373168945,
                2.6606810092926025,
                0.0011366939870640635
            ],
            "speed_kmh": 15.072052532651103,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.15759563446045,
                "transform": {
                    "location": {
                        "x": -2143.898193359375,
                        "y": 4068.526123046875,
                        "z": 359.1098327636719
                    },
                    "rotation": {
                        "roll": -0.01879882626235485,
                        "pitch": -2.0065865516662598,
                        "yaw": 0.8029016256332397
                    }
                },
                "velocity": {
                    "x": 8.152002334594727,
                    "y": 0.10177657008171082,
                    "z": -0.2843802869319916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.485963344573975,
                "transform": {
                    "location": {
                        "x": -2141.9501953125,
                        "y": 4071.782470703125,
                        "z": 359.08099365234375
                    },
                    "rotation": {
                        "roll": -0.015350342728197575,
                        "pitch": -2.0896005630493164,
                        "yaw": 0.758816123008728
                    }
                },
                "velocity": {
                    "x": 5.482213497161865,
                    "y": 0.060809291899204254,
                    "z": -0.19346918165683746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.029494285583496,
                "transform": {
                    "location": {
                        "x": -2099.779052734375,
                        "y": 4072.01025390625,
                        "z": 358.1585388183594
                    },
                    "rotation": {
                        "roll": 0.0018145989160984755,
                        "pitch": 0.46385177969932556,
                        "yaw": 0.2792503535747528
                    }
                },
                "velocity": {
                    "x": 8.029150009155273,
                    "y": 0.040228210389614105,
                    "z": 0.06256551295518875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066141128540039,
                "transform": {
                    "location": {
                        "x": -2101.9775390625,
                        "y": 4068.747802734375,
                        "z": 358.15032958984375
                    },
                    "rotation": {
                        "roll": 0.0001435329031664878,
                        "pitch": 0.23180978000164032,
                        "yaw": 0.32156091928482056
                    }
                },
                "velocity": {
                    "x": 8.065848350524902,
                    "y": 0.041567232459783554,
                    "z": 0.05473041534423828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025052070617676,
                "transform": {
                    "location": {
                        "x": -2057.63232421875,
                        "y": 4072.196044921875,
                        "z": 358.90966796875
                    },
                    "rotation": {
                        "roll": 0.0006699871737509966,
                        "pitch": 2.008082389831543,
                        "yaw": 0.24849160015583038
                    }
                },
                "velocity": {
                    "x": 8.020305633544922,
                    "y": 0.03491581603884697,
                    "z": 0.2737554609775543
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9520955085754395,
                "transform": {
                    "location": {
                        "x": -2057.51953125,
                        "y": 4068.947021484375,
                        "z": 358.9051818847656
                    },
                    "rotation": {
                        "roll": 7.177249244705308e-06,
                        "pitch": 2.002652406692505,
                        "yaw": 0.2518038749694824
                    }
                },
                "velocity": {
                    "x": 7.9473161697387695,
                    "y": 0.03531184792518616,
                    "z": 0.2733836770057678
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4270,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2015.119384765625,
                        "y": 4072.303466796875,
                        "z": 360.7229309082031
                    },
                    "rotation": {
                        "roll": -4.172226453214023e-10,
                        "pitch": 2.316711187362671,
                        "yaw": 0.24983206391334534
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4269,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2015.0626220703125,
                        "y": 4069.052490234375,
                        "z": 360.7248229980469
                    },
                    "rotation": {
                        "roll": -4.172226453214023e-10,
                        "pitch": 2.316711187362671,
                        "yaw": 0.24983206391334534
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.313657760620117,
                "transform": {
                    "location": {
                        "x": -2049.480224609375,
                        "y": 4065.532470703125,
                        "z": 359.2137756347656
                    },
                    "rotation": {
                        "roll": 0.0011157359695062041,
                        "pitch": -2.61898136138916,
                        "yaw": -179.7602081298828
                    }
                },
                "velocity": {
                    "x": -12.303109169006348,
                    "y": -0.052545588463544846,
                    "z": -0.5068578124046326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.629695892333984,
                "transform": {
                    "location": {
                        "x": -2072.351318359375,
                        "y": 4065.432373046875,
                        "z": 358.5003967285156
                    },
                    "rotation": {
                        "roll": 0.0013705657329410315,
                        "pitch": -1.8194530010223389,
                        "yaw": -179.74716186523438
                    }
                },
                "velocity": {
                    "x": -11.627092361450195,
                    "y": -0.04987204074859619,
                    "z": -0.24095052480697632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.204044342041016,
                "transform": {
                    "location": {
                        "x": -2158.003662109375,
                        "y": 4065.114501953125,
                        "z": 359.5982360839844
                    },
                    "rotation": {
                        "roll": 0.016605697572231293,
                        "pitch": 1.8502366542816162,
                        "yaw": -179.2236328125
                    }
                },
                "velocity": {
                    "x": -6.19995641708374,
                    "y": -0.08355389535427094,
                    "z": 0.20909889042377472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2174.703125,
                        "y": 4065.0859375,
                        "z": 360.1353454589844
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.186681270599365,
                "transform": {
                    "location": {
                        "x": -2104.31689453125,
                        "y": 4064.96142578125,
                        "z": 358.1735534667969
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": 0.039806339889764786,
                        "yaw": 141.4563751220703
                    }
                },
                "velocity": {
                    "x": -3.2325029373168945,
                    "y": 2.6606810092926025,
                    "z": 0.0011366939870640635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.29550740122795105,
        "expert_target_speed": 0,
        "target_point": [
            18.009869855400183,
            0.69901978671173
        ],
        "target_point_next": [
            64.00420483703307,
            1.4176322936512582
        ]
    },
    "280": {
        "acceleration": [
            8.415298461914062,
            -0.020060241222381592,
            0.08637487888336182
        ],
        "angular_velocity": [
            -0.08883112668991089,
            -0.22067147493362427,
            -0.6269344091415405
        ],
        "forward_vector": [
            -0.9995243549346924,
            0.014605723321437836,
            -0.027161354199051857
        ],
        "right_vector": [
            -0.014573054388165474,
            -0.9998928308486938,
            -0.0014003466349095106
        ],
        "location": [
            -2094.607666015625,
            4065.89404296875,
            358.2093811035156
        ],
        "rotation": [
            0.08026359230279922,
            -1.556422472000122,
            179.16281127929688
        ],
        "velocity": [
            -8.221132278442383,
            0.12868377566337585,
            -0.08636591583490372
        ],
        "speed": 8.222139347746802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.647909164428711,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2105.249267578125,
                4065.529296875,
                358.1742248535156
            ],
            "velocity": [
                -4.4312944412231445,
                1.48274564743042,
                0.006713971961289644
            ],
            "speed_kmh": 16.82203774925684,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.379204750061035,
                "transform": {
                    "location": {
                        "x": -2141.831298828125,
                        "y": 4068.5498046875,
                        "z": 359.0374450683594
                    },
                    "rotation": {
                        "roll": -0.011810301803052425,
                        "pitch": -2.013000011444092,
                        "yaw": 0.621460497379303
                    }
                },
                "velocity": {
                    "x": 8.373591423034668,
                    "y": 0.0803799107670784,
                    "z": -0.29592782258987427
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.860396862030029,
                "transform": {
                    "location": {
                        "x": -2140.526123046875,
                        "y": 4071.79931640625,
                        "z": 359.0300598144531
                    },
                    "rotation": {
                        "roll": -0.012878417037427425,
                        "pitch": -2.0265443325042725,
                        "yaw": 0.6285420656204224
                    }
                },
                "velocity": {
                    "x": 5.856419563293457,
                    "y": 0.05939039960503578,
                    "z": -0.20753733813762665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.071072578430176,
                "transform": {
                    "location": {
                        "x": -2097.76220703125,
                        "y": 4072.02001953125,
                        "z": 358.1770935058594
                    },
                    "rotation": {
                        "roll": 0.0013690765481442213,
                        "pitch": 0.5589826703071594,
                        "yaw": 0.29920458793640137
                    }
                },
                "velocity": {
                    "x": 8.070609092712402,
                    "y": 0.039745885878801346,
                    "z": 0.07682493329048157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.971222877502441,
                "transform": {
                    "location": {
                        "x": -2099.975830078125,
                        "y": 4068.75830078125,
                        "z": 358.1619873046875
                    },
                    "rotation": {
                        "roll": 0.001289851265028119,
                        "pitch": 0.4601224958896637,
                        "yaw": 0.3074508309364319
                    }
                },
                "velocity": {
                    "x": 7.9709320068359375,
                    "y": 0.04105217382311821,
                    "z": 0.05433720350265503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020686149597168,
                "transform": {
                    "location": {
                        "x": -2055.627197265625,
                        "y": 4072.204345703125,
                        "z": 358.9801940917969
                    },
                    "rotation": {
                        "roll": 1.1601249752857257e-05,
                        "pitch": 2.0401432514190674,
                        "yaw": 0.24846826493740082
                    }
                },
                "velocity": {
                    "x": 8.015206336975098,
                    "y": 0.03470909222960472,
                    "z": 0.2944020926952362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.981242656707764,
                "transform": {
                    "location": {
                        "x": -2055.529052734375,
                        "y": 4068.95654296875,
                        "z": 358.9753723144531
                    },
                    "rotation": {
                        "roll": -0.00045776288607157767,
                        "pitch": 2.0289690494537354,
                        "yaw": 0.25347039103507996
                    }
                },
                "velocity": {
                    "x": 7.975624084472656,
                    "y": 0.03523971885442734,
                    "z": 0.29734522104263306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.541259765625,
                "transform": {
                    "location": {
                        "x": -2052.374267578125,
                        "y": 4065.52001953125,
                        "z": 359.0973205566406
                    },
                    "rotation": {
                        "roll": 0.00022605665435548872,
                        "pitch": -2.49294376373291,
                        "yaw": -179.76300048828125
                    }
                },
                "velocity": {
                    "x": -10.533356666564941,
                    "y": -0.04434789717197418,
                    "z": -0.4056933522224426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.771971702575684,
                "transform": {
                    "location": {
                        "x": -2075.07177734375,
                        "y": 4065.4208984375,
                        "z": 358.4486389160156
                    },
                    "rotation": {
                        "roll": 0.0009845761815086007,
                        "pitch": -1.7718192338943481,
                        "yaw": -179.7469482421875
                    }
                },
                "velocity": {
                    "x": -9.770288467407227,
                    "y": -0.041398923844099045,
                    "z": -0.17655512690544128
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.641182899475098,
                "transform": {
                    "location": {
                        "x": -2159.448974609375,
                        "y": 4065.094970703125,
                        "z": 359.6460876464844
                    },
                    "rotation": {
                        "roll": 0.017519373446702957,
                        "pitch": 1.812752604484558,
                        "yaw": -179.24075317382812
                    }
                },
                "velocity": {
                    "x": -5.6376214027404785,
                    "y": -0.0749843418598175,
                    "z": 0.185858353972435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2175.997802734375,
                        "y": 4065.07958984375,
                        "z": 360.1747131347656
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.672788143157959,
                "transform": {
                    "location": {
                        "x": -2105.249267578125,
                        "y": 4065.529296875,
                        "z": 358.1742248535156
                    },
                    "rotation": {
                        "roll": -0.47299185395240784,
                        "pitch": 0.06606841832399368,
                        "yaw": 146.42892456054688
                    }
                },
                "velocity": {
                    "x": -4.4312944412231445,
                    "y": 1.48274564743042,
                    "z": 0.006713971961289644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.4231390655040741,
        "expert_target_speed": 7.398726958032231,
        "target_point": [
            15.67934439384952,
            0.7562742081586297
        ],
        "target_point_next": [
            61.67101704632687,
            1.6287998325132444
        ]
    },
    "285": {
        "acceleration": [
            2.832822799682617,
            0.0275266170501709,
            0.04118680953979492
        ],
        "angular_velocity": [
            -0.05099886283278465,
            1.5712175369262695,
            -0.5606418251991272
        ],
        "forward_vector": [
            -0.9995594620704651,
            0.01713848114013672,
            -0.02423025295138359
        ],
        "right_vector": [
            -0.017118502408266068,
            -0.9998528957366943,
            -0.0010317296255379915
        ],
        "location": [
            -2096.458984375,
            4065.924560546875,
            358.1893310546875
        ],
        "rotation": [
            0.05913113057613373,
            -1.3884271383285522,
            179.0177001953125
        ],
        "velocity": [
            -6.849247455596924,
            0.12671613693237305,
            -0.07170183211565018
        ],
        "speed": 6.850419526376468,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.97057819366455,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2106.427978515625,
                4065.747314453125,
                358.1761169433594
            ],
            "velocity": [
                -5.426051616668701,
                -0.38317447900772095,
                0.013596134260296822
            ],
            "speed_kmh": 19.582492337071287,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.178829193115234,
                "transform": {
                    "location": {
                        "x": -2139.763427734375,
                        "y": 4068.5693359375,
                        "z": 358.96441650390625
                    },
                    "rotation": {
                        "roll": -0.00836181640625,
                        "pitch": -2.0450403690338135,
                        "yaw": 0.5012454390525818
                    }
                },
                "velocity": {
                    "x": 8.173373222351074,
                    "y": 0.06902255117893219,
                    "z": -0.29060325026512146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.1547269821167,
                "transform": {
                    "location": {
                        "x": -2138.764404296875,
                        "y": 4071.8173828125,
                        "z": 358.9660339355469
                    },
                    "rotation": {
                        "roll": -0.005340575706213713,
                        "pitch": -1.8688899278640747,
                        "yaw": 0.5455535650253296
                    }
                },
                "velocity": {
                    "x": 8.149271011352539,
                    "y": 0.06647754460573196,
                    "z": -0.290740042924881
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026049613952637,
                "transform": {
                    "location": {
                        "x": -2095.75048828125,
                        "y": 4072.030029296875,
                        "z": 358.1968688964844
                    },
                    "rotation": {
                        "roll": 0.0007962444797158241,
                        "pitch": 0.6154546737670898,
                        "yaw": 0.26124605536460876
                    }
                },
                "velocity": {
                    "x": 8.02548599243164,
                    "y": 0.0379151925444603,
                    "z": 0.0871967077255249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067678451538086,
                "transform": {
                    "location": {
                        "x": -2097.969970703125,
                        "y": 4068.76806640625,
                        "z": 358.1795959472656
                    },
                    "rotation": {
                        "roll": 5.841342863277532e-05,
                        "pitch": 0.5163007974624634,
                        "yaw": 0.2950848639011383
                    }
                },
                "velocity": {
                    "x": 8.067151069641113,
                    "y": 0.039583563804626465,
                    "z": 0.08332563191652298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023996353149414,
                "transform": {
                    "location": {
                        "x": -2053.62158203125,
                        "y": 4072.213623046875,
                        "z": 359.05401611328125
                    },
                    "rotation": {
                        "roll": 0.000813895370811224,
                        "pitch": 2.2148663997650146,
                        "yaw": 0.25794339179992676
                    }
                },
                "velocity": {
                    "x": 8.018545150756836,
                    "y": 0.03521116077899933,
                    "z": 0.2936108410358429
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948849201202393,
                "transform": {
                    "location": {
                        "x": -2053.537841796875,
                        "y": 4068.96435546875,
                        "z": 359.0484924316406
                    },
                    "rotation": {
                        "roll": -0.001190184848383069,
                        "pitch": 2.2106385231018066,
                        "yaw": 0.2482287436723709
                    }
                },
                "velocity": {
                    "x": 7.943202972412109,
                    "y": 0.03496256098151207,
                    "z": 0.2974971830844879
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.75494384765625,
                "transform": {
                    "location": {
                        "x": -2054.7548828125,
                        "y": 4065.509521484375,
                        "z": 359.0085144042969
                    },
                    "rotation": {
                        "roll": -0.0003051752573810518,
                        "pitch": -2.4033522605895996,
                        "yaw": -179.75485229492188
                    }
                },
                "velocity": {
                    "x": -8.749041557312012,
                    "y": -0.03846864774823189,
                    "z": -0.3191182315349579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.89881706237793,
                "transform": {
                    "location": {
                        "x": -2077.250732421875,
                        "y": 4065.4111328125,
                        "z": 358.4115295410156
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": -1.8054784536361694,
                        "yaw": -179.75511169433594
                    }
                },
                "velocity": {
                    "x": -7.897691249847412,
                    "y": -0.03549041226506233,
                    "z": -0.12854793667793274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.3468451499938965,
                "transform": {
                    "location": {
                        "x": -2160.907470703125,
                        "y": 4065.079833984375,
                        "z": 359.69439697265625
                    },
                    "rotation": {
                        "roll": 0.018235310912132263,
                        "pitch": 1.9052060842514038,
                        "yaw": -179.38453674316406
                    }
