{
    "0": {
        "acceleration": [
            -1.388193964958191,
            0.29340147972106934,
            -0.623413622379303
        ],
        "angular_velocity": [
            0.16278941929340363,
            0.05658181756734848,
            0.014171826653182507
        ],
        "forward_vector": [
            -0.9767554998397827,
            0.20620295405387878,
            -0.05855867639183998
        ],
        "right_vector": [
            -0.20658539235591888,
            -0.9784284830093384,
            0.00048811634769663215
        ],
        "location": [
            -997.7260131835938,
            3045.57958984375,
            360.11627197265625
        ],
        "rotation": [
            -0.028015082702040672,
            -3.357085704803467,
            168.07931518554688
        ],
        "velocity": [
            -0.3305833637714386,
            0.06875918060541153,
            0.19291411340236664
        ],
        "speed": 0.33765838553183736,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.021728157997131348,
        "expert_target_speed": 20.0,
        "target_point": [
            51.01628949780459,
            -0.6590699326244209
        ],
        "target_point_next": [
            72.94076837896542,
            -2.440317901326665
        ]
    },
    "5": {
        "acceleration": [
            0.3537076711654663,
            -0.0736856460571289,
            -0.39769476652145386
        ],
        "angular_velocity": [
            0.003543500555679202,
            -0.2230457067489624,
            0.02483067288994789
        ],
        "forward_vector": [
            -0.9767545461654663,
            0.20611007511615753,
            -0.05889950320124626
        ],
        "right_vector": [
            -0.20647796988487244,
            -0.9784512519836426,
            0.00016376562416553497
        ],
        "location": [
            -997.8196411132812,
            3045.599365234375,
            360.1446838378906
        ],
        "rotation": [
            -0.009399397298693657,
            -3.3766472339630127,
            168.0845184326172
        ],
        "velocity": [
            -0.4168202579021454,
            0.08688970655202866,
            0.050834883004426956
        ],
        "speed": 0.4257803993871825,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.802510261535645,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3161010742188,
                3048.47998046875,
                359.3267517089844
            ],
            "velocity": [
                0.013203028589487076,
                -0.0026163964066654444,
                -0.23042134940624237
            ],
            "speed_kmh": 0.8309308769575583,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4397513270378113,
                "transform": {
                    "location": {
                        "x": -968.6410522460938,
                        "y": 3038.349853515625,
                        "z": 361.9382629394531
                    },
                    "rotation": {
                        "roll": 0.004308533389121294,
                        "pitch": -3.1090404987335205,
                        "yaw": 163.95802307128906
                    }
                },
                "velocity": {
                    "x": 0.021594960242509842,
                    "y": -0.004811409395188093,
                    "z": -0.4391944110393524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.35634857416152954,
                "transform": {
                    "location": {
                        "x": -983.0678100585938,
                        "y": 3042.216552734375,
                        "z": 361.0589294433594
                    },
                    "rotation": {
                        "roll": -0.0039062388241291046,
                        "pitch": -3.411283254623413,
                        "yaw": 166.03466796875
                    }
                },
                "velocity": {
                    "x": 0.019985834136605263,
                    "y": -0.004874074831604958,
                    "z": -0.3557542860507965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.230814129114151,
                "transform": {
                    "location": {
                        "x": -1012.3161010742188,
                        "y": 3048.47998046875,
                        "z": 359.3267517089844
                    },
                    "rotation": {
                        "roll": -0.006439239252358675,
                        "pitch": -3.376401424407959,
                        "yaw": 168.8202667236328
                    }
                },
                "velocity": {
                    "x": 0.013203028589487076,
                    "y": -0.0026163964066654444,
                    "z": -0.23042134940624237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5130372047424316,
                "transform": {
                    "location": {
                        "x": -1027.0360107421875,
                        "y": 3051.619384765625,
                        "z": 358.3910217285156
                    },
                    "rotation": {
                        "roll": -0.0026245280168950558,
                        "pitch": -3.3595309257507324,
                        "yaw": 167.10101318359375
                    }
                },
                "velocity": {
                    "x": 0.0294185783714056,
                    "y": -0.006416734773665667,
                    "z": -0.5121528506278992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02309393137693405,
        "expert_target_speed": 1.406479918019991,
        "target_point": [
            50.92053603017456,
            -0.6636738447383568
        ],
        "target_point_next": [
            72.84485344196375,
            -2.4469081433063806
        ]
    },
    "10": {
        "acceleration": [
            -1.4384305477142334,
            0.3129620850086212,
            -0.2413429170846939
        ],
        "angular_velocity": [
            0.03183072805404663,
            0.16181953251361847,
            -0.02619655430316925
        ],
        "forward_vector": [
            -0.9767446517944336,
            0.20614032447338104,
            -0.058958522975444794
        ],
        "right_vector": [
            -0.20650027692317963,
            -0.9784465432167053,
            1.2760981007886585e-05
        ],
        "location": [
            -997.9468383789062,
            3045.626220703125,
            360.1474609375
        ],
        "rotation": [
            -0.0007324244361370802,
            -3.380034923553467,
            168.08270263671875
        ],
        "velocity": [
            -0.5951335430145264,
            0.12641823291778564,
            -0.016535472124814987
        ],
        "speed": 0.6084122809699675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.672876358032227,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3157348632812,
                3048.47998046875,
                359.3203125
            ],
            "velocity": [
                -0.0014674824196845293,
                0.0004755009722430259,
                0.023582300171256065
            ],
            "speed_kmh": 0.08507771831703696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02762584015727043,
                "transform": {
                    "location": {
                        "x": -968.6396484375,
                        "y": 3038.349609375,
                        "z": 361.9138488769531
                    },
                    "rotation": {
                        "roll": 0.003582317614927888,
                        "pitch": -3.1326591968536377,
                        "yaw": 163.9575958251953
                    }
                },
                "velocity": {
                    "x": -0.0015642517246305943,
                    "y": 0.0005577566917054355,