                },
                "velocity": {
                    "x": -6.343068599700928,
                    "y": -0.060895174741744995,
                    "z": 0.2102767825126648
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2176.929443359375,
                        "y": 4065.0751953125,
                        "z": 360.20306396484375
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.439580917358398,
                "transform": {
                    "location": {
                        "x": -2106.427978515625,
                        "y": 4065.747314453125,
                        "z": 358.1761169433594
                    },
                    "rotation": {
                        "roll": -0.644378662109375,
                        "pitch": 0.17935392260551453,
                        "yaw": 162.03359985351562
                    }
                },
                "velocity": {
                    "x": -5.426051616668701,
                    "y": -0.38317447900772095,
                    "z": 0.013596134260296822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.515095591545105,
        "expert_target_speed": 6.297975580503897,
        "target_point": [
            13.82580939871307,
            0.794754692386804
        ],
        "target_point_next": [
            59.815124915054085,
            1.7837504841999912
        ]
    },
    "290": {
        "acceleration": [
            3.05203914642334,
            -0.039968639612197876,
            0.08949577808380127
        ],
        "angular_velocity": [
            -0.045428935438394547,
            1.520802617073059,
            -0.28872284293174744
        ],
        "forward_vector": [
            -0.9994016289710999,
            0.018259838223457336,
            -0.029374660924077034
        ],
        "right_vector": [
            -0.0182483047246933,
            -0.9998332262039185,
            -0.0006606793031096458
        ],
        "location": [
            -2097.706787109375,
            4065.9482421875,
            358.1781921386719
        ],
        "rotation": [
            0.03787048161029816,
            -1.6832863092422485,
            178.95327758789062
        ],
        "velocity": [
            -3.877603769302368,
            0.07944634556770325,
            -0.034289997071027756
        ],
        "speed": 3.8784175527567935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.140120506286621,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2107.845458984375,
                4065.77685546875,
                358.18017578125
            ],
            "velocity": [
                -5.909250736236572,
                -0.2509614825248718,
                0.02371787093579769
            ],
            "speed_kmh": 21.292649871024874,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.3893404006958,
                "transform": {
                    "location": {
                        "x": -2137.69287109375,
                        "y": 4068.5859375,
                        "z": 358.8905029296875
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -2.04695987701416,
                        "yaw": 0.4243127703666687
                    }
                },
                "velocity": {
                    "x": 8.38383674621582,
                    "y": 0.0562220998108387,
                    "z": -0.298584520816803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.34476375579834,
                "transform": {
                    "location": {
                        "x": -2136.647705078125,
                        "y": 4071.834228515625,
                        "z": 358.8914794921875
                    },
                    "rotation": {
                        "roll": -0.0021362307015806437,
                        "pitch": -1.9869974851608276,
                        "yaw": 0.42503589391708374
                    }
                },
                "velocity": {
                    "x": 8.339241027832031,
                    "y": 0.0578073188662529,
                    "z": -0.2979997992515564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04802131652832,
                "transform": {
                    "location": {
                        "x": -2093.7421875,
                        "y": 4072.03955078125,
                        "z": 358.2184753417969
                    },
                    "rotation": {
                        "roll": 0.0009172977297566831,
                        "pitch": 0.6123400926589966,
                        "yaw": 0.2830333411693573
                    }
                },
                "velocity": {
                    "x": 8.047463417053223,
                    "y": 0.03809598088264465,
                    "z": 0.08677005767822266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994207382202148,
                "transform": {
                    "location": {
                        "x": -2095.96142578125,
                        "y": 4068.778076171875,
                        "z": 358.1992492675781
                    },
                    "rotation": {
                        "roll": 7.980526424944401e-05,
                        "pitch": 0.6172168254852295,
                        "yaw": 0.2837682068347931
                    }
                },
                "velocity": {
                    "x": 7.993687629699707,
                    "y": 0.037824708968400955,
                    "z": 0.08293984830379486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019566535949707,
                "transform": {
                    "location": {
                        "x": -2051.617431640625,
                        "y": 4072.2236328125,
                        "z": 359.13079833984375
                    },
                    "rotation": {
                        "roll": 0.0009361819247715175,
                        "pitch": 2.2517082691192627,
                        "yaw": 0.25676342844963074
                    }
                },
                "velocity": {
                    "x": 8.013335227966309,
                    "y": 0.035929348319768906,
                    "z": 0.31404995918273926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.979719161987305,
                "transform": {
                    "location": {
                        "x": -2051.5478515625,
                        "y": 4068.97314453125,
                        "z": 359.1251525878906
                    },
                    "rotation": {
                        "roll": 3.4405733458697796e-05,
                        "pitch": 2.2419958114624023,
                        "yaw": 0.2511208653450012
                    }
                },
                "velocity": {
                    "x": 7.97357177734375,
                    "y": 0.03411231189966202,
                    "z": 0.311301052570343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.743904113769531,
                "transform": {
                    "location": {
                        "x": -2056.906005859375,
                        "y": 4065.5,
                        "z": 358.931640625
                    },
                    "rotation": {
                        "roll": 0.0009910525986924767,
                        "pitch": -2.0427181720733643,
                        "yaw": -179.75428771972656
                    }
                },
                "velocity": {
                    "x": -8.738703727722168,
                    "y": -0.03631388023495674,
                    "z": -0.2993167042732239
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.3570146560668945,
                "transform": {
                    "location": {
                        "x": -2079.048095703125,
                        "y": 4065.4033203125,
                        "z": 358.38427734375
                    },
                    "rotation": {
                        "roll": -0.0007324217003770173,
                        "pitch": -1.6042542457580566,
                        "yaw": -179.74681091308594
                    }
                },
                "velocity": {
                    "x": -6.356348037719727,
                    "y": -0.02976280078291893,
                    "z": -0.08712194859981537
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.006901741027832,
                "transform": {
                    "location": {
                        "x": -2162.783935546875,
                        "y": 4065.062744140625,
                        "z": 359.75537109375
                    },
                    "rotation": {
                        "roll": 0.014094438403844833,
                        "pitch": 2.0719242095947266,
                        "yaw": -179.49351501464844
                    }
                },
                "velocity": {
                    "x": -8.002436637878418,
                    "y": -0.06965567916631699,
                    "z": 0.2581300735473633
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2177.534912109375,
                        "y": 4065.07275390625,
                        "z": 360.2215270996094
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.9146246910095215,
                "transform": {
                    "location": {
                        "x": -2107.845458984375,
                        "y": 4065.77685546875,
                        "z": 358.18017578125
                    },
                    "rotation": {
                        "roll": -0.19183345139026642,
                        "pitch": 0.27681389451026917,
                        "yaw": 174.30999755859375
                    }
                },
                "velocity": {
                    "x": -5.909250736236572,
                    "y": -0.2509614825248718,
                    "z": 0.02371787093579769
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.5605258345603943,
        "expert_target_speed": 4.112113088763379,
        "target_point": [
            12.576879926914433,
            0.81118305944557
        ],
        "target_point_next": [
            58.56505436375817,
            1.8518877746364764
        ]
    },
    "295": {
        "acceleration": [
            -0.6868171691894531,
            0.028799474239349365,
            0.001120828092098236
        ],
        "angular_velocity": [
            -0.01948108896613121,
            2.642961025238037,
            -0.29694297909736633
        ],
        "forward_vector": [
            -0.9996441602706909,
            0.019546721130609512,
            -0.01815493404865265
        ],
        "right_vector": [
            -0.01954183354973793,
            -0.9998089671134949,
            -0.0004465764213819057
        ],
        "location": [
            -2098.632080078125,
            4065.967529296875,
            358.1678161621094
        ],
        "rotation": [
            0.025591162964701653,
            -1.0402582883834839,
            178.8798065185547
        ],
        "velocity": [
            -3.648237466812134,
            0.07910899817943573,
            -0.029659204185009003
        ],
        "speed": 3.6490950724590294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.736543655395508,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2109.366455078125,
                4065.7529296875,
                358.1903076171875
            ],
            "velocity": [
                -6.168765544891357,
                -0.35118046402931213,
                0.052141427993774414
            ],
            "speed_kmh": 22.24430497315875,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.181962966918945,
                "transform": {
                    "location": {
                        "x": -2135.623779296875,
                        "y": 4068.599365234375,
                        "z": 358.81658935546875
                    },
                    "rotation": {
                        "roll": -0.0032653810922056437,
                        "pitch": -2.0459556579589844,
                        "yaw": 0.3511165678501129
                    }
                },
                "velocity": {
                    "x": 8.17663860321045,
                    "y": 0.04809865355491638,
                    "z": -0.2911815345287323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.80247163772583,
                "transform": {
                    "location": {
                        "x": -2134.64599609375,
                        "y": 4071.848388671875,
                        "z": 358.82086181640625
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -2.085236072540283,
                        "yaw": 0.4132236838340759
                    }
                },
                "velocity": {
                    "x": 7.797307968139648,
                    "y": 0.05250034108757973,
                    "z": -0.27891775965690613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0465726852417,
                "transform": {
                    "location": {
                        "x": -2091.729248046875,
                        "y": 4072.04931640625,
                        "z": 358.2398376464844
                    },
                    "rotation": {
                        "roll": 0.0004136333882343024,
                        "pitch": 0.6096421480178833,
                        "yaw": 0.24754108488559723
                    }
                },
                "velocity": {
                    "x": 8.046051025390625,
                    "y": 0.03567703813314438,
                    "z": 0.08437072485685349
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.050448417663574,
                "transform": {
                    "location": {
                        "x": -2093.95654296875,
                        "y": 4068.7880859375,
                        "z": 358.22076416015625
                    },
                    "rotation": {
                        "roll": 0.000505116768181324,
                        "pitch": 0.6053733229637146,
                        "yaw": 0.27779415249824524
                    }
                },
                "velocity": {
                    "x": 8.049908638000488,
                    "y": 0.03902338445186615,
                    "z": 0.08463992923498154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021885871887207,
                "transform": {
                    "location": {
                        "x": -2049.61279296875,
                        "y": 4072.233154296875,
                        "z": 359.212646484375
                    },
                    "rotation": {
                        "roll": 9.586224769009277e-05,
                        "pitch": 2.3943567276000977,
                        "yaw": 0.25227081775665283
                    }
                },
                "velocity": {
                    "x": 8.015042304992676,
                    "y": 0.03531777486205101,
                    "z": 0.3294036090373993
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.942943096160889,
                "transform": {
                    "location": {
                        "x": -2049.55859375,
                        "y": 4068.98095703125,
                        "z": 359.2063293457031
                    },
                    "rotation": {
                        "roll": -0.00012206989049445838,
                        "pitch": 2.3803138732910156,
                        "yaw": 0.24927644431591034
                    }
                },
                "velocity": {
                    "x": 7.935873985290527,
                    "y": 0.03455185517668724,
                    "z": 0.3332444727420807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.803412437438965,
                "transform": {
                    "location": {
                        "x": -2059.220458984375,
                        "y": 4065.489990234375,
                        "z": 358.8545227050781
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -1.7872282266616821,
                        "yaw": -179.74571228027344
                    }
                },
                "velocity": {
                    "x": -9.798261642456055,
                    "y": -0.044086065143346786,
                    "z": -0.3146595358848572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.904587268829346,
                "transform": {
                    "location": {
                        "x": -2080.552490234375,
                        "y": 4065.397216796875,
                        "z": 358.3617248535156
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": -1.185884714126587,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -5.90399169921875,
                    "y": -0.02618795819580555,
                    "z": -0.07968058437108994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.824987411499023,
                "transform": {
                    "location": {
                        "x": -2164.648681640625,
                        "y": 4065.047119140625,
                        "z": 359.815185546875
                    },
                    "rotation": {
                        "roll": 0.01230026874691248,
                        "pitch": 1.776962399482727,
                        "yaw": -179.509765625
                    }
                },
                "velocity": {
                    "x": -6.821246147155762,
                    "y": -0.05306954309344292,
                    "z": 0.21963386237621307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2177.693603515625,
                        "y": 4065.07177734375,
                        "z": 360.226318359375
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.17897367477417,
                "transform": {
                    "location": {
                        "x": -2109.366455078125,
                        "y": 4065.7529296875,
                        "z": 358.1903076171875
                    },
                    "rotation": {
                        "roll": -0.0753784105181694,
                        "pitch": 0.42296627163887024,
                        "yaw": -179.96755981445312
                    }
                },
                "velocity": {
                    "x": -6.168765544891357,
                    "y": -0.35118046402931213,
                    "z": 0.052141427993774414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.5846068263053894,
        "expert_target_speed": 4.095070001101756,
        "target_point": [
            11.650336287696986,
            0.8285030225787293
        ],
        "target_point_next": [
            57.63713851357396,
            1.928173598644421
        ]
    },
    "300": {
        "acceleration": [
            -3.376617431640625,
            0.020995736122131348,
            -0.030295029282569885
        ],
        "angular_velocity": [
            -0.038607049733400345,
            1.8616477251052856,
            -0.04013627767562866
        ],
        "forward_vector": [
            -0.9997565150260925,
            0.02045123651623726,
            -0.008283399976789951
        ],
        "right_vector": [
            -0.02044975757598877,
            -0.9997908473014832,
            -0.00026319341850467026
        ],
        "location": [
            -2099.6142578125,
            4065.98828125,
            358.1573486328125
        ],
        "rotation": [
            0.015080389566719532,
            -0.4746093153953552,
            178.82810974121094
        ],
        "velocity": [
            -4.257325172424316,
            0.08907387405633926,
            -0.0367271713912487
        ],
        "speed": 4.2582568944108035,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.593841552734375,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2111.204345703125,
                4065.69677734375,
                358.2025451660156
            ],
            "velocity": [
                -8.205801010131836,
                -0.30722153186798096,
                0.07723479717969894
            ],
            "speed_kmh": 29.562887979667938,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.389941215515137,
                "transform": {
                    "location": {
                        "x": -2133.552490234375,
                        "y": 4068.611083984375,
                        "z": 358.74267578125
                    },
                    "rotation": {
                        "roll": -0.002441405551508069,
                        "pitch": -2.045170307159424,
                        "yaw": 0.32428139448165894
                    }
                },
                "velocity": {
                    "x": 8.384486198425293,
                    "y": 0.04540090635418892,
                    "z": -0.2990943491458893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.132568359375,
                "transform": {
                    "location": {
                        "x": -2132.664794921875,
                        "y": 4071.861083984375,
                        "z": 358.7497253417969
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -2.035642147064209,
                        "yaw": 0.33815672993659973
                    }
                },
                "velocity": {
                    "x": 8.127277374267578,
                    "y": 0.04476471617817879,
                    "z": -0.2898670732975006
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039259910583496,
                "transform": {
                    "location": {
                        "x": -2089.71923828125,
                        "y": 4072.05810546875,
                        "z": 358.2610168457031
                    },
                    "rotation": {
                        "roll": 0.0006251267623156309,
                        "pitch": 0.6076750755310059,
                        "yaw": 0.26670175790786743
                    }
                },
                "velocity": {
                    "x": 8.038744926452637,
                    "y": 0.03486410900950432,
                    "z": 0.08411260694265366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996355056762695,
                "transform": {
                    "location": {
                        "x": -2091.950927734375,
                        "y": 4068.797607421875,
                        "z": 358.2420349121094
                    },
                    "rotation": {
                        "roll": 0.00041481113294139504,
                        "pitch": 0.6005101799964905,
                        "yaw": 0.26647862792015076
                    }
                },
                "velocity": {
                    "x": 7.995818138122559,
                    "y": 0.03698866814374924,
                    "z": 0.08495967835187912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01640510559082,
                "transform": {
                    "location": {
                        "x": -2047.6083984375,
                        "y": 4072.240478515625,
                        "z": 359.2962951660156
                    },
                    "rotation": {
                        "roll": -0.0001220706762978807,
                        "pitch": 2.5083117485046387,
                        "yaw": 0.248573437333107
                    }
                },
                "velocity": {
                    "x": 8.00882625579834,
                    "y": 0.034750595688819885,
                    "z": 0.34676244854927063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.973381519317627,
                "transform": {
                    "location": {
                        "x": -2047.5694580078125,
                        "y": 4068.9892578125,
                        "z": 359.2893981933594
                    },
                    "rotation": {
                        "roll": -9.155263978755102e-05,
                        "pitch": 2.500060796737671,
                        "yaw": 0.2518901228904724
                    }
                },
                "velocity": {
                    "x": 7.965847492218018,
                    "y": 0.03502137213945389,
                    "z": 0.3447608947753906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.012151718139648,
                "transform": {
                    "location": {
                        "x": -2061.759521484375,
                        "y": 4065.478271484375,
                        "z": 358.77392578125
                    },
                    "rotation": {
                        "roll": -9.155325824394822e-05,
                        "pitch": -1.663205623626709,
                        "yaw": -179.75238037109375
                    }
                },
                "velocity": {
                    "x": -10.007505416870117,
                    "y": -0.043306782841682434,
                    "z": -0.3019041121006012
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.966256141662598,
                "transform": {
                    "location": {
                        "x": -2082.096923828125,
                        "y": 4065.390869140625,
                        "z": 358.3404846191406
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": -0.6785519123077393,
                        "yaw": -179.74742126464844
                    }
                },
                "velocity": {
                    "x": -6.965642929077148,
                    "y": -0.031997207552194595,
                    "z": -0.0867227241396904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.448529839515686,
                "transform": {
                    "location": {
                        "x": -2165.79296875,
                        "y": 4065.03857421875,
                        "z": 359.85107421875
                    },
                    "rotation": {
                        "roll": 0.0055054184049367905,
                        "pitch": 1.1841771602630615,
                        "yaw": -179.66566467285156
                    }
                },
                "velocity": {
                    "x": -1.447761058807373,
                    "y": -0.0113760931417346,
                    "z": 0.045794952660799026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2177.955322265625,
                        "y": 4065.0703125,
                        "z": 360.2342529296875
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.211913108825684,
                "transform": {
                    "location": {
                        "x": -2111.204345703125,
                        "y": 4065.69677734375,
                        "z": 358.2025451660156
                    },
                    "rotation": {
                        "roll": 0.00022419657034333795,
                        "pitch": 0.7520584464073181,
                        "yaw": -178.3887939453125
                    }
                },
                "velocity": {
                    "x": -8.205801010131836,
                    "y": -0.30722153186798096,
                    "z": 0.07723479717969894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.6120946407318115,
        "expert_target_speed": 4.905580561087737,
        "target_point": [
            10.667186973952747,
            0.8396789903296478
        ],
        "target_point_next": [
            56.65297784469803,
            1.9808592258175741
        ]
    },
    "305": {
        "acceleration": [
            -3.6962413787841797,
            -0.18742181360721588,
            0.16634005308151245
        ],
        "angular_velocity": [
            -0.20165108144283295,
            1.242882251739502,
            1.414673924446106
        ],
        "forward_vector": [
            -0.9998448491096497,
            0.017418071627616882,
            -0.0026354757137596607
        ],
        "right_vector": [
            -0.017419716343283653,
            -0.9998481273651123,
            0.0006029373616911471
        ],
        "location": [
            -2100.799560546875,
            4066.0078125,
            358.14776611328125
        ],
        "rotation": [
            -0.0345458909869194,
            -0.15100181102752686,
            179.00196838378906
        ],
        "velocity": [
            -5.171581745147705,
            0.057913150638341904,
            -0.022899813950061798
        ],
        "speed": 5.171906000669564,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.599077224731445,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2113.392333984375,
                4065.61767578125,
                358.22900390625
            ],
            "velocity": [
                -9.247382164001465,
                -0.36572229862213135,
                0.13075201213359833
            ],
            "speed_kmh": 33.31992554088628,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.182768821716309,
                "transform": {
                    "location": {
                        "x": -2131.483154296875,
                        "y": 4068.621826171875,
                        "z": 358.6688232421875
                    },
                    "rotation": {
                        "roll": -0.0007324222824536264,
                        "pitch": -2.045894145965576,
                        "yaw": 0.29253146052360535
                    }
                },
                "velocity": {
                    "x": 8.177457809448242,
                    "y": 0.04141297563910484,
                    "z": -0.2918333411216736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.092423439025879,
                "transform": {
                    "location": {
                        "x": -2130.623779296875,
                        "y": 4071.872314453125,
                        "z": 358.6770324707031
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": -2.0499582290649414,
                        "yaw": 0.32205700874328613
                    }
                },
                "velocity": {
                    "x": 8.087163925170898,
                    "y": 0.04131413251161575,
                    "z": -0.28875377774238586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046124458312988,
                "transform": {
                    "location": {
                        "x": -2087.70849609375,
                        "y": 4072.06591796875,
                        "z": 358.28216552734375
                    },
                    "rotation": {
                        "roll": -0.0006103516789153218,
                        "pitch": 0.6092733144760132,
                        "yaw": 0.22803634405136108
                    }
                },
                "velocity": {
                    "x": 8.045610427856445,
                    "y": 0.03415649011731148,
                    "z": 0.08429572731256485
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053282737731934,
                "transform": {
                    "location": {
                        "x": -2089.944580078125,
                        "y": 4068.80712890625,
                        "z": 358.2631530761719
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.6001754999160767,
                        "yaw": 0.25878196954727173
                    }
                },
                "velocity": {
                    "x": 8.052760124206543,
                    "y": 0.03630450740456581,
                    "z": 0.08422236889600754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019649505615234,
                "transform": {
                    "location": {
                        "x": -2045.6055908203125,
                        "y": 4072.249267578125,
                        "z": 359.38409423828125
                    },
                    "rotation": {
                        "roll": 0.0011663795448839664,
                        "pitch": 2.5342049598693848,
                        "yaw": 0.2534222900867462
                    }
                },
                "velocity": {
                    "x": 8.011651992797852,
                    "y": 0.03434785082936287,
                    "z": 0.35640668869018555
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940469264984131,
                "transform": {
                    "location": {
                        "x": -2045.581787109375,
                        "y": 4068.9990234375,
                        "z": 359.3766784667969
                    },
                    "rotation": {
                        "roll": 0.0003495914861559868,
                        "pitch": 2.513646125793457,
                        "yaw": 0.25827935338020325
                    }
                },
                "velocity": {
                    "x": 7.932449817657471,
                    "y": 0.035506706684827805,
                    "z": 0.35501280426979065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.622283935546875,
                "transform": {
                    "location": {
                        "x": -2064.08837890625,
                        "y": 4065.46875,
                        "z": 358.7061767578125
                    },
                    "rotation": {
                        "roll": 0.0005536932731047273,
                        "pitch": -1.797664761543274,
                        "yaw": -179.7603302001953
                    }
                },
                "velocity": {
                    "x": -8.618898391723633,
                    "y": -0.03661959990859032,
                    "z": -0.2388143092393875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.252556800842285,
                "transform": {
                    "location": {
                        "x": -2084.0986328125,
                        "y": 4065.3818359375,
                        "z": 358.3154296875
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.17865042388439178,
                        "yaw": -179.7430419921875
                    }
                },
                "velocity": {
                    "x": -8.251935005187988,
                    "y": -0.03810565918684006,
                    "z": -0.09386733174324036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9774289131164551,
                "transform": {
                    "location": {
                        "x": -2165.915771484375,
                        "y": 4065.037353515625,
                        "z": 359.8556823730469
                    },
                    "rotation": {
                        "roll": 0.0053991335444152355,
                        "pitch": 1.620872139930725,
                        "yaw": -179.65708923339844
                    }
                },
                "velocity": {
                    "x": -0.9768939018249512,
                    "y": -0.005622649099677801,
                    "z": 0.03184330835938454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2178.477294921875,
                        "y": 4065.068603515625,
                        "z": 360.2502136230469
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.255535125732422,
                "transform": {
                    "location": {
                        "x": -2113.392333984375,
                        "y": 4065.61767578125,
                        "z": 358.22900390625
                    },
                    "rotation": {
                        "roll": 0.016953647136688232,
                        "pitch": 0.8897208571434021,
                        "yaw": -177.87306213378906
                    }
                },
                "velocity": {
                    "x": -9.247382164001465,
                    "y": -0.36572229862213135,
                    "z": 0.13075201213359833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.6286800503730774,
        "expert_target_speed": 5.922165298159401,
        "target_point": [
            9.484222823715857,
            0.806187338230178
        ],
        "target_point_next": [
            55.47326496960226,
            1.8078144353437189
        ]
    },
    "310": {
        "acceleration": [
            -0.4617881774902344,
            -0.22018295526504517,
            0.011578164994716644
        ],
        "angular_velocity": [
            -0.056333448737859726,
            0.1619739681482315,
            2.3276071548461914
        ],
        "forward_vector": [
            -0.9999551177024841,
            0.009246826171875,
            -0.0020847306586802006
        ],
        "right_vector": [
            -0.009249028749763966,
            -0.9999567270278931,
            0.0010492827277630568
        ],
        "location": [
            -2102.101318359375,
            4066.016845703125,
            358.1424560546875
        ],
        "rotation": [
            -0.06011961027979851,
            -0.11944634467363358,
            179.47018432617188
        ],
        "velocity": [
            -5.195437908172607,
            0.006047848146408796,
            -0.021099667996168137
        ],
        "speed": 5.1954414282276495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.746894836425781,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2115.83984375,
                4065.552978515625,
                358.2643737792969
            ],
            "velocity": [
                -10.26635456085205,
                -0.27493929862976074,
                0.18898656964302063
            ],
            "speed_kmh": 36.97838682118125,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.346170425415039,
                "transform": {
                    "location": {
                        "x": -2129.534912109375,
                        "y": 4068.6318359375,
                        "z": 358.5994873046875
                    },
                    "rotation": {
                        "roll": -0.00021362326515372843,
                        "pitch": -2.064021587371826,
                        "yaw": 0.27618908882141113
                    }
                },
                "velocity": {
                    "x": 7.341429710388184,
                    "y": 0.03532909229397774,
                    "z": -0.26149559020996094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.956843852996826,
                "transform": {
                    "location": {
                        "x": -2128.6279296875,
                        "y": 4071.883056640625,
                        "z": 358.6066589355469
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": -2.0306355953216553,
                        "yaw": 0.2871130108833313
                    }
                },
                "velocity": {
                    "x": 7.9521965980529785,
                    "y": 0.038836520165205,
                    "z": -0.26911938190460205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042630195617676,
                "transform": {
                    "location": {
                        "x": -2085.697021484375,
                        "y": 4072.07421875,
                        "z": 358.3033752441406
                    },
                    "rotation": {
                        "roll": 0.001012269058264792,
                        "pitch": 0.6084127426147461,
                        "yaw": 0.26779308915138245
                    }
                },
                "velocity": {
                    "x": 8.042112350463867,
                    "y": 0.03570374473929405,
                    "z": 0.08407211303710938
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.993270397186279,
                "transform": {
                    "location": {
                        "x": -2087.93896484375,
                        "y": 4068.81640625,
                        "z": 358.28424072265625
                    },
                    "rotation": {
                        "roll": -3.051751082239207e-05,
                        "pitch": 0.599793016910553,
                        "yaw": 0.25483301281929016
                    }
                },
                "velocity": {
                    "x": 7.992751121520996,
                    "y": 0.03558056801557541,
                    "z": 0.08386331051588058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017464637756348,
                "transform": {
                    "location": {
                        "x": -2043.6019287109375,
                        "y": 4072.258056640625,
                        "z": 359.4729919433594
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 2.619807720184326,
                        "yaw": 0.25550660490989685
                    }
                },
                "velocity": {
                    "x": 8.009542465209961,
                    "y": 0.03705513849854469,
                    "z": 0.3543817102909088
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.971429347991943,
                "transform": {
                    "location": {
                        "x": -2043.5946044921875,
                        "y": 4069.00732421875,
                        "z": 359.46478271484375
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": 2.6021244525909424,
                        "yaw": 0.25108039379119873
                    }
                },
                "velocity": {
                    "x": 7.963414669036865,
                    "y": 0.033654194325208664,
                    "z": 0.3557742238044739
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.213122367858887,
                "transform": {
                    "location": {
                        "x": -2066.1484375,
                        "y": 4065.459228515625,
                        "z": 358.6495361328125
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -1.5584100484848022,
                        "yaw": -179.7559051513672
                    }
                },
                "velocity": {
                    "x": -8.210211753845215,
                    "y": -0.035794083029031754,
                    "z": -0.215685173869133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.242209434509277,
                "transform": {
                    "location": {
                        "x": -2086.031982421875,
                        "y": 4065.373046875,
                        "z": 358.2959289550781
                    },
                    "rotation": {
                        "roll": -9.155286534223706e-05,
                        "pitch": -0.6929909586906433,
                        "yaw": -179.74298095703125
                    }
                },
                "velocity": {
                    "x": -7.241745948791504,
                    "y": -0.03253699839115143,
                    "z": -0.07518337666988373
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8749886751174927,
                "transform": {
                    "location": {
                        "x": -2166.283447265625,
                        "y": 4065.03564453125,
                        "z": 359.8680419921875
                    },
                    "rotation": {
                        "roll": 0.004851847887039185,
                        "pitch": 1.921960473060608,
                        "yaw": -179.6248016357422
                    }
                },
                "velocity": {
                    "x": -1.8739547729492188,
                    "y": -0.011741898953914642,
                    "z": 0.061140526086091995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2179.282958984375,
                        "y": 4065.066162109375,
                        "z": 360.2748718261719
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.271774291992188,
                "transform": {
                    "location": {
                        "x": -2115.83984375,
                        "y": 4065.552978515625,
                        "z": 358.2643737792969
                    },
                    "rotation": {
                        "roll": 0.030000951141119003,
                        "pitch": 1.0654343366622925,
                        "yaw": -178.4551239013672
                    }
                },
                "velocity": {
                    "x": -10.26635456085205,
                    "y": -0.27493929862976074,
                    "z": 0.18898656964302063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.6248369812965393,
        "expert_target_speed": 6.073426392027027,
        "target_point": [
            8.188708567443191,
            0.7256517544411203
        ],
        "target_point_next": [
            54.184400338906364,
            1.3514255173482952
        ]
    },
    "315": {
        "acceleration": [
            -5.158491134643555,
            -0.3172749876976013,
            0.13282835483551025
        ],
        "angular_velocity": [
            0.009565959684550762,
            1.6261334419250488,
            -0.17832982540130615
        ],
        "forward_vector": [
            -0.999987006187439,
            -0.0005389700527302921,
            0.005070306360721588
        ],
        "right_vector": [
            0.0005464894929900765,
            -0.9999988079071045,
            0.0014817630872130394
        ],
        "location": [
            -2103.51708984375,
            4066.012451171875,
            358.1351013183594
        ],
        "rotation": [
            -0.08489990234375,
            0.2905084192752838,
            -179.9691162109375
        ],
        "velocity": [
            -6.413904666900635,
            -0.058009590953588486,
            -0.020434817299246788
        ],
        "speed": 6.414166991023257,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.979034423828125,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2118.48583984375,
                4065.4873046875,
                358.3146057128906
            ],
            "velocity": [
                -11.030266761779785,
                -0.12109287828207016,
                0.2265165150165558
            ],
            "speed_kmh": 39.71972487774678,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.752987861633301,
                "transform": {
                    "location": {
                        "x": -2127.6787109375,
                        "y": 4068.639892578125,
                        "z": 358.53509521484375
                    },
                    "rotation": {
                        "roll": -0.0006713864859193563,
                        "pitch": -1.9426559209823608,
                        "yaw": 0.26643916964530945
                    }
                },
                "velocity": {
                    "x": 7.748546600341797,
                    "y": 0.03508792072534561,
                    "z": -0.26002049446105957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.09887981414795,
                "transform": {
                    "location": {
                        "x": -2126.619384765625,
                        "y": 4071.892333984375,
                        "z": 358.5378723144531
                    },
                    "rotation": {
                        "roll": -0.0007324223988689482,
                        "pitch": -1.8835475444793701,
                        "yaw": 0.2971563935279846
                    }
                },
                "velocity": {
                    "x": 8.094216346740723,
                    "y": 0.040129393339157104,
                    "z": -0.27186402678489685
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042283058166504,
                "transform": {
                    "location": {
                        "x": -2083.686767578125,
                        "y": 4072.08251953125,
                        "z": 358.325927734375
                    },
                    "rotation": {
                        "roll": 9.996700828196481e-05,
                        "pitch": 0.6740440130233765,
                        "yaw": 0.2348605841398239
                    }
                },
                "velocity": {
                    "x": 8.04167652130127,
                    "y": 0.03532185032963753,
                    "z": 0.09217037260532379
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053949356079102,
                "transform": {
                    "location": {
                        "x": -2085.932861328125,
                        "y": 4068.825439453125,
                        "z": 358.305419921875
                    },
                    "rotation": {
                        "roll": 0.00012896605767309666,
                        "pitch": 0.5995198488235474,
                        "yaw": 0.25129854679107666
                    }
                },
                "velocity": {
                    "x": 8.053430557250977,
                    "y": 0.03526926040649414,
                    "z": 0.08434218913316727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019051551818848,
                "transform": {
                    "location": {
                        "x": -2041.599853515625,
                        "y": 4072.26708984375,
                        "z": 359.5636291503906
                    },
                    "rotation": {
                        "roll": 0.0011450120946392417,
                        "pitch": 2.621324062347412,
                        "yaw": 0.25035396218299866
                    }
                },
                "velocity": {
                    "x": 8.010651588439941,
                    "y": 0.03416180610656738,