                    "z": 0.02757587842643261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04396878555417061,
                "transform": {
                    "location": {
                        "x": -983.0673828125,
                        "y": 3042.216552734375,
                        "z": 361.0513610839844
                    },
                    "rotation": {
                        "roll": -0.003509487258270383,
                        "pitch": -3.4173824787139893,
                        "yaw": 166.03453063964844
                    }
                },
                "velocity": {
                    "x": -0.002611723495647311,
                    "y": 0.0007448902470059693,
                    "z": 0.04388482868671417
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.023632699623703957,
                "transform": {
                    "location": {
                        "x": -1012.3157348632812,
                        "y": 3048.47998046875,
                        "z": 359.3203125
                    },
                    "rotation": {
                        "roll": -0.005920439958572388,
                        "pitch": -3.3800008296966553,
                        "yaw": 168.8200225830078
                    }
                },
                "velocity": {
                    "x": -0.0014674824196845293,
                    "y": 0.0004755009722430259,
                    "z": 0.023582300171256065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10419902205467224,
                "transform": {
                    "location": {
                        "x": -1027.035400390625,
                        "y": 3051.618896484375,
                        "z": 358.38238525390625
                    },
                    "rotation": {
                        "roll": -0.002258309395983815,
                        "pitch": -3.36492657661438,
                        "yaw": 167.10076904296875
                    }
                },
                "velocity": {
                    "x": -0.006063608452677727,
                    "y": 0.0015168392565101385,
                    "z": 0.10401138663291931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02378450520336628,
        "expert_target_speed": 1.5731903388905986,
        "target_point": [
            50.79055550517772,
            -0.6620607616913539
        ],
        "target_point_next": [
            72.71492902672632,
            -2.4446050736485283
        ]
    },
    "15": {
        "acceleration": [
            0.3639400005340576,
            -0.07416278123855591,
            0.0012908130884170532
        ],
        "angular_velocity": [
            -0.019251186400651932,
            -0.18001149594783783,
            -0.03143610432744026
        ],
        "forward_vector": [
            -0.9767139554023743,
            0.20627056062221527,
            -0.05901053175330162
        ],
        "right_vector": [
            -0.20662778615951538,
            -0.9784196019172668,
            -4.951702067046426e-05
        ],
        "location": [
            -998.1074829101562,
            3045.66015625,
            360.140380859375
        ],
        "rotation": [
            0.002842069137841463,
            -3.3830199241638184,
            168.0750274658203
        ],
        "velocity": [
            -0.6861329674720764,
            0.14561012387275696,
            -0.036741647869348526
        ],
        "speed": 0.701413399662622,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.579692840576172,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.3856811523438,
                3048.4931640625,
                359.3190612792969
            ],
            "velocity": [
                -0.9836270809173584,
                0.1794855296611786,
                -0.05211566761136055
            ],
            "speed_kmh": 3.604413293307396,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.000864028930664,
                "transform": {
                    "location": {
                        "x": -968.7102661132812,
                        "y": 3038.3681640625,
                        "z": 361.9151611328125
                    },
                    "rotation": {
                        "roll": -0.02108767442405224,
                        "pitch": -2.9154045581817627,
                        "yaw": 164.0033721923828
                    }
                },
                "velocity": {
                    "x": -0.9676339626312256,
                    "y": 0.2543833255767822,
                    "z": -0.026503361761569977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3284046649932861,
                "transform": {
                    "location": {
                        "x": -983.189208984375,
                        "y": 3042.24462890625,
                        "z": 361.0506286621094
                    },
                    "rotation": {
                        "roll": -0.021545397117733955,
                        "pitch": -3.199526786804199,
                        "yaw": 166.1287078857422
                    }
                },
                "velocity": {
                    "x": -1.2925167083740234,
                    "y": 0.2995735704898834,
                    "z": -0.0656902864575386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0012259483337402,
                "transform": {
                    "location": {
                        "x": -1012.3856811523438,
                        "y": 3048.4931640625,
                        "z": 359.3190612792969
                    },
                    "rotation": {
                        "roll": -0.01129151601344347,
                        "pitch": -3.2993431091308594,
                        "yaw": 168.85061645507812
                    }
                },
                "velocity": {
                    "x": -0.9836270809173584,
                    "y": 0.1794855296611786,
                    "z": -0.05211566761136055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023359471932053566,
                "transform": {
                    "location": {
                        "x": -1027.0362548828125,
                        "y": 3051.619384765625,
                        "z": 358.39788818359375
                    },
                    "rotation": {
                        "roll": -0.0016479631885886192,
                        "pitch": -3.369140863418579,
                        "yaw": 167.1005096435547
                    }
                },
                "velocity": {
                    "x": -0.001423813053406775,
                    "y": 0.00038804745418019593,
                    "z": 0.023312808945775032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.023515980690717697,
        "expert_target_speed": 1.6645927618862837,
        "target_point": [
            50.62645397099201,
            -0.655246060893182
        ],
        "target_point_next": [
            72.55106614105391,
            -2.434852682831277
        ]
    },
    "20": {
        "acceleration": [
            -1.4539849758148193,
            0.3065440058708191,
            -0.09462058544158936
        ],
        "angular_velocity": [
            0.062370821833610535,
            0.1667523831129074,
            -0.03936654329299927
        ],
        "forward_vector": [
            -0.9766818284988403,
            0.20642943680286407,
            -0.0589866116642952
        ],
        "right_vector": [
            -0.20678403973579407,
            -0.9783865809440613,
            -9.451247024117038e-05
        ],
        "location": [
            -998.302734375,
            3045.701416015625,
            360.1291809082031
        ],
        "rotation": [
            0.005424611270427704,
            -3.3816468715667725,
            168.0657196044922
        ],
        "velocity": [