                    "z": 0.3653556704521179
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.939628601074219,
                "transform": {
                    "location": {
                        "x": -2041.6083984375,
                        "y": 4069.01513671875,
                        "z": 359.55474853515625
                    },
                    "rotation": {
                        "roll": -0.00024414037761744112,
                        "pitch": 2.6040027141571045,
                        "yaw": 0.2443591058254242
                    }
                },
                "velocity": {
                    "x": 7.931408405303955,
                    "y": 0.03402697667479515,
                    "z": 0.3595936596393585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.140321731567383,
                "transform": {
                    "location": {
                        "x": -2068.309326171875,
                        "y": 4065.44970703125,
                        "z": 358.59527587890625
                    },
                    "rotation": {
                        "roll": 0.00042586319614201784,
                        "pitch": -1.3560725450515747,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -9.137600898742676,
                    "y": -0.04027236998081207,
                    "z": -0.21932582557201385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.13982629776001,
                "transform": {
                    "location": {
                        "x": -2087.54736328125,
                        "y": 4065.3662109375,
                        "z": 358.2828369140625
                    },
                    "rotation": {
                        "roll": 0.0007653961074538529,
                        "pitch": -1.4169567823410034,
                        "yaw": -179.71466064453125
                    }
                },
                "velocity": {
                    "x": -4.1395263671875,
                    "y": -0.019245922565460205,
                    "z": -0.045973215252161026
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9939476251602173,
                "transform": {
                    "location": {
                        "x": -2166.82958984375,
                        "y": 4065.03173828125,
                        "z": 359.8856506347656
                    },
                    "rotation": {
                        "roll": 0.003596064867451787,
                        "pitch": 1.899673581123352,
                        "yaw": -179.61734008789062
                    }
                },
                "velocity": {
                    "x": -1.9928603172302246,
                    "y": -0.012164629064500332,
                    "z": 0.06470394134521484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2180.173095703125,
                        "y": 4065.061767578125,
                        "z": 360.30181884765625
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.033256530761719,
                "transform": {
                    "location": {
                        "x": -2118.48583984375,
                        "y": 4065.4873046875,
                        "z": 358.3146057128906
                    },
                    "rotation": {
                        "roll": 0.06973535567522049,
                        "pitch": 1.3292503356933594,
                        "yaw": -178.67845153808594
                    }
                },
                "velocity": {
                    "x": -11.030266761779785,
                    "y": -0.12109287828207016,
                    "z": 0.2265165150165558
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.6069409847259521,
        "expert_target_speed": 7.36659776361424,
        "target_point": [
            52.77925676012197,
            0.8175079210847742
        ],
        "target_point_next": [
            52.77925676012197,
            0.8175079210847742
        ]
    },
    "320": {
        "acceleration": [
            -3.8437366485595703,
            -0.2867826819419861,
            0.06919212639331818
        ],
        "angular_velocity": [
            -0.04459346830844879,
            0.8456908464431763,
            4.779757022857666
        ],
        "forward_vector": [
            -0.9999010562896729,
            -0.011609555222094059,
            0.007943665608763695
        ],
        "right_vector": [
            0.011622551828622818,
            -0.9999312162399292,
            0.0015919869765639305
        ],
        "location": [
            -2105.247802734375,
            4065.9912109375,
            358.1339111328125
        ],
        "rotation": [
            -0.0912170484662056,
            0.4551433026790619,
            -179.3347930908203
        ],
        "velocity": [
            -7.373126029968262,
            -0.12712648510932922,
            0.013396663591265678
        ],
        "speed": 7.374221897733468,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.176851272583008,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2121.4130859375,
                4065.4326171875,
                358.3830261230469
            ],
            "velocity": [
                -12.16932487487793,
                -0.21164308488368988,
                0.31387582421302795
            ],
            "speed_kmh": 43.83076194242926,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.438297271728516,
                "transform": {
                    "location": {
                        "x": -2125.611328125,
                        "y": 4068.64990234375,
                        "z": 358.46539306640625
                    },
                    "rotation": {
                        "roll": 0.0001068705678335391,
                        "pitch": -1.8462820053100586,
                        "yaw": 0.2564266622066498
                    }
                },
                "velocity": {
                    "x": 8.433858871459961,
                    "y": 0.03768809139728546,
                    "z": -0.2710430324077606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029342651367188,
                "transform": {
                    "location": {
                        "x": -2124.6005859375,
                        "y": 4071.90234375,
                        "z": 358.47393798828125
                    },
                    "rotation": {
                        "roll": -0.00039672813727520406,
                        "pitch": -1.7807053327560425,
                        "yaw": 0.26462414860725403
                    }
                },
                "velocity": {
                    "x": 8.026002883911133,
                    "y": 0.03866295889019966,
                    "z": -0.22830313444137573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041752815246582,
                "transform": {
                    "location": {
                        "x": -2081.67626953125,
                        "y": 4072.091552734375,
                        "z": 358.3498229980469
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.7412257194519043,
                        "yaw": 0.2691803574562073
                    }
                },
                "velocity": {
                    "x": 8.041024208068848,
                    "y": 0.035135623067617416,
                    "z": 0.10235698521137238
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991501808166504,
                "transform": {
                    "location": {
                        "x": -2083.92724609375,
                        "y": 4068.833251953125,
                        "z": 358.3274841308594
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.6396744847297668,
                        "yaw": 0.2475002110004425
                    }
                },
                "velocity": {
                    "x": 7.990839004516602,
                    "y": 0.034552812576293945,
                    "z": 0.09692379087209702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017674446105957,
                "transform": {
                    "location": {
                        "x": -2039.597412109375,
                        "y": 4072.275634765625,
                        "z": 359.6544494628906
                    },
                    "rotation": {
                        "roll": 0.0002245091600343585,
                        "pitch": 2.618011474609375,
                        "yaw": 0.24986086785793304
                    }
                },
                "velocity": {
                    "x": 8.009272575378418,
                    "y": 0.0358891487121582,
                    "z": 0.3651886582374573
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972348690032959,
                "transform": {
                    "location": {
                        "x": -2039.6221923828125,
                        "y": 4069.024658203125,
                        "z": 359.6449279785156
                    },
                    "rotation": {
                        "roll": -0.00048828075523488224,
                        "pitch": 2.597541332244873,
                        "yaw": 0.2562446594238281
                    }
                },
                "velocity": {
                    "x": 7.9640679359436035,
                    "y": 0.03739403188228607,
                    "z": 0.3613435924053192
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.132630348205566,
                "transform": {
                    "location": {
                        "x": -2070.748291015625,
                        "y": 4065.438720703125,
                        "z": 358.5381164550781
                    },
                    "rotation": {
                        "roll": 0.001861755852587521,
                        "pitch": -1.0769295692443848,
                        "yaw": -179.74349975585938
                    }
                },
                "velocity": {
                    "x": -10.129813194274902,
                    "y": -0.043472494930028915,
                    "z": -0.2349461168050766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.520205020904541,
                "transform": {
                    "location": {
                        "x": -2088.57666015625,
                        "y": 4065.36181640625,
                        "z": 358.27069091796875
                    },
                    "rotation": {
                        "roll": 0.0012990364339202642,
                        "pitch": -1.061950922012329,
                        "yaw": -179.72056579589844
                    }
                },
                "velocity": {
                    "x": -4.519924640655518,
                    "y": -0.019859135150909424,
                    "z": -0.04626363143324852
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.878508448600769,
                "transform": {
                    "location": {
                        "x": -2166.985595703125,
                        "y": 4065.0302734375,
                        "z": 359.8905334472656
                    },
                    "rotation": {
                        "roll": 0.00591200590133667,
                        "pitch": 1.7980471849441528,
                        "yaw": -179.52491760253906
                    }
                },
                "velocity": {
                    "x": -0.8780336380004883,
                    "y": -0.004957832396030426,
                    "z": 0.0284513458609581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2181.43115234375,
                        "y": 4065.05615234375,
                        "z": 360.3399658203125
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.175211906433105,
                "transform": {
                    "location": {
                        "x": -2121.4130859375,
                        "y": 4065.4326171875,
                        "z": 358.3830261230469
                    },
                    "rotation": {
                        "roll": 0.031000515446066856,
                        "pitch": 1.6049373149871826,
                        "yaw": -178.9849395751953
                    }
                },
                "velocity": {
                    "x": -12.16932487487793,
                    "y": -0.21164308488368988,
                    "z": 0.31387582421302795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.49769288301467896,
        "expert_target_speed": 8.342271210779302,
        "target_point": [
            51.05422994527976,
            0.23199417514975895
        ],
        "target_point_next": [
            51.05422994527976,
            0.23199417514975895
        ]
    },
    "325": {
        "acceleration": [
            -3.778705596923828,
            -0.4596412181854248,
            0.11857815086841583
        ],
        "angular_velocity": [
            -7.59591712267138e-05,
            0.6144228577613831,
            0.22133611142635345
        ],
        "forward_vector": [
            -0.9996975064277649,
            -0.02150040864944458,
            0.011941864155232906
        ],
        "right_vector": [
            0.02152414806187153,
            -0.9997665882110596,
            0.0018630136037245393
        ],
        "location": [
            -2107.216796875,
            4065.94921875,
            358.1369934082031
        ],
        "rotation": [
            -0.10675048828125,
            0.6842346787452698,
            -178.76792907714844
        ],
        "velocity": [
            -8.32327938079834,
            -0.2255646288394928,
            0.020055942237377167
        ],
        "speed": 8.326335271450837,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.34676742553711,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2124.55126953125,
                4065.387939453125,
                358.47076416015625
            ],
            "velocity": [
                -12.872663497924805,
                -0.1734149307012558,
                0.40900930762290955
            ],
            "speed_kmh": 46.36917765499001,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.941109657287598,
                "transform": {
                    "location": {
                        "x": -2123.568115234375,
                        "y": 4068.65966796875,
                        "z": 358.4043273925781
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -1.643186330795288,
                        "yaw": 0.25713127851486206
                    }
                },
                "velocity": {
                    "x": 7.937806606292725,
                    "y": 0.03570037707686424,
                    "z": -0.22621844708919525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024596214294434,
                "transform": {
                    "location": {
                        "x": -2122.596923828125,
                        "y": 4071.912109375,
                        "z": 358.414794921875
                    },
                    "rotation": {
                        "roll": 0.0009849077323451638,
                        "pitch": -1.5392377376556396,
                        "yaw": 0.28633812069892883
                    }
                },
                "velocity": {
                    "x": 8.021418571472168,
                    "y": 0.036685168743133545,
                    "z": -0.22282306849956512
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039934158325195,
                "transform": {
                    "location": {
                        "x": -2079.666259765625,
                        "y": 4072.10107421875,
                        "z": 358.3766784667969
                    },
                    "rotation": {
                        "roll": 0.00019441281619947404,
                        "pitch": 0.7884701490402222,
                        "yaw": 0.24246762692928314
                    }
                },
                "velocity": {
                    "x": 8.038992881774902,
                    "y": 0.03571007028222084,
                    "z": 0.11776553839445114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053033828735352,
                "transform": {
                    "location": {
                        "x": -2081.920654296875,
                        "y": 4068.841064453125,
                        "z": 358.3513488769531
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.7292592525482178,
                        "yaw": 0.24776872992515564
                    }
                },
                "velocity": {
                    "x": 8.052332878112793,
                    "y": 0.03473260998725891,
                    "z": 0.1003740131855011
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019669532775879,
                "transform": {
                    "location": {
                        "x": -2037.594970703125,
                        "y": 4072.28466796875,
                        "z": 359.74530029296875
                    },
                    "rotation": {
                        "roll": -3.0517556297127157e-05,
                        "pitch": 2.6173624992370605,
                        "yaw": 0.25148460268974304
                    }
                },
                "velocity": {
                    "x": 8.011445045471191,
                    "y": 0.0351807065308094,
                    "z": 0.3614020347595215
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940118789672852,
                "transform": {
                    "location": {
                        "x": -2037.6358642578125,
                        "y": 4069.033935546875,
                        "z": 359.73492431640625
                    },
                    "rotation": {
                        "roll": 0.0006946259527467191,
                        "pitch": 2.5972201824188232,
                        "yaw": 0.2598728835582733
                    }
                },
                "velocity": {
                    "x": 7.931910991668701,
                    "y": 0.03448685258626938,
                    "z": 0.35927748680114746
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.050535202026367,
                "transform": {
                    "location": {
                        "x": -2073.1611328125,
                        "y": 4065.428466796875,
                        "z": 358.4869689941406
                    },
                    "rotation": {
                        "roll": 0.000991306034848094,
                        "pitch": -1.2838159799575806,
                        "yaw": -179.7578582763672
                    }
                },
                "velocity": {
                    "x": -9.048727035522461,
                    "y": -0.038744378834962845,
                    "z": -0.17672109603881836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.291921138763428,
                "transform": {
                    "location": {
                        "x": -2089.848388671875,
                        "y": 4065.35595703125,
                        "z": 358.2557067871094
                    },
                    "rotation": {
                        "roll": 0.0005222631734795868,
                        "pitch": -0.5028043389320374,
                        "yaw": -179.73480224609375
                    }
                },
                "velocity": {
                    "x": -5.291581153869629,
                    "y": -0.024270454421639442,
                    "z": -0.054820042103528976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7824119329452515,
                "transform": {
                    "location": {
                        "x": -2167.331787109375,
                        "y": 4065.0283203125,
                        "z": 359.9019775390625
                    },
                    "rotation": {
                        "roll": 0.006829328369349241,
                        "pitch": 1.955141544342041,
                        "yaw": -179.5617218017578
                    }
                },
                "velocity": {
                    "x": -1.7814394235610962,
                    "y": -0.011477500200271606,
                    "z": 0.05773909389972687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2182.9853515625,
                        "y": 4065.049560546875,
                        "z": 360.3870544433594
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.880326271057129,
                "transform": {
                    "location": {
                        "x": -2124.55126953125,
                        "y": 4065.387939453125,
                        "z": 358.47076416015625
                    },
                    "rotation": {
                        "roll": 0.022667134180665016,
                        "pitch": 1.8357566595077515,
                        "yaw": -179.27523803710938
                    }
                },
                "velocity": {
                    "x": -12.872663497924805,
                    "y": -0.1734149307012558,
                    "z": 0.40900930762290955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.3809291422367096,
        "expert_target_speed": 9.274203051861603,
        "target_point": [
            49.08458459117008,
            -0.2727787035057183
        ],
        "target_point_next": [
            49.08458459117008,
            -0.2727787035057183
        ]
    },
    "330": {
        "acceleration": [
            0.4383659362792969,
            -0.2041870355606079,
            0.07636412978172302
        ],
        "angular_velocity": [
            -0.003842688165605068,
            0.05435831844806671,
            4.3239922523498535
        ],
        "forward_vector": [
            -0.9993796348571777,
            -0.032383885234594345,
            0.013844047673046589
        ],
        "right_vector": [
            0.03241121023893356,
            -0.9994730949401855,
            0.0017537885578349233
        ],
        "location": [
            -2109.413330078125,
            4065.881591796875,
            358.1490173339844
        ],
        "rotation": [
            -0.1004943698644638,
            0.7932308316230774,
            -178.14404296875
        ],
        "velocity": [
            -9.044965744018555,
            -0.32124999165534973,
            0.07117584347724915
        ],
        "speed": 9.050668862996131,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.455265045166016,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2127.85595703125,
                4065.350341796875,
                358.57806396484375
            ],
            "velocity": [
                -13.522701263427734,
                -0.12142162024974823,
                0.4771546721458435
            ],
            "speed_kmh": 48.713982238080106,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072867393493652,
                "transform": {
                    "location": {
                        "x": -2121.580322265625,
                        "y": 4068.668701171875,
                        "z": 358.3486633300781
                    },
                    "rotation": {
                        "roll": -0.00036621111212298274,
                        "pitch": -1.4996908903121948,
                        "yaw": 0.25425273180007935
                    }
                },
                "velocity": {
                    "x": 8.070419311523438,
                    "y": 0.0357634536921978,
                    "z": -0.1955408751964569
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.055482864379883,
                "transform": {
                    "location": {
                        "x": -2120.58447265625,
                        "y": 4071.922119140625,
                        "z": 358.3641052246094
                    },
                    "rotation": {
                        "roll": -0.00039672822458669543,
                        "pitch": -1.4003868103027344,
                        "yaw": 0.24725325405597687
                    }
                },
                "velocity": {
                    "x": 8.053366661071777,
                    "y": 0.034285109490156174,
                    "z": -0.18144439160823822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041272163391113,
                "transform": {
                    "location": {
                        "x": -2077.655029296875,
                        "y": 4072.110595703125,
                        "z": 358.4067077636719
                    },
                    "rotation": {
                        "roll": 0.0011041511315852404,
                        "pitch": 0.9786157608032227,
                        "yaw": 0.27033451199531555
                    }
                },
                "velocity": {
                    "x": 8.040300369262695,
                    "y": 0.03540068492293358,
                    "z": 0.11990339308977127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.989133358001709,
                "transform": {
                    "location": {
                        "x": -2079.915283203125,
                        "y": 4068.848876953125,
                        "z": 358.3771667480469
                    },
                    "rotation": {
                        "roll": 0.0004960618680343032,
                        "pitch": 0.7402899861335754,
                        "yaw": 0.24764332175254822
                    }
                },
                "velocity": {
                    "x": 7.98823881149292,
                    "y": 0.034556470811367035,
                    "z": 0.11445578932762146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2035.5299072265625,
                        "y": 4072.23486328125,
                        "z": 359.83843994140625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2035.57421875,
                        "y": 4068.98583984375,
                        "z": 359.8324279785156
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.607416152954102,
                "transform": {
                    "location": {
                        "x": -2075.231689453125,
                        "y": 4065.419677734375,
                        "z": 358.4473876953125
                    },
                    "rotation": {
                        "roll": 0.0008622168679721653,
                        "pitch": -1.202304482460022,
                        "yaw": -179.7626190185547
                    }
                },
                "velocity": {
                    "x": -7.605937480926514,
                    "y": -0.03206678852438927,
                    "z": -0.14651213586330414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.25114631652832,
                "transform": {
                    "location": {
                        "x": -2091.23779296875,
                        "y": 4065.349853515625,
                        "z": 358.24041748046875
                    },
                    "rotation": {
                        "roll": 0.0013255381491035223,
                        "pitch": -0.3271728754043579,
                        "yaw": -179.73814392089844
                    }
                },
                "velocity": {
                    "x": -6.25073766708374,
                    "y": -0.027417728677392006,
                    "z": -0.06602275371551514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0535788536071777,
                "transform": {
                    "location": {
                        "x": -2167.931396484375,
                        "y": 4065.024658203125,
                        "z": 359.9211730957031
                    },
                    "rotation": {
                        "roll": 0.005616120528429747,
                        "pitch": 2.023163318634033,
                        "yaw": -179.59341430664062
                    }
                },
                "velocity": {
                    "x": -3.051985740661621,
                    "y": -0.019155066460371017,
                    "z": 0.09674237668514252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2184.8173828125,
                        "y": 4065.041748046875,
                        "z": 360.44256591796875
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.531661987304688,
                "transform": {
                    "location": {
                        "x": -2127.85595703125,
                        "y": 4065.350341796875,
                        "z": 358.57806396484375
                    },
                    "rotation": {
                        "roll": 0.030441494658589363,
                        "pitch": 2.0540425777435303,
                        "yaw": -179.44488525390625
                    }
                },
                "velocity": {
                    "x": -13.522701263427734,
                    "y": -0.12142162024974823,
                    "z": 0.4771546721458435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.3052472770214081,
        "expert_target_speed": 9.977217123170272,
        "target_point": [
            46.88113360150307,
            -0.8036659136782072
        ],
        "target_point_next": [
            46.88113360150307,
            -0.8036659136782072
        ]
    },
    "335": {
        "acceleration": [
            -4.2145538330078125,
            -0.23021697998046875,
            0.3231361508369446
        ],
        "angular_velocity": [
            0.26394787430763245,
            0.7460587620735168,
            -0.11080700904130936
        ],
        "forward_vector": [
            -0.9990838170051575,
            -0.03835848718881607,
            0.018975073471665382
        ],
        "right_vector": [
            0.038385599851608276,
            -0.9992623925209045,
            0.0010666701709851623
        ],
        "location": [
            -2111.81640625,
            4065.791259765625,
            358.1683044433594
        ],
        "rotation": [
            -0.0611267164349556,
            1.0872567892074585,
            -177.80128479003906
        ],
        "velocity": [
            -10.248579025268555,
            -0.40880000591278076,
            0.10856742411851883
        ],
        "speed": 10.256728985500633,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.517179489135742,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2131.320556640625,
                4065.317138671875,
                358.7008361816406
            ],
            "velocity": [
                -14.161819458007812,
                -0.1277868002653122,
                0.5105085372924805
            ],
            "speed_kmh": 51.01773869128818,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.135777473449707,
                "transform": {
                    "location": {
                        "x": -2119.541748046875,
                        "y": 4068.677001953125,
                        "z": 358.30029296875
                    },
                    "rotation": {
                        "roll": 9.293256880482659e-05,
                        "pitch": -1.2629975080490112,
                        "yaw": 0.24634452164173126
                    }
                },
                "velocity": {
                    "x": 8.133598327636719,
                    "y": 0.03497689962387085,
                    "z": -0.18504829704761505
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028576850891113,
                "transform": {
                    "location": {
                        "x": -2118.572998046875,
                        "y": 4071.931884765625,
                        "z": 358.317138671875
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -1.1962529420852661,
                        "yaw": 0.27251720428466797
                    }
                },
                "velocity": {
                    "x": 8.026642799377441,
                    "y": 0.037899430841207504,
                    "z": -0.1721007078886032
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040179252624512,
                "transform": {
                    "location": {
                        "x": -2075.64501953125,
                        "y": 4072.118896484375,
                        "z": 358.4408264160156
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": 0.9918732047080994,
                        "yaw": 0.2366776168346405
                    }
                },
                "velocity": {
                    "x": 8.03891372680664,
                    "y": 0.0355391725897789,
                    "z": 0.1381320357322693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.048558235168457,
                "transform": {
                    "location": {
                        "x": -2077.909912109375,
                        "y": 4068.857177734375,
                        "z": 358.4078063964844
                    },
                    "rotation": {
                        "roll": 0.001228717272169888,
                        "pitch": 0.9135582447052002,
                        "yaw": 0.2496972382068634
                    }
                },
                "velocity": {
                    "x": 8.047412872314453,
                    "y": 0.03685453534126282,
                    "z": 0.13070686161518097
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4272,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2033.4488525390625,
                        "y": 4072.212646484375,
                        "z": 359.9324645996094
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4271,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2033.493408203125,
                        "y": 4068.9521484375,
                        "z": 359.92974853515625
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.648942947387695,
                "transform": {
                    "location": {
                        "x": -2076.89990234375,
                        "y": 4065.412353515625,
                        "z": 358.4184265136719
                    },
                    "rotation": {
                        "roll": 0.000895229575689882,
                        "pitch": -1.2788094282150269,
                        "yaw": -179.76980590820312
                    }
                },
                "velocity": {
                    "x": -5.648125648498535,
                    "y": -0.024118902161717415,
                    "z": -0.09300846606492996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.82687520980835,
                "transform": {
                    "location": {
                        "x": -2093.00830078125,
                        "y": 4065.341796875,
                        "z": 358.2206115722656
                    },
                    "rotation": {
                        "roll": 0.0006124445353634655,
                        "pitch": -0.03867252916097641,
                        "yaw": -179.7469024658203
                    }
                },
                "velocity": {
                    "x": -7.826368808746338,
                    "y": -0.034570179879665375,
                    "z": -0.08208373188972473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.554087162017822,
                "transform": {
                    "location": {
                        "x": -2168.8984375,
                        "y": 4065.0185546875,
                        "z": 359.951904296875
                    },
                    "rotation": {
                        "roll": 0.004920369945466518,
                        "pitch": 2.046980142593384,
                        "yaw": -179.6222381591797
                    }
                },
                "velocity": {
                    "x": -4.551743507385254,
                    "y": -0.02778075449168682,
                    "z": 0.14342553913593292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2186.858642578125,
                        "y": 4065.032470703125,
                        "z": 360.5043640136719
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.17159366607666,
                "transform": {
                    "location": {
                        "x": -2131.320556640625,
                        "y": 4065.317138671875,
                        "z": 358.7008361816406
                    },
                    "rotation": {
                        "roll": 0.016067320480942726,
                        "pitch": 2.151249885559082,
                        "yaw": -179.485595703125
                    }
                },
                "velocity": {
                    "x": -14.161819458007812,
                    "y": -0.1277868002653122,
                    "z": 0.5105085372924805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.20235224068164825,
        "expert_target_speed": 11.095154286965592,
        "target_point": [
            44.47071426947582,
            -1.0821818259136364
        ],
        "target_point_next": [
            44.47071426947582,
            -1.0821818259136364
        ]
    },
    "340": {
        "acceleration": [
            -2.6697921752929688,
            0.07915914058685303,
            0.020546019077301025
        ],
        "angular_velocity": [
            0.1615746021270752,
            0.9439482092857361,
            0.6370954513549805
        ],
        "forward_vector": [
            -0.999004065990448,
            -0.03841505944728851,
            0.022696809843182564
        ],
        "right_vector": [
            0.03841966763138771,
            -0.9992616772651672,
            -0.0002332499425392598
        ],
        "location": [
            -2114.48095703125,
            4065.688232421875,
            358.20269775390625
        ],
        "rotation": [
            0.013367680832743645,
            1.3005430698394775,
            -177.79786682128906
        ],
        "velocity": [
            -10.981974601745605,
            -0.410855233669281,
            0.15055744349956512
        ],
        "speed": 10.989657327524775,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.476430892944336,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2134.94384765625,
                4065.2890625,
                358.8311767578125
            ],
            "velocity": [
                -14.79925537109375,
                -0.11055862903594971,
                0.5299504995346069
            ],
            "speed_kmh": 53.31295295184004,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.023998260498047,
                "transform": {
                    "location": {
                        "x": -2117.525634765625,
                        "y": 4068.685546875,
                        "z": 358.25714111328125
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -1.1405049562454224,
                        "yaw": 0.24602188169956207
                    }
                },
                "velocity": {
                    "x": 8.022716522216797,
                    "y": 0.03439571335911751,
                    "z": -0.13921566307544708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033709526062012,
                "transform": {
                    "location": {
                        "x": -2116.565673828125,
                        "y": 4071.9404296875,
                        "z": 358.2794494628906
                    },
                    "rotation": {
                        "roll": 0.0009176806197501719,
                        "pitch": -1.0357707738876343,
                        "yaw": 0.24034559726715088
                    }
                },
                "velocity": {
                    "x": 8.032503128051758,
                    "y": 0.035477444529533386,
                    "z": -0.13462911546230316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037471771240234,
                "transform": {
                    "location": {
                        "x": -2073.634033203125,
                        "y": 4072.12841796875,
                        "z": 358.47906494140625
                    },
                    "rotation": {
                        "roll": 0.0003672658058349043,
                        "pitch": 1.1547117233276367,
                        "yaw": 0.27174726128578186
                    }
                },
                "velocity": {
                    "x": 8.035886764526367,
                    "y": 0.03633865714073181,
                    "z": 0.15541739761829376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991061687469482,
                "transform": {
                    "location": {
                        "x": -2075.905029296875,
                        "y": 4068.8662109375,
                        "z": 358.44061279296875
                    },
                    "rotation": {
                        "roll": 0.0005097028915770352,
                        "pitch": 0.9908145070075989,
                        "yaw": 0.25189799070358276
                    }
                },
                "velocity": {
                    "x": 7.989785194396973,
                    "y": 0.03511389344930649,
                    "z": 0.1384403258562088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.277956008911133,
                "transform": {
                    "location": {
                        "x": -2078.237548828125,
                        "y": 4065.406494140625,
                        "z": 358.3976135253906
                    },
                    "rotation": {
                        "roll": 0.0004998038639314473,
                        "pitch": -1.0340291261672974,
                        "yaw": -179.75244140625
                    }
                },
                "velocity": {
                    "x": -5.27734375,
                    "y": -0.022123251110315323,
                    "z": -0.07726112008094788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.982412338256836,
                "transform": {
                    "location": {
                        "x": -2095.072998046875,
                        "y": 4065.33251953125,
                        "z": 358.1990051269531
                    },
                    "rotation": {
                        "roll": 0.0006425436586141586,
                        "pitch": -0.07711966335773468,
                        "yaw": -179.74598693847656
                    }
                },
                "velocity": {
                    "x": -8.981832504272461,
                    "y": -0.039812929928302765,
                    "z": -0.09394609928131104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.504786491394043,
                "transform": {
                    "location": {
                        "x": -2170.18115234375,
                        "y": 4065.01123046875,
                        "z": 359.9927673339844
                    },
                    "rotation": {
                        "roll": 0.005390902515500784,
                        "pitch": 1.9444044828414917,
                        "yaw": -179.67352294921875
                    }
                },
                "velocity": {
                    "x": -5.501983642578125,
                    "y": -0.028381630778312683,
                    "z": 0.17333443462848663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2188.941162109375,
                        "y": 4065.02392578125,
                        "z": 360.56756591796875
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.80915355682373,
                "transform": {
                    "location": {
                        "x": -2134.94384765625,
                        "y": 4065.2890625,
                        "z": 358.8311767578125
                    },
                    "rotation": {
                        "roll": 0.01020547840744257,
                        "pitch": 2.1317291259765625,
                        "yaw": -179.58311462402344
                    }
                },
                "velocity": {
                    "x": -14.79925537109375,
                    "y": -0.11055862903594971,
                    "z": 0.5299504995346069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.13168153166770935,
        "expert_target_speed": 11.769665430021966,
        "target_point": [
            41.80410840343153,
            -1.0853782963937886
        ],
        "target_point_next": [
            41.80410840343153,
            -1.0853782963937886
        ]
    },
    "345": {
        "acceleration": [
            -2.505321502685547,
            0.17183661460876465,
            0.13867557048797607
        ],
        "angular_velocity": [
            0.10183332860469818,
            1.1801056861877441,
            -2.373600721359253
        ],
        "forward_vector": [
            -0.9991282224655151,
            -0.03316912055015564,
            0.02534952200949192
        ],
        "right_vector": [
            0.0331440195441246,
            -0.9994495511054993,
            -0.001409776508808136
        ],
        "location": [
            -2117.311279296875,
            4065.589599609375,
            358.25103759765625
        ],
        "rotation": [
            0.08080023527145386,
            1.4525762796401978,
            -178.0985870361328
        ],
        "velocity": [
            -11.61777400970459,
            -0.37379804253578186,
            0.2274978756904602
        ],
        "speed": 11.62378586851853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.429706573486328,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2138.7265625,
                4065.263671875,
                358.9664001464844
            ],
            "velocity": [
                -15.436901092529297,
                -0.09982568770647049,
                0.5510170459747314
            ],
            "speed_kmh": 55.60939708181193,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -2156.358154296875,
                        "y": 4068.416259765625,
                        "z": 359.89111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.917999029159546,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": -8.117824634723547e-09,
                    "y": -3.5397129671821403e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -2156.372314453125,
                        "y": 4071.666259765625,
                        "z": 359.7392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.917999029159546,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": -7.735523155361079e-08,
                    "y": -3.373012980034673e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08363151550293,
                "transform": {
                    "location": {
                        "x": -2115.5126953125,
                        "y": 4068.69482421875,
                        "z": 358.2213134765625
                    },
                    "rotation": {
                        "roll": 0.002329524839296937,
                        "pitch": -0.8964554667472839,
                        "yaw": 0.2502193748950958
                    }
                },
                "velocity": {
                    "x": 8.082365989685059,
                    "y": 0.03544081747531891,
                    "z": -0.13855493068695068
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.040971755981445,
                "transform": {
                    "location": {
                        "x": -2114.554443359375,
                        "y": 4071.948974609375,
                        "z": 358.2447509765625
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": -0.8598319888114929,
                        "yaw": 0.2610165476799011
                    }
                },
                "velocity": {
                    "x": 8.03995132446289,
                    "y": 0.03627854585647583,
                    "z": -0.12285193800926208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036966323852539,
                "transform": {
                    "location": {
                        "x": -2071.624267578125,
                        "y": 4072.13720703125,
                        "z": 358.51983642578125
                    },
                    "rotation": {
                        "roll": 0.0010337538551539183,
                        "pitch": 1.2494738101959229,
                        "yaw": 0.23779334127902985
                    }
                },
                "velocity": {
                    "x": 8.034998893737793,
                    "y": 0.03413644805550575,
                    "z": 0.17449305951595306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.044486045837402,
                "transform": {
                    "location": {
                        "x": -2073.900146484375,
                        "y": 4068.87548828125,
                        "z": 358.478271484375
                    },
                    "rotation": {
                        "roll": -0.000457763351732865,
                        "pitch": 1.08687424659729,
                        "yaw": 0.2560265362262726
                    }
                },
                "velocity": {
                    "x": 8.04269027709961,
                    "y": 0.03428829461336136,
                    "z": 0.16645196080207825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.354276180267334,
                "transform": {
                    "location": {
                        "x": -2079.635986328125,
                        "y": 4065.400634765625,
                        "z": 358.3771667480469