            -0.8681973814964294,
            0.18459409475326538,
            -0.05163651332259178
        ],
        "speed": 0.8876044575457213,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.760090827941895,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1012.7581787109375,
                3048.56640625,
                359.29718017578125
            ],
            "velocity": [
                -1.9698246717453003,
                0.38993605971336365,
                -0.1178382858633995
            ],
            "speed_kmh": 7.241411614931614,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9676584005355835,
                "transform": {
                    "location": {
                        "x": -969.074951171875,
                        "y": 3038.466552734375,
                        "z": 361.898193359375
                    },
                    "rotation": {
                        "roll": -0.03442376106977463,
                        "pitch": -2.7697713375091553,
                        "yaw": 164.21351623535156
                    }
                },
                "velocity": {
                    "x": -1.8986715078353882,
                    "y": 0.5068396925926208,
                    "z": -0.09919562935829163
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7718446254730225,
                "transform": {
                    "location": {
                        "x": -983.6898803710938,
                        "y": 3042.3603515625,
                        "z": 361.0215148925781
                    },
                    "rotation": {
                        "roll": -0.033721908926963806,
                        "pitch": -3.12990665435791,
                        "yaw": 166.3947296142578
                    }
                },
                "velocity": {
                    "x": -2.6964733600616455,
                    "y": 0.621215283870697,
                    "z": -0.16200408339500427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.011503219604492,
                "transform": {
                    "location": {
                        "x": -1012.7581787109375,
                        "y": 3048.56640625,
                        "z": 359.29718017578125
                    },
                    "rotation": {
                        "roll": -0.005615221336483955,
                        "pitch": -3.267821788787842,
                        "yaw": 168.83145141601562
                    }
                },
                "velocity": {
                    "x": -1.9698246717453003,
                    "y": 0.38993605971336365,
                    "z": -0.1178382858633995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1585094928741455,
                "transform": {
                    "location": {
                        "x": -1027.1600341796875,
                        "y": 3051.646728515625,
                        "z": 358.3916320800781
                    },
                    "rotation": {
                        "roll": -0.004058836493641138,
                        "pitch": -3.336608648300171,
                        "yaw": 167.13229370117188
                    }
                },
                "velocity": {
                    "x": -1.1274813413619995,
                    "y": 0.25724005699157715,
                    "z": -0.06897571682929993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024656174704432487,
        "expert_target_speed": 1.8598670043828003,
        "target_point": [
            50.42699656571251,
            -0.6470220360747305
        ],
        "target_point_next": [
            72.35189781259254,
            -2.423063660314016
        ]
    },
    "25": {
        "acceleration": [
            0.3668642044067383,
            -0.08140236139297485,
            0.009547322988510132
        ],
        "angular_velocity": [
            -0.029872063547372818,
            -0.1939448118209839,
            -0.04450571537017822
        ],
        "forward_vector": [
            -0.9766414165496826,
            0.20661793649196625,
            -0.05899684876203537
        ],
        "right_vector": [
            -0.20696952939033508,
            -0.9783474206924438,
            -0.00015426332538481802
        ],
        "location": [
            -998.5316162109375,
            3045.750244140625,
            360.1154479980469
        ],
        "rotation": [
            0.008854059502482414,
            -3.3822343349456787,
            168.05465698242188
        ],
        "velocity": [
            -0.9593858122825623,
            0.20407240092754364,
            -0.057954490184783936
        ],
        "speed": 0.9808499791657254,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.187808990478516,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1013.4066162109375,
                3048.694580078125,
                359.25823974609375
            ],
            "velocity": [
                -3.2366859912872314,
                0.6409578323364258,
                -0.1930871158838272
            ],
            "speed_kmh": 11.898664855865125,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2837815284729004,
                "transform": {
                    "location": {
                        "x": -969.7068481445312,
                        "y": 3038.635986328125,
                        "z": 361.8629455566406
                    },
                    "rotation": {
                        "roll": -0.048767074942588806,
                        "pitch": -2.702514410018921,
                        "yaw": 164.5149688720703
                    }
                },
                "velocity": {
                    "x": -3.16880202293396,
                    "y": 0.8422091603279114,
                    "z": -0.1805504411458969
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.471743106842041,
                "transform": {
                    "location": {
                        "x": -984.5855102539062,
                        "y": 3042.565673828125,
                        "z": 360.9673767089844
                    },
                    "rotation": {
                        "roll": -0.0399169847369194,
                        "pitch": -3.079097032546997,
                        "yaw": 166.7392578125
                    }
                },
                "velocity": {
                    "x": -4.351978302001953,
                    "y": 0.9937045574188232,
                    "z": -0.26328954100608826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3051846027374268,
                "transform": {
                    "location": {
                        "x": -1013.4066162109375,
                        "y": 3048.694580078125,
                        "z": 359.25823974609375
                    },
                    "rotation": {
                        "roll": -0.007568352855741978,
                        "pitch": -3.248711109161377,
                        "yaw": 168.82518005371094
                    }
                },
                "velocity": {
                    "x": -3.2366859912872314,
                    "y": 0.6409578323364258,
                    "z": -0.1930871158838272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.91773521900177,
                "transform": {
                    "location": {
                        "x": -1027.5474853515625,
                        "y": 3051.735595703125,
                        "z": 358.3679504394531
                    },
                    "rotation": {
                        "roll": -0.004974390845745802,
                        "pitch": -3.3388352394104004,
                        "yaw": 167.12071228027344
                    }
                },
                "velocity": {
                    "x": -1.8660154342651367,
                    "y": 0.42740458250045776,