                    },
                    "rotation": {
                        "roll": 0.0017121064011007547,
                        "pitch": -0.6925948262214661,
                        "yaw": -179.7755126953125
                    }
                },
                "velocity": {
                    "x": -6.353498458862305,
                    "y": -0.0267433263361454,
                    "z": -0.09574533253908157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.313085556030273,
                "transform": {
                    "location": {
                        "x": -2097.51318359375,
                        "y": 4065.321533203125,
                        "z": 358.1735534667969
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": 0.026869961991906166,
                        "yaw": -179.74534606933594
                    }
                },
                "velocity": {
                    "x": -10.312548637390137,
                    "y": -0.045699942857027054,
                    "z": -0.09476181119680405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.972111225128174,
                "transform": {
                    "location": {
                        "x": -2171.62109375,
                        "y": 4065.00341796875,
                        "z": 360.0372619628906
                    },
                    "rotation": {
                        "roll": 0.002480220515280962,
                        "pitch": 1.8603589534759521,
                        "yaw": -179.7127227783203
                    }
                },
                "velocity": {
                    "x": -5.969172954559326,
                    "y": -0.031039249151945114,
                    "z": 0.18472407758235931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2191.023681640625,
                        "y": 4065.014892578125,
                        "z": 360.6304931640625
                    },
                    "rotation": {
                        "roll": -4.1706396669560775e-10,
                        "pitch": 1.6943103075027466,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.447054862976074,
                "transform": {
                    "location": {
                        "x": -2138.7265625,
                        "y": 4065.263671875,
                        "z": 358.9664001464844
                    },
                    "rotation": {
                        "roll": 0.006893084850162268,
                        "pitch": 2.1262378692626953,
                        "yaw": -179.64761352539062
                    }
                },
                "velocity": {
                    "x": -15.436901092529297,
                    "y": -0.09982568770647049,
                    "z": 0.5510170459747314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.09157229959964752,
        "expert_target_speed": 12.345676848617623,
        "target_point": [
            38.977192325999454,
            -0.8706422317104643
        ],
        "target_point_next": [
            38.977192325999454,
            -0.8706422317104643
        ]
    },
    "350": {
        "acceleration": [
            -2.3969268798828125,
            0.20698487758636475,
            0.35718202590942383
        ],
        "angular_velocity": [
            0.027486467733979225,
            1.1521469354629517,
            -0.6324369311332703
        ],
        "forward_vector": [
            -0.9991998076438904,
            -0.027335267513990402,
            0.029198070988059044
        ],
        "right_vector": [
            0.027288224548101425,
            -0.999625563621521,
            -0.00200848700478673
        ],
        "location": [
            -2120.298095703125,
            4065.501708984375,
            358.31451416015625
        ],
        "rotation": [
            0.11512698233127594,
            1.6731640100479126,
            -178.4329376220703
        ],
        "velocity": [
            -12.229616165161133,
            -0.3226373493671417,
            0.3028129041194916
        ],
        "speed": 12.233871276353089,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.346328735351562,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2142.62890625,
                4065.240234375,
                359.10504150390625
            ],
            "velocity": [
                -15.864628791809082,
                -0.0902055874466896,
                0.5579407215118408
            ],
            "speed_kmh": 57.14889522570131,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.273281455039978,
                "transform": {
                    "location": {
                        "x": -2156.36181640625,
                        "y": 4068.416259765625,
                        "z": 359.54132080078125
                    },
                    "rotation": {
                        "roll": 0.0006985020008869469,
                        "pitch": -1.9389607906341553,
                        "yaw": 0.24967341125011444
                    }
                },
                "velocity": {
                    "x": -0.009056581184267998,
                    "y": 0.00021454280067700893,
                    "z": -0.27313125133514404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.12414447218179703,
                "transform": {
                    "location": {
                        "x": -2156.376708984375,
                        "y": 4071.666259765625,
                        "z": 359.470458984375
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": -1.934261679649353,
                        "yaw": 0.24974139034748077
                    }
                },
                "velocity": {
                    "x": 0.004238742869347334,
                    "y": -2.1234563973848708e-05,
                    "z": 0.12407208234071732
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.090005874633789,
                "transform": {
                    "location": {
                        "x": -2113.487060546875,
                        "y": 4068.70458984375,
                        "z": 358.1914367675781
                    },
                    "rotation": {
                        "roll": -3.0517370760207996e-05,
                        "pitch": -0.7734984159469604,
                        "yaw": 0.2508211135864258
                    }
                },
                "velocity": {
                    "x": 8.089423179626465,
                    "y": 0.0353890135884285,
                    "z": -0.0903935506939888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026427268981934,
                "transform": {
                    "location": {
                        "x": -2112.5458984375,
                        "y": 4071.9580078125,
                        "z": 358.2195129394531
                    },
                    "rotation": {
                        "roll": 0.0004799655289389193,
                        "pitch": -0.6682997941970825,
                        "yaw": 0.23489384353160858
                    }
                },
                "velocity": {
                    "x": 8.025864601135254,
                    "y": 0.03466209024190903,
                    "z": -0.08851507306098938
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034704208374023,
                "transform": {
                    "location": {
                        "x": -2069.615234375,
                        "y": 4072.145751953125,
                        "z": 358.5652160644531
                    },
                    "rotation": {
                        "roll": 0.0006556231528520584,
                        "pitch": 1.327501893043518,
                        "yaw": 0.26700282096862793
                    }
                },
                "velocity": {
                    "x": 8.032393455505371,
                    "y": 0.03458690643310547,
                    "z": 0.18952475488185883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987070560455322,
                "transform": {
                    "location": {
                        "x": -2071.89599609375,
                        "y": 4068.88427734375,
                        "z": 358.5184326171875
                    },
                    "rotation": {
                        "roll": 0.00036933578667230904,
                        "pitch": 1.2425888776779175,
                        "yaw": 0.2566870450973511
                    }
                },
                "velocity": {
                    "x": 7.985177516937256,
                    "y": 0.03833707049489021,
                    "z": 0.16959697008132935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026744842529297,
                "transform": {
                    "location": {
                        "x": -2081.47900390625,
                        "y": 4065.392333984375,
                        "z": 358.3520202636719
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.4974358081817627,
                        "yaw": -179.7161865234375
                    }
                },
                "velocity": {
                    "x": -8.026037216186523,
                    "y": -0.037732433527708054,
                    "z": -0.09966398775577545
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.309090614318848,
                "transform": {
                    "location": {
                        "x": -2100.22021484375,
                        "y": 4065.309814453125,
                        "z": 358.1498107910156
                    },
                    "rotation": {
                        "roll": 0.0022183223627507687,
                        "pitch": 0.08231060206890106,
                        "yaw": -179.75120544433594
                    }
                },
                "velocity": {
                    "x": -11.308634757995605,
                    "y": -0.04780946671962738,
                    "z": -0.08956801146268845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.895110607147217,
                "transform": {
                    "location": {
                        "x": -2173.428466796875,
                        "y": 4064.994873046875,
                        "z": 360.0933837890625
                    },
                    "rotation": {
                        "roll": -0.0006713869515806437,
                        "pitch": 2.015991687774658,
                        "yaw": -179.75538635253906
                    }
                },
                "velocity": {
                    "x": -7.891260623931885,
                    "y": -0.03669510781764984,
                    "z": 0.24378712475299835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2193.106201171875,
                        "y": 4065.005615234375,
                        "z": 360.69329833984375
                    },
                    "rotation": {
                        "roll": -4.1706396669560775e-10,
                        "pitch": 1.6943103075027466,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.874692916870117,
                "transform": {
                    "location": {
                        "x": -2142.62890625,
                        "y": 4065.240234375,
                        "z": 359.10504150390625
                    },
                    "rotation": {
                        "roll": 0.006333780009299517,
                        "pitch": 2.0692193508148193,
                        "yaw": -179.68655395507812
                    }
                },
                "velocity": {
                    "x": -15.864628791809082,
                    "y": -0.0902055874466896,
                    "z": 0.5579407215118408
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.05484739691019058,
        "expert_target_speed": 12.884268408207301,
        "target_point": [
            35.993506422197285,
            -0.6493532032877439
        ],
        "target_point_next": [
            35.993506422197285,
            -0.6493532032877439
        ]
    },
    "355": {
        "acceleration": [
            -2.311115264892578,
            -0.14631867408752441,
            0.654953122138977
        ],
        "angular_velocity": [
            -0.20082589983940125,
            0.936920702457428,
            0.12655465304851532
        ],
        "forward_vector": [
            -0.9990869760513306,
            -0.02611243724822998,
            0.03381394222378731
        ],
        "right_vector": [
            0.02608582191169262,
            -0.9996589422225952,
            -0.0012280588271096349
        ],
        "location": [
            -2123.435302734375,
            4065.418701171875,
            358.3959045410156
        ],
        "rotation": [
            0.07040286809206009,
            1.9377655982971191,
            -178.50283813476562
        ],
        "velocity": [
            -12.82118034362793,
            -0.3446735739707947,
            0.3767271339893341
        ],
        "speed": 12.825812460675737,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.270099639892578,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2146.68896484375,
                4065.2177734375,
                359.24700927734375
            ],
            "velocity": [
                -16.52967071533203,
                -0.08425073325634003,
                0.5772985816001892
            ],
            "speed_kmh": 59.5438678615353,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.11000115424394608,
                "transform": {
                    "location": {
                        "x": -2156.361083984375,
                        "y": 4068.416259765625,
                        "z": 359.56011962890625
                    },
                    "rotation": {
                        "roll": -0.00012207070540171117,
                        "pitch": -1.938906192779541,
                        "yaw": 0.24954822659492493
                    }
                },
                "velocity": {
                    "x": 0.0037493978161364794,
                    "y": -0.00021061653387732804,
                    "z": 0.10993703454732895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13948559761047363,
                "transform": {
                    "location": {
                        "x": -2156.375,
                        "y": 4071.666259765625,
                        "z": 359.5232849121094
                    },
                    "rotation": {
                        "roll": -0.00012206982501083985,
                        "pitch": -1.932192087173462,
                        "yaw": 0.24960222840309143
                    }
                },
                "velocity": {
                    "x": 0.00475127249956131,
                    "y": -5.53054160263855e-05,
                    "z": 0.13940463960170746
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038881301879883,
                "transform": {
                    "location": {
                        "x": -2111.47265625,
                        "y": 4068.713623046875,
                        "z": 358.1672058105469
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": -0.5374129414558411,
                        "yaw": 0.25088638067245483
                    }
                },
                "velocity": {
                    "x": 8.038339614868164,
                    "y": 0.03514596447348595,
                    "z": -0.08642871677875519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032078742980957,
                "transform": {
                    "location": {
                        "x": -2110.537353515625,
                        "y": 4071.965576171875,
                        "z": 358.19744873046875
                    },
                    "rotation": {
                        "roll": 0.00026653215172700584,
                        "pitch": -0.522427499294281,
                        "yaw": 0.26245567202568054
                    }
                },
                "velocity": {
                    "x": 8.031756401062012,
                    "y": 0.034974757581949234,
                    "z": -0.06288642436265945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034701347351074,
                "transform": {
                    "location": {
                        "x": -2067.60595703125,
                        "y": 4072.153564453125,
                        "z": 358.6130065917969
                    },
                    "rotation": {
                        "roll": 0.00017675948038231581,
                        "pitch": 1.5010228157043457,
                        "yaw": 0.22966080904006958
                    }
                },
                "velocity": {
                    "x": 8.03211784362793,
                    "y": 0.03367247432470322,
                    "z": 0.2009318470954895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.043893814086914,
                "transform": {
                    "location": {
                        "x": -2069.891845703125,
                        "y": 4068.89306640625,
                        "z": 358.56268310546875
                    },
                    "rotation": {
                        "roll": -9.155255975201726e-05,
                        "pitch": 1.2628881931304932,
                        "yaw": 0.2514662444591522
                    }
                },
                "velocity": {
                    "x": 8.041464805603027,
                    "y": 0.03289816528558731,
                    "z": 0.19490350782871246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.239509582519531,
                "transform": {
                    "location": {
                        "x": -2083.6416015625,
                        "y": 4065.381591796875,
                        "z": 358.326171875
                    },
                    "rotation": {
                        "roll": -0.0025939936749637127,
                        "pitch": -0.46804550290107727,
                        "yaw": -179.65045166015625
                    }
                },
                "velocity": {
                    "x": -9.238779067993164,
                    "y": -0.04707416519522667,
                    "z": -0.10620960593223572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.190926551818848,
                "transform": {
                    "location": {
                        "x": -2103.173095703125,
                        "y": 4065.29736328125,
                        "z": 358.13433837890625
                    },
                    "rotation": {
                        "roll": 0.0015664761886000633,
                        "pitch": 0.300275593996048,
                        "yaw": -179.7584991455078
                    }
                },
                "velocity": {
                    "x": -12.190731048583984,
                    "y": -0.05143694207072258,
                    "z": -0.045997731387615204
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.248872756958008,
                "transform": {
                    "location": {
                        "x": -2175.478515625,
                        "y": 4064.98486328125,
                        "z": 360.15667724609375
                    },
                    "rotation": {
                        "roll": 0.0007106593111529946,
                        "pitch": 1.8844218254089355,
                        "yaw": -179.7091522216797
                    }
                },
                "velocity": {
                    "x": -8.244839668273926,
                    "y": -0.03905017673969269,
                    "z": 0.2549595534801483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2195.188720703125,
                        "y": 4064.9970703125,
                        "z": 360.7545166015625
                    },
                    "rotation": {
                        "roll": 2.085185218936303e-10,
                        "pitch": 1.564092755317688,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.53996467590332,
                "transform": {
                    "location": {
                        "x": -2146.68896484375,
                        "y": 4065.2177734375,
                        "z": 359.24700927734375
                    },
                    "rotation": {
                        "roll": 0.00495872413739562,
                        "pitch": 2.082517623901367,
                        "yaw": -179.70712280273438
                    }
                },
                "velocity": {
                    "x": -16.52967071533203,
                    "y": -0.08425073325634003,
                    "z": 0.5772985816001892
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.011739015579223633,
        "expert_target_speed": 13.402302528517833,
        "target_point": [
            32.855966860887,
            -0.6064610962967968
        ],
        "target_point_next": [
            32.855966860887,
            -0.6064610962967968
        ]
    },
    "360": {
        "acceleration": [
            -2.264251708984375,
            -0.2150261402130127,
            0.39360344409942627
        ],
        "angular_velocity": [
            -0.018892602995038033,
            0.36878737807273865,
            0.7780389189720154
        ],
        "forward_vector": [
            -0.9988201260566711,
            -0.028912613168358803,
            0.039016351103782654
        ],
        "right_vector": [
            0.028911592438817024,
            -0.9995817542076111,
            -0.0005905034486204386
        ],
        "location": [
            -2126.71826171875,
            4065.326904296875,
            358.497802734375
        ],
        "rotation": [
            0.033859141170978546,
            2.236039876937866,
            -178.34193420410156
        ],
        "velocity": [
            -13.39370059967041,
            -0.3919302225112915,
            0.44621092081069946
        ],
        "speed": 13.39943375866791,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.14118194580078,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2150.842529296875,
                4065.196533203125,
                359.39190673828125
            ],
            "velocity": [
                -16.506179809570312,
                -0.07797490060329437,
                0.5631825923919678
            ],
            "speed_kmh": 59.4574878130484,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3960483074188232,
                "transform": {
                    "location": {
                        "x": -2156.172119140625,
                        "y": 4068.418701171875,
                        "z": 359.5672607421875
                    },
                    "rotation": {
                        "roll": -0.006896972190588713,
                        "pitch": -1.827942967414856,
                        "yaw": 0.3304343819618225
                    }
                },
                "velocity": {
                    "x": 1.3956165313720703,
                    "y": 0.025440670549869537,
                    "z": -0.0236212145537138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9545303583145142,
                "transform": {
                    "location": {
                        "x": -2156.30517578125,
                        "y": 4071.6669921875,
                        "z": 359.5343933105469
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -1.90640127658844,
                        "yaw": 0.27476638555526733
                    }
                },
                "velocity": {
                    "x": 0.9540910720825195,
                    "y": 0.016252251341938972,
                    "z": -0.023964857682585716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09572982788086,
                "transform": {
                    "location": {
                        "x": -2109.45458984375,
                        "y": 4068.722412109375,
                        "z": 358.1508483886719
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.40557661652565,
                        "yaw": 0.24812805652618408
                    }
                },
                "velocity": {
                    "x": 8.095547676086426,
                    "y": 0.034910812973976135,
                    "z": -0.04151732474565506
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030426979064941,
                "transform": {
                    "location": {
                        "x": -2108.528076171875,
                        "y": 4071.974853515625,
                        "z": 358.1844787597656
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.3001731336116791,
                        "yaw": 0.2420807033777237
                    }
                },
                "velocity": {
                    "x": 8.030240058898926,
                    "y": 0.03579901531338692,
                    "z": -0.04142371192574501
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.033390045166016,
                "transform": {
                    "location": {
                        "x": -2065.59814453125,
                        "y": 4072.162353515625,
                        "z": 358.66546630859375
                    },
                    "rotation": {
                        "roll": 0.000800489739049226,
                        "pitch": 1.507525086402893,
                        "yaw": 0.2670978009700775
                    }
                },
                "velocity": {
                    "x": 8.03034496307373,
                    "y": 0.03553354740142822,
                    "z": 0.21831779181957245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9836602210998535,
                "transform": {
                    "location": {
                        "x": -2067.888916015625,
                        "y": 4068.902099609375,
                        "z": 358.6110534667969
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": 1.4415591955184937,
                        "yaw": 0.2504170835018158
                    }
                },
                "velocity": {
                    "x": 7.981114864349365,
                    "y": 0.03324897214770317,
                    "z": 0.19881418347358704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.455166816711426,
                "transform": {
                    "location": {
                        "x": -2086.11376953125,
                        "y": 4065.369873046875,
                        "z": 358.29833984375
                    },
                    "rotation": {
                        "roll": 0.002548984717577696,
                        "pitch": -0.40075451135635376,
                        "yaw": -179.7307586669922
                    }
                },
                "velocity": {
                    "x": -10.454482078552246,
                    "y": -0.0479145310819149,
                    "z": -0.1096445694565773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.651927947998047,
                "transform": {
                    "location": {
                        "x": -2106.28564453125,
                        "y": 4065.28369140625,
                        "z": 358.1330261230469
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 0.4306229054927826,
                        "yaw": -179.7486114501953
                    }
                },
                "velocity": {
                    "x": -12.651776313781738,
                    "y": -0.055332597345113754,
                    "z": 0.027759160846471786
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.880918025970459,
                "transform": {
                    "location": {
                        "x": -2177.483642578125,
                        "y": 4064.975341796875,
                        "z": 360.2184753417969
                    },
                    "rotation": {
                        "roll": 0.00022150638687890023,
                        "pitch": 1.758275032043457,
                        "yaw": -179.74522399902344
                    }
                },
                "velocity": {
                    "x": -7.877104759216309,
                    "y": -0.03642191365361214,
                    "z": 0.24241510033607483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2197.271240234375,
                        "y": 4064.9873046875,
                        "z": 360.8138122558594
                    },
                    "rotation": {
                        "roll": 2.085185218936303e-10,
                        "pitch": 1.564092755317688,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.515968322753906,
                "transform": {
                    "location": {
                        "x": -2150.842529296875,
                        "y": 4065.196533203125,
                        "z": 359.39190673828125
                    },
                    "rotation": {
                        "roll": 0.0031477855518460274,
                        "pitch": 1.99275541305542,
                        "yaw": -179.71795654296875
                    }
                },
                "velocity": {
                    "x": -16.506179809570312,
                    "y": -0.07797490060329437,
                    "z": 0.5631825923919678
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.043087586760520935,
        "expert_target_speed": 13.878696206788028,
        "target_point": [
            29.5698937851402,
            -0.6954880927724578
        ],
        "target_point_next": [
            29.5698937851402,
            -0.6954880927724578
        ]
    },
    "365": {
        "acceleration": [
            -2.219409942626953,
            -0.09595513343811035,
            0.25513947010040283
        ],
        "angular_velocity": [
            0.10807475447654724,
            0.23241592943668365,
            0.2868559658527374
        ],
        "forward_vector": [
            -0.9986397624015808,
            -0.03149665147066116,
            0.041552018374204636
        ],
        "right_vector": [
            0.03150477632880211,
            -0.999503493309021,
            -0.0004594165657181293
        ],
        "location": [
            -2130.140869140625,
            4065.222412109375,
            358.61749267578125
        ],
        "rotation": [
            0.02634538523852825,
            2.3814408779144287,
            -178.19351196289062
        ],
        "velocity": [
            -13.952101707458496,
            -0.43785735964775085,
            0.5017465949058533
        ],
        "speed": 13.958970632631333,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.82691192626953,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2154.950927734375,
                4065.1767578125,
                359.5309753417969
            ],
            "velocity": [
                -16.504444122314453,
                -0.07966707646846771,
                0.5536397695541382
            ],
            "speed_kmh": 59.45011045850463,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.401282787322998,
                "transform": {
                    "location": {
                        "x": -2155.700927734375,
                        "y": 4068.42626953125,
                        "z": 359.5539855957031
                    },
                    "rotation": {
                        "roll": -0.012664794921875,
                        "pitch": -1.8257367610931396,
                        "yaw": 0.4956815242767334
                    }
                },
                "velocity": {
                    "x": 2.399639844894409,
                    "y": 0.044006943702697754,
                    "z": -0.07714992016553879
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6821035146713257,
                "transform": {
                    "location": {
                        "x": -2155.963134765625,
                        "y": 4071.671875,
                        "z": 359.52252197265625
                    },
                    "rotation": {
                        "roll": -0.00628662109375,
                        "pitch": -1.9011489152908325,
                        "yaw": 0.399850070476532
                    }
                },
                "velocity": {
                    "x": 1.6807835102081299,
                    "y": 0.02932398021221161,
                    "z": -0.059825677424669266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047584533691406,
                "transform": {
                    "location": {
                        "x": -2107.43505859375,
                        "y": 4068.730224609375,
                        "z": 358.1387023925781
                    },
                    "rotation": {
                        "roll": 0.0004467483377084136,
                        "pitch": -0.1905827522277832,
                        "yaw": 0.24700017273426056
                    }
                },
                "velocity": {
                    "x": 8.04743480682373,
                    "y": 0.034762706607580185,
                    "z": -0.03458699956536293
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024529457092285,
                "transform": {
                    "location": {
                        "x": -2106.51953125,
                        "y": 4071.983154296875,
                        "z": 358.1754455566406
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.16997608542442322,
                        "yaw": 0.2640860080718994
                    }
                },
                "velocity": {
                    "x": 8.02445125579834,
                    "y": 0.035165101289749146,
                    "z": -0.003613757900893688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.033520698547363,
                "transform": {
                    "location": {
                        "x": -2063.588623046875,
                        "y": 4072.171142578125,
                        "z": 358.7216796875
                    },
                    "rotation": {
                        "roll": 0.000719901523552835,
                        "pitch": 1.69178307056427,
                        "yaw": 0.2361898422241211
                    }
                },
                "velocity": {
                    "x": 8.030305862426758,
                    "y": 0.034558411687612534,
                    "z": 0.22461049258708954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.043971061706543,
                "transform": {
                    "location": {
                        "x": -2065.885986328125,
                        "y": 4068.91064453125,
                        "z": 358.6619567871094
                    },
                    "rotation": {
                        "roll": 0.00012848255573771894,
                        "pitch": 1.4823217391967773,
                        "yaw": 0.25163766741752625
                    }
                },
                "velocity": {
                    "x": 8.041183471679688,
                    "y": 0.03520265221595764,
                    "z": 0.2088034749031067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.336188316345215,
                "transform": {
                    "location": {
                        "x": -2088.82177734375,
                        "y": 4065.358154296875,
                        "z": 358.2701416015625
                    },
                    "rotation": {
                        "roll": 0.001363345654681325,
                        "pitch": -0.45083343982696533,
                        "yaw": -179.75485229492188
                    }
                },
                "velocity": {
                    "x": -11.335463523864746,
                    "y": -0.04857443645596504,
                    "z": -0.11851896345615387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.153491973876953,
                "transform": {
                    "location": {
                        "x": -2109.513427734375,
                        "y": 4065.270263671875,
                        "z": 358.1474609375
                    },
                    "rotation": {
                        "roll": 0.0005328647093847394,
                        "pitch": 0.6555137038230896,
                        "yaw": -179.75225830078125
                    }
                },
                "velocity": {
                    "x": -13.152960777282715,
                    "y": -0.056899718940258026,
                    "z": 0.10366960614919662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078001976013184,
                "transform": {
                    "location": {
                        "x": -2179.47265625,
                        "y": 4064.965576171875,
                        "z": 360.27947998046875
                    },
                    "rotation": {
                        "roll": 0.00012195218732813373,
                        "pitch": 1.7683837413787842,
                        "yaw": -179.72120666503906
                    }
                },
                "velocity": {
                    "x": -8.074135780334473,
                    "y": -0.0375174954533577,
                    "z": 0.24707108736038208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.6804351806640625,
                "transform": {
                    "location": {
                        "x": -2199.23193359375,
                        "y": 4064.97607421875,
                        "z": 360.8688049316406
                    },
                    "rotation": {
                        "roll": -0.0278625451028347,
                        "pitch": 1.267245888710022,
                        "yaw": -179.64730834960938
                    }
                },
                "velocity": {
                    "x": -6.677667617797852,
                    "y": -0.07484111934900284,
                    "z": 0.1771199256181717
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.513919830322266,
                "transform": {
                    "location": {
                        "x": -2154.950927734375,
                        "y": 4065.1767578125,
                        "z": 359.5309753417969
                    },
                    "rotation": {
                        "roll": 0.001431461307220161,
                        "pitch": 1.9347329139709473,
                        "yaw": -179.72569274902344
                    }
                },
                "velocity": {
                    "x": -16.504444122314453,
                    "y": -0.07966707646846771,
                    "z": 0.5536397695541382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.09215179830789566,
        "expert_target_speed": 14.332025556877166,
        "target_point": [
            26.14379240689342,
            -0.7686363462837906
        ],
        "target_point_next": [
            26.14379240689342,
            -0.7686363462837906
        ]
    },
    "370": {
        "acceleration": [
            -2.2208404541015625,
            0.08175373077392578,
            0.05204200744628906
        ],
        "angular_velocity": [
            0.13357552886009216,
            -0.07676353305578232,
            -0.756477952003479
        ],
        "forward_vector": [
            -0.9987040162086487,
            -0.02978338859975338,
            0.04127092659473419
        ],
        "right_vector": [
            0.02976248413324356,
            -0.9995563626289368,
            -0.0011209765216335654
        ],
        "location": [
            -2133.700927734375,
            4065.11376953125,
            358.74664306640625
        ],
        "rotation": [
            0.06428200751543045,
            2.365321636199951,
            -178.2918243408203
        ],
        "velocity": [
            -14.5079927444458,
            -0.4278889298439026,
            0.5245184898376465
        ],
        "speed": 14.514301306269447,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.392303466796875,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2159.076416015625,
                4065.157470703125,
                359.6695556640625
            ],
            "velocity": [
                -16.21402931213379,
                -0.07552206516265869,
                0.5345803499221802
            ],
            "speed_kmh": 58.40285517359469,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7885265350341797,
                "transform": {
                    "location": {
                        "x": -2154.9287109375,
                        "y": 4068.438720703125,
                        "z": 359.5279846191406
                    },
                    "rotation": {
                        "roll": -0.0192871056497097,
                        "pitch": -1.7951648235321045,
                        "yaw": 0.6949148178100586
                    }
                },
                "velocity": {
                    "x": 3.7856993675231934,
                    "y": 0.07157985866069794,
                    "z": -0.12762634456157684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.329777717590332,
                "transform": {
                    "location": {
                        "x": -2155.45849609375,
                        "y": 4071.67919921875,
                        "z": 359.50518798828125
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": -1.908778190612793,
                        "yaw": 0.556929886341095
                    }
                },
                "velocity": {
                    "x": 2.3280563354492188,
                    "y": 0.042327865958213806,
                    "z": -0.07890613377094269
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077101707458496,
                "transform": {
                    "location": {
                        "x": -2105.419677734375,
                        "y": 4068.738037109375,
                        "z": 358.1353759765625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.03829686716198921,
                        "yaw": 0.2467672973871231
                    }
                },
                "velocity": {
                    "x": 8.077024459838867,
                    "y": 0.03480056673288345,
                    "z": 0.0062392232939600945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02938175201416,
                "transform": {
                    "location": {
                        "x": -2104.51171875,
                        "y": 4071.992431640625,
                        "z": 358.17437744140625
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.06555615365505219,
                        "yaw": 0.23981185257434845
                    }
                },
                "velocity": {
                    "x": 8.029301643371582,
                    "y": 0.03557398170232773,
                    "z": 0.003668947145342827
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2061.55126953125,
                        "y": 4072.15234375,
                        "z": 358.7821350097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8635145425796509,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.979359149932861,
                "transform": {
                    "location": {
                        "x": -2063.8837890625,
                        "y": 4068.919189453125,
                        "z": 358.71783447265625
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": 1.616610050201416,
                        "yaw": 0.25153911113739014
                    }
                },
                "velocity": {
                    "x": 7.975829124450684,
                    "y": 0.03496011346578598,
                    "z": 0.23473866283893585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.56980037689209,
                "transform": {
                    "location": {
                        "x": -2091.82861328125,
                        "y": 4065.345458984375,
                        "z": 358.2386169433594
                    },
                    "rotation": {
                        "roll": 0.001955490792170167,
                        "pitch": -0.41903892159461975,
                        "yaw": -179.75732421875
                    }
                },
                "velocity": {
                    "x": -12.56899642944336,
                    "y": -0.05292188376188278,
                    "z": -0.131877139210701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.692461967468262,
                "transform": {
                    "location": {
                        "x": -2112.875,
                        "y": 4065.2548828125,
                        "z": 358.1793518066406
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.9520395398139954,
                        "yaw": -179.74615478515625
                    }
                },
                "velocity": {
                    "x": -13.691133499145508,
                    "y": -0.0605747289955616,
                    "z": 0.1808469593524933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052847862243652,
                "transform": {
                    "location": {
                        "x": -2181.49560546875,
                        "y": 4064.955810546875,
                        "z": 360.3408508300781
                    },
                    "rotation": {
                        "roll": 0.00017244293121621013,
                        "pitch": 1.7486307621002197,
                        "yaw": -179.75930786132812
                    }
                },
                "velocity": {
                    "x": -8.04909610748291,
                    "y": -0.03462865576148033,
                    "z": 0.24332813918590546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8111572265625,
                "transform": {
                    "location": {
                        "x": -2200.91943359375,
                        "y": 4064.954345703125,
                        "z": 360.91351318359375
                    },
                    "rotation": {
                        "roll": -0.003967284690588713,
                        "pitch": 1.3915553092956543,
                        "yaw": -179.3145751953125
                    }
                },
                "velocity": {
                    "x": -6.808150291442871,
                    "y": -0.09002873301506042,
                    "z": 0.1812335103750229
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.22301483154297,
                "transform": {
                    "location": {
                        "x": -2159.076416015625,
                        "y": 4065.157470703125,
                        "z": 359.6695556640625
                    },
                    "rotation": {
                        "roll": 0.0014810343272984028,
                        "pitch": 1.905752420425415,
                        "yaw": -179.73562622070312
                    }
                },
                "velocity": {
                    "x": -16.21402931213379,
                    "y": -0.07552206516265869,
                    "z": 0.5345803499221802
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.12781837582588196,
        "expert_target_speed": 14.762479232331389,
        "target_point": [
            22.58335791670685,
            -0.7262418297634208
        ],
        "target_point_next": [
            22.58335791670685,
            -0.7262418297634208
        ]
    },
    "375": {
        "acceleration": [
            -2.2147369384765625,
            0.15203654766082764,
            0.06251335144042969
        ],
        "angular_velocity": [
            0.0928865447640419,
            -0.0396418496966362,
            -0.8537665009498596
        ],
        "forward_vector": [
            -0.9988154172897339,
            -0.02621448040008545,
            0.04099578782916069
        ],
        "right_vector": [
            0.02616948075592518,
            -0.9996562600135803,
            -0.001634023617953062
        ],
        "location": [
            -2137.39990234375,
            4065.010009765625,
            358.8797912597656
        ],
        "rotation": [
            0.09370147436857224,
            2.349544048309326,
            -178.49658203125
        ],
        "velocity": [
            -15.062300682067871,
            -0.3957802355289459,
            0.5396762490272522
        ],
        "speed": 15.067499587916291,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.593210220336914,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2162.976318359375,
                4065.139404296875,
                359.7977600097656
            ],
            "velocity": [
                -15.01891803741455,
                -0.06944321095943451,
                0.48347875475883484
            ],
            "speed_kmh": 54.09669020487615,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.139814853668213,
                "transform": {
                    "location": {
                        "x": -2153.80517578125,
                        "y": 4068.4560546875,
                        "z": 359.49029541015625
                    },
                    "rotation": {
                        "roll": -0.011230465956032276,
                        "pitch": -1.7886966466903687,
                        "yaw": 0.7920836210250854
                    }
                },
                "velocity": {
                    "x": 5.136726379394531,