                    "z": -0.1141047477722168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.026380617171525955,
        "expert_target_speed": 1.9767571266621387,
        "target_point": [
            50.193088389816246,
            -0.6369102814018337
        ],
        "target_point_next": [
            72.11833137045336,
            -2.4087282112396853
        ]
    },
    "30": {
        "acceleration": [
            -1.4606094360351562,
            0.31111210584640503,
            -0.08706435561180115
        ],
        "angular_velocity": [
            0.04770264774560928,
            0.175988107919693,
            -0.05455740541219711
        ],
        "forward_vector": [
            -0.9765991568565369,
            0.20683425664901733,
            -0.05893817916512489
        ],
        "right_vector": [
            -0.20718206465244293,
            -0.9783024191856384,
            -0.0002140942815458402
        ],
        "location": [
            -998.7952270507812,
            3045.806396484375,
            360.099609375
        ],
        "rotation": [
            0.012288060039281845,
            -3.3788671493530273,
            168.04200744628906
        ],
        "velocity": [
            -1.1415562629699707,
            0.24308213591575623,
            -0.0687372013926506
        ],
        "speed": 1.167150215836561,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.938028335571289,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1014.4057006835938,
                3048.89208984375,
                359.19830322265625
            ],
            "velocity": [
                -4.65195894241333,
                0.9215698838233948,
                -0.2785758972167969
            ],
            "speed_kmh": 17.101939184724333,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.733412265777588,
                "transform": {
                    "location": {
                        "x": -970.6861572265625,
                        "y": 3038.897216796875,
                        "z": 361.80670166015625
                    },
                    "rotation": {
                        "roll": -0.05072016268968582,
                        "pitch": -2.679838180541992,
                        "yaw": 164.8284149169922
                    }
                },
                "velocity": {
                    "x": -4.568958282470703,
                    "y": 1.2085832357406616,
                    "z": -0.2629374563694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.541764259338379,
                "transform": {
                    "location": {
                        "x": -985.8428955078125,
                        "y": 3042.8515625,
                        "z": 360.8915100097656
                    },
                    "rotation": {
                        "roll": -0.05050656571984291,
                        "pitch": -3.1643035411834717,
                        "yaw": 167.0840606689453
                    }
                },
                "velocity": {
                    "x": -5.395323276519775,
                    "y": 1.222396731376648,
                    "z": -0.327696830034256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7505388259887695,
                "transform": {
                    "location": {
                        "x": -1014.4057006835938,
                        "y": 3048.89208984375,
                        "z": 359.19830322265625
                    },
                    "rotation": {
                        "roll": -0.021240228787064552,
                        "pitch": -3.230283260345459,
                        "yaw": 168.8208465576172
                    }
                },
                "velocity": {
                    "x": -4.65195894241333,
                    "y": 0.9215698838233948,
                    "z": -0.2785758972167969
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5714852809906006,
                "transform": {
                    "location": {
                        "x": -1028.096435546875,
                        "y": 3051.861083984375,
                        "z": 358.3348388671875
                    },
                    "rotation": {
                        "roll": -0.010528571903705597,
                        "pitch": -3.3438076972961426,
                        "yaw": 167.1112823486328
                    }
                },
                "velocity": {
                    "x": -2.5021214485168457,
                    "y": 0.5737300515174866,
                    "z": -0.150859534740448
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.027519864961504936,
        "expert_target_speed": 2.194131633277665,
        "target_point": [
            49.92370319870753,
            -0.6254896887430679
        ],
        "target_point_next": [
            71.84933766173486,
            -2.3924565617150204
        ]
    },
    "35": {
        "acceleration": [
            0.36153316497802734,
            -0.08178412914276123,
            0.05562737584114075
        ],
        "angular_velocity": [
            -0.07147245109081268,
            -0.15087395906448364,
            -0.031781964004039764
        ],
        "forward_vector": [
            -0.9765540361404419,
            0.20704293251037598,
            -0.0589531734585762
        ],
        "right_vector": [
            -0.2073889970779419,
            -0.978258490562439,
            -0.0002535055100452155
        ],
        "location": [
            -999.0923461914062,
            3045.86962890625,
            360.08160400390625
        ],
        "rotation": [
            0.01455010287463665,
            -3.379727602005005,
            168.02975463867188
        ],
        "velocity": [
            -1.2324285507202148,
            0.2620314061641693,
            -0.07353854179382324
        ],
        "speed": 1.2599764245598808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.93596076965332,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1015.6809692382812,
                3049.14453125,
                359.1227722167969
            ],
            "velocity": [
                -5.286482810974121,
                1.0453637838363647,
                -0.31569576263427734
            ],
            "speed_kmh": 19.43311536952104,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.389083385467529,
                "transform": {
                    "location": {
                        "x": -971.9425659179688,
                        "y": 3039.229736328125,
                        "z": 361.7346496582031
                    },
                    "rotation": {
                        "roll": -0.058807384222745895,
                        "pitch": -2.947260618209839,
                        "yaw": 165.0658721923828
                    }
                },
                "velocity": {
                    "x": -5.202357769012451,
                    "y": 1.3711198568344116,
                    "z": -0.3126083016395569
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6780309677124023,
                "transform": {
                    "location": {
                        "x": -987.0157470703125,
                        "y": 3043.11669921875,
                        "z": 360.81976318359375
                    },
                    "rotation": {
                        "roll": -0.059967055916786194,
                        "pitch": -3.784634828567505,
                        "yaw": 167.4118194580078
                    }
                },
                "velocity": {
                    "x": -2.606506824493408,
                    "y": 0.5934562683105469,
                    "z": -0.16056863963603973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.398087501525879,
                "transform": {
                    "location": {
                        "x": -1015.6809692382812,
                        "y": 3049.14453125,
                        "z": 359.1227722167969