                    "y": 0.06124495714902878,
                    "z": -0.16729256510734558
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.940045118331909,
                "transform": {
                    "location": {
                        "x": -2154.796875,
                        "y": 4071.68994140625,
                        "z": 359.48291015625
                    },
                    "rotation": {
                        "roll": -0.01617431640625,
                        "pitch": -1.9101169109344482,
                        "yaw": 0.7187615036964417
                    }
                },
                "velocity": {
                    "x": 2.9378740787506104,
                    "y": 0.0547746978700161,
                    "z": -0.09879624098539352
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05263900756836,
                "transform": {
                    "location": {
                        "x": -2103.401611328125,
                        "y": 4068.74658203125,
                        "z": 358.1354675292969
                    },
                    "rotation": {
                        "roll": -9.155274892691523e-05,
                        "pitch": 0.14182204008102417,
                        "yaw": 0.2491108924150467
                    }
                },
                "velocity": {
                    "x": 8.052546501159668,
                    "y": 0.03524375334382057,
                    "z": 0.015712643042206764
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02077865600586,
                "transform": {
                    "location": {
                        "x": -2102.50390625,
                        "y": 4072.001708984375,
                        "z": 358.1784973144531
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.19244739413261414,
                        "yaw": 0.26605090498924255
                    }
                },
                "velocity": {
                    "x": 8.020546913146973,
                    "y": 0.03554811328649521,
                    "z": 0.04949400946497917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4274,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2059.469970703125,
                        "y": 4072.09326171875,
                        "z": 358.84661865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8635145425796509,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4273,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2061.816650390625,
                        "y": 4068.888671875,
                        "z": 358.7779541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8635145425796509,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.474822998046875,
                "transform": {
                    "location": {
                        "x": -2095.09423828125,
                        "y": 4065.331787109375,
                        "z": 358.2042236328125
                    },
                    "rotation": {
                        "roll": -6.103511987021193e-05,
                        "pitch": -0.44891417026519775,
                        "yaw": -179.75929260253906
                    }
                },
                "velocity": {
                    "x": -13.473966598510742,
                    "y": -0.056305792182683945,
                    "z": -0.14110355079174042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.205775260925293,
                "transform": {
                    "location": {
                        "x": -2116.36767578125,
                        "y": 4065.239990234375,
                        "z": 358.2312316894531
                    },
                    "rotation": {
                        "roll": 0.0015177251771092415,
                        "pitch": 1.2584350109100342,
                        "yaw": -179.76255798339844
                    }
                },
                "velocity": {
                    "x": -14.203184127807617,
                    "y": -0.060907766222953796,
                    "z": 0.2644127309322357
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.996523380279541,
                "transform": {
                    "location": {
                        "x": -2183.49560546875,
                        "y": 4064.947509765625,
                        "z": 360.4013977050781
                    },
                    "rotation": {
                        "roll": 9.418330591870472e-05,
                        "pitch": 1.741745948791504,
                        "yaw": -179.73385620117188
                    }
                },
                "velocity": {
                    "x": -7.992775917053223,
                    "y": -0.0352986715734005,
                    "z": 0.24221642315387726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.527110576629639,
                "transform": {
                    "location": {
                        "x": -2202.584716796875,
                        "y": 4064.931396484375,
                        "z": 360.9569396972656
                    },
                    "rotation": {
                        "roll": 0.00675840163603425,
                        "pitch": 1.4025861024856567,
                        "yaw": -179.23060607910156
                    }
                },
                "velocity": {
                    "x": -6.524428367614746,
                    "y": -0.0913039818406105,
                    "z": 0.1633177548646927
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.02685832977295,
                "transform": {
                    "location": {
                        "x": -2162.976318359375,
                        "y": 4065.139404296875,
                        "z": 359.7977600097656
                    },
                    "rotation": {
                        "roll": 0.0015023276209831238,
                        "pitch": 1.7498465776443481,
                        "yaw": -179.73614501953125
                    }
                },
                "velocity": {
                    "x": -15.01891803741455,
                    "y": -0.06944321095943451,
                    "z": 0.48347875475883484
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8561574220657349,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15379144251346588,
        "expert_target_speed": 15.148776957145843,
        "target_point": [
            18.88538561678955,
            -0.6522031096397863
        ],
        "target_point_next": [
            18.88538561678955,
            -0.6522031096397863
        ]
    },
    "380": {
        "acceleration": [
            -2.2149658203125,
            0.18182456493377686,
            0.036466121673583984
        ],
        "angular_velocity": [
            0.01944717764854431,
            -0.2096260040998459,
            -0.8782880902290344
        ],
        "forward_vector": [
            -0.9989202618598938,
            -0.02244323119521141,
            0.04067692905664444
        ],
        "right_vector": [
            0.022384801879525185,
            -0.999747633934021,
            -0.0018913549138233066
        ],
        "location": [
            -2141.237060546875,
            4064.916259765625,
            359.0168151855469
        ],
        "rotation": [
            0.10845648497343063,
            2.3312594890594482,
            -178.71292114257812
        ],
        "velocity": [
            -15.615758895874023,
            -0.35297060012817383,
            0.5528621673583984
        ],
        "speed": 15.619747569619156,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.3616943359375,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2166.58203125,
                4065.122802734375,
                359.9142150878906
            ],
            "velocity": [
                -13.627955436706543,
                -0.06250851601362228,
                0.44028595089912415
            ],
            "speed_kmh": 49.08675292069325,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.47731876373291,
                "transform": {
                    "location": {
                        "x": -2152.472412109375,
                        "y": 4068.47216796875,
                        "z": 359.4463195800781
                    },
                    "rotation": {
                        "roll": -0.014801024459302425,
                        "pitch": -1.8681317567825317,
                        "yaw": 0.76738440990448
                    }
                },
                "velocity": {
                    "x": 5.473811626434326,
                    "y": 0.06511256843805313,
                    "z": -0.18483489751815796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.654271364212036,
                "transform": {
                    "location": {
                        "x": -2153.97314453125,
                        "y": 4071.703125,
                        "z": 359.4552001953125
                    },
                    "rotation": {
                        "roll": -0.01696777530014515,
                        "pitch": -1.9081157445907593,
                        "yaw": 0.8197028040885925
                    }
                },
                "velocity": {
                    "x": 3.6518795490264893,
                    "y": 0.048490408807992935,
                    "z": -0.12297841906547546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07395076751709,
                "transform": {
                    "location": {
                        "x": -2101.385986328125,
                        "y": 4068.755859375,
                        "z": 358.14483642578125
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.33060845732688904,
                        "yaw": 0.2506958246231079
                    }
                },
                "velocity": {
                    "x": 8.073701858520508,
                    "y": 0.035279568284749985,
                    "z": 0.05269718915224075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027396202087402,
                "transform": {
                    "location": {
                        "x": -2100.49658203125,
                        "y": 4072.01123046875,
                        "z": 358.1890563964844
                    },
                    "rotation": {
                        "roll": 0.0015891112852841616,
                        "pitch": 0.43374431133270264,
                        "yaw": 0.236726313829422
                    }
                },
                "velocity": {
                    "x": 8.027181625366211,
                    "y": 0.03354671970009804,
                    "z": 0.048138007521629333
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.957988739013672,
                "transform": {
                    "location": {
                        "x": -2098.532958984375,
                        "y": 4065.318115234375,
                        "z": 358.16986083984375
                    },
                    "rotation": {
                        "roll": 0.00011801953223766759,
                        "pitch": -0.4118945300579071,
                        "yaw": -179.76168823242188
                    }
                },
                "velocity": {
                    "x": -13.957282066345215,
                    "y": -0.05802706256508827,
                    "z": -0.12788179516792297
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.717938423156738,
                "transform": {
                    "location": {
                        "x": -2119.988037109375,
                        "y": 4065.224365234375,
                        "z": 358.3050231933594
                    },
                    "rotation": {
                        "roll": 0.0010598220396786928,
                        "pitch": 1.583832025527954,
                        "yaw": -179.75656127929688
                    }
                },
                "velocity": {
                    "x": -14.71353816986084,
                    "y": -0.062405508011579514,
                    "z": 0.3544110655784607
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056930541992188,
                "transform": {
                    "location": {
                        "x": -2185.502685546875,
                        "y": 4064.939208984375,
                        "z": 360.46221923828125
                    },
                    "rotation": {
                        "roll": -0.0007324215257540345,
                        "pitch": 1.754019856452942,
                        "yaw": -179.77015686035156
                    }
                },
                "velocity": {
                    "x": -8.053154945373535,
                    "y": -0.03369670733809471,
                    "z": 0.24431684613227844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.442091464996338,
                "transform": {
                    "location": {
                        "x": -2204.02294921875,
                        "y": 4064.9111328125,
                        "z": 360.99273681640625
                    },
                    "rotation": {
                        "roll": 0.011948816478252411,
                        "pitch": 1.2899699211120605,
                        "yaw": -179.201416015625
                    }
                },
                "velocity": {
                    "x": -5.4398064613342285,
                    "y": -0.07715754210948944,
                    "z": 0.13752016425132751
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.635209083557129,
                "transform": {
                    "location": {
                        "x": -2166.58203125,
                        "y": 4065.122802734375,
                        "z": 359.9142150878906
                    },
                    "rotation": {
                        "roll": 0.00040780994459055364,
                        "pitch": 1.7169523239135742,
                        "yaw": -179.7379150390625
                    }
                },
                "velocity": {
                    "x": -13.627955436706543,
                    "y": -0.06250851601362228,
                    "z": 0.44028595089912415
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4195568561553955,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17083200812339783,
        "expert_target_speed": 15.49756244112407,
        "target_point": [
            15.049417569912036,
            -0.5884314339524539
        ],
        "target_point_next": [
            15.049417569912036,
            -0.5884314339524539
        ]
    },
    "385": {
        "acceleration": [
            0.5966377258300781,
            0.25788605213165283,
            -0.017054080963134766
        ],
        "angular_velocity": [
            0.01716284640133381,
            -0.8369501233100891,
            -0.8984144330024719
        ],
        "forward_vector": [
            -0.9990721940994263,
            -0.018566913902759552,
            0.03885887935757637
        ],
        "right_vector": [
            0.018504859879612923,
            -0.9998269081115723,
            -0.0019560186192393303
        ],
        "location": [
            -2145.19287109375,
            4064.833984375,
            359.15618896484375
        ],
        "rotation": [
            0.11215638369321823,
            2.227010488510132,
            -178.93533325195312
        ],
        "velocity": [
            -15.860188484191895,
            -0.2978197932243347,
            0.5552892684936523
        ],
        "speed": 15.862984441249678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.60593032836914,
        "front_vehicle_info": {
            "id": 4247,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2169.7822265625,
                4065.108154296875,
                360.0165100097656
            ],
            "velocity": [
                -12.089285850524902,
                -0.05636873468756676,
                0.37769821286201477
            ],
            "speed_kmh": 43.54313709552134,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4278,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.9297261238098145,
                "transform": {
                    "location": {
                        "x": -2150.99365234375,
                        "y": 4068.490234375,
                        "z": 359.3955078125
                    },
                    "rotation": {
                        "roll": -0.01516723446547985,
                        "pitch": -1.8289128541946411,
                        "yaw": 0.7038856148719788
                    }
                },
                "velocity": {
                    "x": 6.92511510848999,
                    "y": 0.08125574886798859,
                    "z": -0.23933589458465576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4277,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.570544719696045,
                "transform": {
                    "location": {
                        "x": -2152.94580078125,
                        "y": 4071.716064453125,
                        "z": 359.4205017089844
                    },
                    "rotation": {
                        "roll": -0.01611328125,
                        "pitch": -1.9014289379119873,
                        "yaw": 0.7703686952590942
                    }
                },
                "velocity": {
                    "x": 4.5676188468933105,
                    "y": 0.05555897578597069,
                    "z": -0.15378306806087494
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4276,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045042037963867,
                "transform": {
                    "location": {
                        "x": -2099.36962890625,
                        "y": 4068.76513671875,
                        "z": 358.15753173828125
                    },
                    "rotation": {
                        "roll": 0.0007791815442033112,
                        "pitch": 0.474814236164093,
                        "yaw": 0.24974454939365387
                    }
                },
                "velocity": {
                    "x": 8.044662475585938,
                    "y": 0.034321241080760956,
                    "z": 0.07022565603256226
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4275,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.021787643432617,
                "transform": {
                    "location": {
                        "x": -2098.489990234375,
                        "y": 4072.0185546875,
                        "z": 358.2053527832031
                    },
                    "rotation": {
                        "roll": -1.0422448321056876e-10,
                        "pitch": 0.5064106583595276,
                        "yaw": 0.2559868097305298
                    }
                },
                "velocity": {
                    "x": 8.021313667297363,
                    "y": 0.03421982377767563,
                    "z": 0.08025268465280533
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4258,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.361214637756348,
                "transform": {
                    "location": {
                        "x": -2102.07470703125,
                        "y": 4065.302978515625,
                        "z": 358.1445617675781
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -0.18994072079658508,
                        "yaw": -179.75897216796875
                    }
                },
                "velocity": {
                    "x": -14.360928535461426,
                    "y": -0.06006778031587601,
                    "z": -0.06788916140794754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4257,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.215940475463867,
                "transform": {
                    "location": {
                        "x": -2123.736083984375,
                        "y": 4065.208740234375,
                        "z": 358.4029235839844
                    },
                    "rotation": {
                        "roll": 1.784712731023319e-05,
                        "pitch": 1.919276237487793,
                        "yaw": -179.75198364257812
                    }
                },
                "velocity": {
                    "x": -15.20904541015625,
                    "y": -0.06406369060277939,
                    "z": 0.45353132486343384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4256,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025577545166016,
                "transform": {
                    "location": {
                        "x": -2187.5126953125,
                        "y": 4064.930419921875,
                        "z": 360.5230712890625
                    },
                    "rotation": {
                        "roll": 0.00042484758887439966,
                        "pitch": 1.7465202808380127,
                        "yaw": -179.72903442382812
                    }
                },
                "velocity": {
                    "x": -8.021788597106934,
                    "y": -0.03634876757860184,
                    "z": 0.24388554692268372
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4255,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.602426528930664,
                "transform": {
                    "location": {
                        "x": -2205.407958984375,
                        "y": 4064.89453125,
                        "z": 361.0275573730469
                    },
                    "rotation": {
                        "roll": 0.020868437364697456,
                        "pitch": 1.4373927116394043,
                        "yaw": -179.3059539794922
                    }
                },
                "velocity": {
                    "x": -5.600372791290283,
                    "y": -0.05914521962404251,
                    "z": 0.1396719366312027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4250,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": 358.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": 2.0562899112701416,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4249,
                "type": "vehicle.audi.etron",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3750305175781
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 1.5685255527496338,
                        "yaw": -179.74990844726562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.427854299545288,
                    "y": 1.0163782835006714,
                    "z": 0.8246796727180481
                }
            },
            {
                "id": 4248,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1764831542969
                    },
                    "rotation": {
                        "roll": 0.0004316306731197983,
                        "pitch": 0.5915353298187256,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4247,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.095315933227539,
                "transform": {
                    "location": {
                        "x": -2169.7822265625,
                        "y": 4065.108154296875,
                        "z": 360.0165100097656
                    },
                    "rotation": {
                        "roll": 0.001457583042792976,
                        "pitch": 1.6466560363769531,
                        "yaw": -179.73440551757812
                    }
                },
                "velocity": {
                    "x": -12.089285850524902,
                    "y": -0.05636873468756676,
                    "z": 0.37769821286201477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4246,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.2622985839844
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.6084878444671631,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 4245,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.684814453125,
                        "y": 4062.2548828125,
                        "z": 358.3880920410156
                    },
                    "rotation": {
                        "roll": 0.00046424841275438666,
                        "pitch": -0.8794209361076355,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.42205387353897095,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1899995505809784,
        "expert_target_speed": 15.581128218970937,
        "target_point": [
            11.094932055493976,
            -0.5387653651592561
        ],
        "target_point_next": [
            11.094932055493976,
            -0.5387653651592561
        ]
    }
}