                    },
                    "rotation": {
                        "roll": -0.022094739601016045,
                        "pitch": -3.287137746810913,
                        "yaw": 168.81573486328125
                    }
                },
                "velocity": {
                    "x": -5.286482810974121,
                    "y": 1.0453637838363647,
                    "z": -0.31569576263427734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2552430629730225,
                "transform": {
                    "location": {
                        "x": -1028.807373046875,
                        "y": 3052.02392578125,
                        "z": 358.2920227050781
                    },
                    "rotation": {
                        "roll": -0.018066396936774254,
                        "pitch": -3.343384265899658,
                        "yaw": 167.10411071777344
                    }
                },
                "velocity": {
                    "x": -3.167553424835205,
                    "y": 0.7258280515670776,
                    "z": -0.19075454771518707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03083685226738453,
        "expert_target_speed": 2.316265074266417,
        "target_point": [
            49.62006262495021,
            -0.6145907610131012
        ],
        "target_point_next": [
            71.54607405253576,
            -2.376873772864423
        ]
    },
    "40": {
        "acceleration": [
            -1.4583206176757812,
            0.2999621629714966,
            -0.08454784750938416
        ],
        "angular_velocity": [
            0.06821421533823013,
            0.18037773668766022,
            -0.0001546001440146938
        ],
        "forward_vector": [
            -0.9765431880950928,
            0.2071014642715454,
            -0.05892711132764816
        ],
        "right_vector": [
            -0.2074405550956726,
            -0.9782475829124451,
            -0.00037045261706225574
        ],
        "location": [
            -999.4241943359375,
            3045.93994140625,
            360.0615539550781
        ],
        "rotation": [
            0.02126231975853443,
            -3.3782317638397217,
            168.02633666992188
        ],
        "velocity": [
            -1.4146684408187866,
            0.2997102439403534,
            -0.08554322272539139
        ],
        "speed": 1.4460681269468056,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.78084945678711,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1016.8418579101562,
                3049.370849609375,
                359.0553283691406
            ],
            "velocity": [
                -2.550018072128296,
                0.49229907989501953,
                -0.1539808213710785
            ],
            "speed_kmh": 9.365993912390223,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.644331455230713,
                "transform": {
                    "location": {
                        "x": -973.3588256835938,
                        "y": 3039.60302734375,
                        "z": 361.6487731933594
                    },
                    "rotation": {
                        "roll": -0.04318239539861679,
                        "pitch": -2.936093330383301,
                        "yaw": 165.2049102783203
                    }
                },
                "velocity": {
                    "x": -6.4154558181762695,
                    "y": 1.6844128370285034,
                    "z": -0.3896423876285553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2343629598617554,
                "transform": {
                    "location": {
                        "x": -987.2101440429688,
                        "y": 3043.160888671875,
                        "z": 360.8080139160156
                    },
                    "rotation": {
                        "roll": -0.06192014366388321,
                        "pitch": -3.757840156555176,
                        "yaw": 167.45346069335938
                    }
                },
                "velocity": {
                    "x": -1.2029194831848145,
                    "y": 0.267372727394104,
                    "z": -0.07175298780202866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6016650199890137,
                "transform": {
                    "location": {
                        "x": -1016.8418579101562,
                        "y": 3049.370849609375,
                        "z": 359.0553283691406
                    },
                    "rotation": {
                        "roll": -0.0204772986471653,
                        "pitch": -3.562005043029785,
                        "yaw": 168.5234375
                    }
                },
                "velocity": {
                    "x": -2.550018072128296,
                    "y": 0.49229907989501953,
                    "z": -0.1539808213710785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.085761547088623,
                "transform": {
                    "location": {
                        "x": -1029.69921875,
                        "y": 3052.228271484375,
                        "z": 358.2384033203125
                    },
                    "rotation": {
                        "roll": -0.019989004358649254,
                        "pitch": -3.3354475498199463,
                        "yaw": 167.0968475341797
                    }
                },
                "velocity": {
                    "x": -3.9757046699523926,
                    "y": 0.9113187193870544,
                    "z": -0.23815451562404633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0332724004983902,
        "expert_target_speed": 2.505262210675695,
        "target_point": [
            49.2808841388789,
            -0.6116726082727055
        ],
        "target_point_next": [
            71.20700140746524,
            -2.3726382696846287
        ]
    },
    "45": {
        "acceleration": [
            0.3684043884277344,
            -0.07667005062103271,
            0.018516629934310913
        ],
        "angular_velocity": [
            0.005197880323976278,
            -0.17371328175067902,
            0.00027353272889740765
        ],
        "forward_vector": [
            -0.9765403270721436,
            0.20710521936416626,
            -0.05896114557981491
        ],
        "right_vector": [
            -0.2074369341135025,
            -0.9782482981681824,
            -0.0005051819025538862
        ],
        "location": [
            -999.7896118164062,
            3046.017333984375,
            360.0394592285156
        ],
        "rotation": [
            0.02899523451924324,
            -3.38018536567688,
            168.02609252929688
        ],
        "velocity": [
            -1.5054534673690796,
            0.3189786970615387,
            -0.09100920706987381
        ],
        "speed": 1.5388754178271422,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.589027404785156,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1017.0206298828125,
                3049.405029296875,
                359.0447692871094
            ],
            "velocity": [
                -0.9828440546989441,
                0.19572857022285461,
                -0.0578833632171154
            ],
            "speed_kmh": 3.613730482843797,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.369632244110107,
                "transform": {
                    "location": {
                        "x": -974.9590454101562,
                        "y": 3040.020751953125,
                        "z": 361.5524597167969
                    },
                    "rotation": {
                        "roll": -0.053100571036338806,
                        "pitch": -3.2920827865600586,
                        "yaw": 165.3697509765625
                    }
                },
                "velocity": {
                    "x": -6.154867649078369,
                    "y": 1.5960253477096558,
                    "z": -0.3775196075439453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.525773286819458,
                "transform": {
                    "location": {
                        "x": -987.7105102539062,
                        "y": 3043.2724609375,
                        "z": 360.7779235839844
                    },
                    "rotation": {
                        "roll": -0.048339854925870895,
                        "pitch": -3.251948595046997,
                        "yaw": 167.4566192626953
                    }
                },
                "velocity": {
                    "x": -2.460814952850342,
                    "y": 0.5490783452987671,
                    "z": -0.14977958798408508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0038139820098877,
                "transform": {
                    "location": {
                        "x": -1017.0206298828125,
                        "y": 3049.405029296875,
                        "z": 359.0447692871094
                    },
                    "rotation": {
                        "roll": -0.013824478723108768,
                        "pitch": -3.5808358192443848,
                        "yaw": 168.46348571777344
                    }
                },
                "velocity": {
                    "x": -0.9828440546989441,
                    "y": 0.19572857022285461,
                    "z": -0.0578833632171154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.124570369720459,
                "transform": {
                    "location": {
                        "x": -1030.822021484375,
                        "y": 3052.48583984375,
                        "z": 358.1710510253906
                    },
                    "rotation": {
                        "roll": -0.0320434607565403,
                        "pitch": -3.312825918197632,
                        "yaw": 167.09408569335938
                    }
                },
                "velocity": {
                    "x": -4.986710548400879,
                    "y": 1.1433982849121094,
                    "z": -0.2942410707473755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.034722957760095596,
        "expert_target_speed": 2.583343433556034,
        "target_point": [
            48.90736333254888,
            -0.6115874540248889
        ],
        "target_point_next": [
            70.8334873185266,
            -2.3724694739244097
        ]
    },
    "50": {
        "acceleration": [
            -2.080528736114502,
            0.4440498352050781,
            -0.11323750019073486
        ],
        "angular_velocity": [
            0.07597614824771881,
            0.23612722754478455,
            0.0007610659813508391
        ],
        "forward_vector": [
            -0.9765443801879883,
            0.20711363852024078,
            -0.058864280581474304
        ],
        "right_vector": [
            -0.20743975043296814,
            -0.9782476425170898,
            -0.0005826628184877336
        ],
        "location": [
            -1000.1907348632812,
            3046.102783203125,
            360.01519775390625
        ],
        "rotation": [
            0.03344211354851723,
            -3.3746254444122314,
            168.0256805419922
        ],
        "velocity": [
            -1.718148112297058,
            0.36425814032554626,
            -0.1033044382929802
        ],
        "speed": 1.7563362231029027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.626420974731445,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1017.4590454101562,
                3049.49365234375,
                359.01611328125
            ],
            "velocity": [
                -2.2432379722595215,
                0.4776226282119751,
                -0.1348956674337387
            ],
            "speed_kmh": 8.270945601243147,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4961739778518677,
                "transform": {
                    "location": {
                        "x": -975.7911987304688,
                        "y": 3040.2392578125,
                        "z": 361.5070495605469
                    },
                    "rotation": {
                        "roll": -0.047973692417144775,
                        "pitch": -4.894014835357666,
                        "yaw": 165.61685180664062
                    }
                },
                "velocity": {
                    "x": -0.47742995619773865,
                    "y": 0.1312393695116043,
                    "z": -0.03202317655086517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001250916626304388,
                "transform": {
                    "location": {
                        "x": -988.057373046875,
                        "y": 3043.349853515625,
                        "z": 360.7566223144531
                    },
                    "rotation": {
                        "roll": -0.0436401292681694,
                        "pitch": -3.806669235229492,
                        "yaw": 167.47950744628906
                    }
                },
                "velocity": {
                    "x": -0.0011252331314608455,
                    "y": 0.0003752844058908522,
                    "z": 0.00039724583621136844
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.297484874725342,
                "transform": {
                    "location": {
                        "x": -1017.4590454101562,
                        "y": 3049.49365234375,
                        "z": 359.01611328125
                    },
                    "rotation": {
                        "roll": -0.01214598212391138,
                        "pitch": -3.307833194732666,
                        "yaw": 168.49082946777344
                    }
                },
                "velocity": {
                    "x": -2.2432379722595215,
                    "y": 0.4776226282119751,
                    "z": -0.1348956674337387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.512881278991699,
                "transform": {
                    "location": {
                        "x": -1032.12060546875,
                        "y": 3052.78369140625,
                        "z": 358.0938720703125
                    },
                    "rotation": {
                        "roll": -0.03396601974964142,
                        "pitch": -3.300600051879883,
                        "yaw": 167.08677673339844
                    }
                },
                "velocity": {
                    "x": -5.3642802238464355,
                    "y": 1.231461524963379,
                    "z": -0.31600555777549744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03776361048221588,
        "expert_target_speed": 2.8042040927146874,
        "target_point": [
            48.49724468338057,
            -0.610846614408052
        ],
        "target_point_next": [
            70.42338210318381,
            -2.3715613512058926
        ]
    },
    "55": {
        "acceleration": [
            -2.0919132232666016,
            0.5015921592712402,
            -0.1360391080379486
        ],
        "angular_velocity": [
            0.14137399196624756,
            0.34169450402259827,
            -0.30965983867645264
        ],
        "forward_vector": [
            -0.9765039682388306,
            0.20763063430786133,
            -0.05770206078886986
        ],
        "right_vector": [
            -0.2079305350780487,
            -0.9781432151794434,
            -0.0008231913088820875
        ],
        "location": [
            -1000.6660766601562,
            3046.2041015625,
            359.9862365722656
        ],
        "rotation": [
            0.0472441092133522,
            -3.307921886444092,
            167.9961700439453
        ],
        "velocity": [
            -2.1220085620880127,
            0.4588705003261566,
            -0.12807300686836243
        ],
        "speed": 2.171055612747958,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.700294494628906,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1018.0069580078125,
                3049.6083984375,
                358.9837341308594
            ],
            "velocity": [
                -2.1396560668945312,
                0.45244237780570984,
                -0.12769711017608643
            ],
            "speed_kmh": 7.886497200498696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3724439144134521,
                "transform": {
                    "location": {
                        "x": -975.9620361328125,
                        "y": 3040.283447265625,
                        "z": 361.49346923828125
                    },
                    "rotation": {
                        "roll": -0.044342041015625,
                        "pitch": -4.087151050567627,
                        "yaw": 165.6531219482422
                    }
                },
                "velocity": {
                    "x": -1.326885461807251,
                    "y": 0.3414682447910309,
                    "z": -0.07985401898622513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4985408782958984,
                "transform": {
                    "location": {
                        "x": -988.2659912109375,
                        "y": 3043.395751953125,
                        "z": 360.74420166015625
                    },
                    "rotation": {
                        "roll": -0.04263309761881828,
                        "pitch": -3.319847345352173,
                        "yaw": 167.5405731201172
                    }
                },
                "velocity": {
                    "x": -1.4611390829086304,
                    "y": 0.32101938128471375,
                    "z": -0.08742936700582504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1906936168670654,
                "transform": {
                    "location": {
                        "x": -1018.0069580078125,
                        "y": 3049.6083984375,
                        "z": 358.9837341308594
                    },
                    "rotation": {
                        "roll": -0.00997923593968153,
                        "pitch": -3.3663337230682373,
                        "yaw": 168.37826538085938
                    }
                },
                "velocity": {
                    "x": -2.1396560668945312,
                    "y": 0.45244237780570984,
                    "z": -0.12769711017608643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.672911643981934,
                "transform": {
                    "location": {
                        "x": -1033.5968017578125,
                        "y": 3053.130615234375,
                        "z": 358.0061950683594
                    },
                    "rotation": {
                        "roll": -0.027099642902612686,
                        "pitch": -3.245972156524658,
                        "yaw": 166.76895141601562
                    }
                },
                "velocity": {
                    "x": -6.477413654327393,
                    "y": 1.5569223165512085,
                    "z": -0.3832222521305084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04163549467921257,
        "expert_target_speed": 3.210623859560361,
        "target_point": [
            48.01153282270118,
            -0.5856512498407174
        ],
        "target_point_next": [
            69.93857324091977,
            -2.335084596464876
        ]
    },
    "60": {
        "acceleration": [
            -3.0986452102661133,
            0.7004344463348389,
            -0.18839359283447266
        ],
        "angular_velocity": [
            0.05994044244289398,
            0.39207160472869873,
            -0.4377879202365875
        ],
        "forward_vector": [
            -0.9762538075447083,
            0.20927248895168304,
            -0.05597703903913498
        ],
        "right_vector": [
            -0.20954591035842896,
            -0.9777982234954834,
            -0.0010051853023469448
        ],
        "location": [
            -1001.2817993164062,
            3046.337646484375,
            359.94854736328125
        ],
        "rotation": [
            0.05768332630395889,
            -3.208925247192383,
            167.90101623535156
        ],
        "velocity": [
            -2.8027822971343994,
            0.6122985482215881,
            -0.16992244124412537
        ],
        "speed": 2.8688844726276876,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.70481300354004,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1018.6278686523438,
                3049.739013671875,
                358.946044921875
            ],
            "velocity": [
                -2.9676148891448975,
                0.6278747320175171,
                -0.17810389399528503
            ],
            "speed_kmh": 10.938720585672776,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.263681411743164,
                "transform": {
                    "location": {
                        "x": -976.4121704101562,
                        "y": 3040.3994140625,
                        "z": 361.46343994140625
                    },
                    "rotation": {
                        "roll": -0.031982503831386566,
                        "pitch": -3.3727405071258545,
                        "yaw": 165.6245574951172
                    }
                },
                "velocity": {
                    "x": -2.1885125637054443,
                    "y": 0.562896728515625,
                    "z": -0.1334700882434845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0164361000061035,
                "transform": {
                    "location": {
                        "x": -988.81787109375,
                        "y": 3043.517822265625,
                        "z": 360.7108154296875
                    },
                    "rotation": {
                        "roll": -0.03338620439171791,
                        "pitch": -3.14516544342041,
                        "yaw": 167.50498962402344
                    }
                },
                "velocity": {
                    "x": -2.94049072265625,
                    "y": 0.6487239599227905,
                    "z": -0.17764969170093536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0385334491729736,
                "transform": {
                    "location": {
                        "x": -1018.6278686523438,
                        "y": 3049.739013671875,
                        "z": 358.946044921875
                    },
                    "rotation": {
                        "roll": -0.013702359050512314,
                        "pitch": -3.31524395942688,
                        "yaw": 168.2869415283203
                    }
                },
                "velocity": {
                    "x": -2.9676148891448975,
                    "y": 0.6278747320175171,
                    "z": -0.17810389399528503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.871743679046631,
                "transform": {
                    "location": {
                        "x": -1035.370361328125,
                        "y": 3053.556396484375,
                        "z": 357.9022521972656
                    },
                    "rotation": {
                        "roll": -0.0162658654153347,
                        "pitch": -3.1946091651916504,
                        "yaw": 166.42391967773438
                    }
                },
                "velocity": {
                    "x": -7.636924743652344,
                    "y": 1.8569066524505615,
                    "z": -0.44003286957740784
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.056475404649972916,
        "expert_target_speed": 3.8975298932219453,
        "target_point": [
            47.38240251148859,
            -0.5043890572155831
        ],
        "target_point_next": [
            69.31231818788558,
            -2.2174030567467007
        ]
    },
    "65": {
        "acceleration": [
            -3.90352725982666,
            0.914618968963623,
            -0.23843914270401
        ],
        "angular_velocity": [
            0.19377084076404572,
            0.39649534225463867,
            -0.6275596618652344
        ],
        "forward_vector": [
            -0.9758729338645935,
            0.21147365868091583,
            -0.05432242900133133
        ],
        "right_vector": [
            -0.2117205113172531,
            -0.977329432964325,
            -0.001235457370057702
        ],
        "location": [
            -1002.0929565429688,
            3046.515625,
            359.8990783691406
        ],
        "rotation": [
            0.07089118659496307,
            -3.113978624343872,
            167.77294921875
        ],
        "velocity": [
            -3.6851582527160645,
            0.8146145343780518,
            -0.22362425923347473
        ],
        "speed": 3.7741208495729555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.822214126586914,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1019.5551147460938,
                3049.93408203125,
                358.8898620605469
            ],
            "velocity": [
                -4.371201515197754,
                0.9248549938201904,
                -0.2624601423740387
            ],
            "speed_kmh": 16.112421179023837,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.026845024898648262,
                "transform": {
                    "location": {
                        "x": -976.8345947265625,
                        "y": 3040.5068359375,
                        "z": 361.4393615722656
                    },
                    "rotation": {
                        "roll": -0.020202599465847015,
                        "pitch": -3.847745895385742,
                        "yaw": 165.4898681640625
                    }
                },
                "velocity": {
                    "x": -0.026336248964071274,
                    "y": 0.004805531352758408,
                    "z": -0.0019910228438675404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.618403911590576,
                "transform": {
                    "location": {
                        "x": -989.76123046875,
                        "y": 3043.725830078125,
                        "z": 360.65374755859375
                    },
                    "rotation": {
                        "roll": -0.03509519621729851,
                        "pitch": -3.0977776050567627,
                        "yaw": 167.5371856689453
                    }
                },
                "velocity": {
                    "x": -4.502272605895996,
                    "y": 0.9922446012496948,
                    "z": -0.2732227146625519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.475672721862793,
                "transform": {
                    "location": {
                        "x": -1019.5551147460938,
                        "y": 3049.93408203125,
                        "z": 358.8898620605469
                    },
                    "rotation": {
                        "roll": -0.017608653753995895,
                        "pitch": -3.244688034057617,
                        "yaw": 168.1942901611328
                    }
                },
                "velocity": {
                    "x": -4.371201515197754,
                    "y": 0.9248549938201904,
                    "z": -0.2624601423740387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.847095489501953,
                "transform": {
                    "location": {
                        "x": -1037.3056640625,
                        "y": 3054.027099609375,
                        "z": 357.7909240722656
                    },
                    "rotation": {
                        "roll": -0.01266480889171362,
                        "pitch": -3.165792465209961,
                        "yaw": 166.19532775878906
                    }
                },
                "velocity": {
                    "x": -7.604893684387207,
                    "y": 1.885539174079895,
                    "z": -0.4327146112918854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08258334547281265,
        "expert_target_speed": 4.795107260291492,
        "target_point": [
            46.5529612958752,
            -0.39631892305967575
        ],
        "target_point_next": [
            68.48665146952415,
            -2.0603062736270807
        ]
    },
    "70": {
        "acceleration": [
            -3.860349655151367,
            0.9310030937194824,
            -0.23760735988616943
        ],
        "angular_velocity": [
            0.15505443513393402,
            0.16396647691726685,
            -0.847475528717041
        ],
        "forward_vector": [
            -0.9752331972122192,
            0.21476700901985168,
            -0.05287100374698639
        ],
        "right_vector": [
            -0.21497778594493866,
            -0.9766173958778381,
            -0.0017346706008538604
        ],
        "location": [
            -1003.1448974609375,
            3046.74951171875,
            359.83514404296875
        ],
        "rotation": [
            0.09952856600284576,
            -3.030698299407959,
            167.5804901123047
        ],
        "velocity": [
            -4.672593593597412,
            1.0496152639389038,
            -0.28304240107536316
        ],
        "speed": 4.789031540219913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.011842727661133,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1020.7946166992188,
                3050.195556640625,
                358.8160095214844
            ],
            "velocity": [
                -5.167895793914795,
                1.0946736335754395,
                -0.31131353974342346
            ],
            "speed_kmh": 19.050216784436405,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9271401762962341,
                "transform": {
                    "location": {
                        "x": -976.9503784179688,
                        "y": 3040.536865234375,
                        "z": 361.4313049316406
                    },
                    "rotation": {
                        "roll": -0.014465312473475933,
                        "pitch": -3.602719783782959,
                        "yaw": 165.51052856445312
                    }
                },
                "velocity": {
                    "x": -0.8964443206787109,
                    "y": 0.23018088936805725,
                    "z": -0.05471011996269226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.540220260620117,
                "transform": {
                    "location": {
                        "x": -990.8524169921875,
                        "y": 3043.966064453125,
                        "z": 360.58734130859375
                    },
                    "rotation": {
                        "roll": -0.02975463680922985,
                        "pitch": -3.659116506576538,
                        "yaw": 167.5562286376953
                    }
                },
                "velocity": {
                    "x": -2.476365089416504,
                    "y": 0.5451946258544922,
                    "z": -0.1519792377948761
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.291727066040039,
                "transform": {
                    "location": {
                        "x": -1020.7946166992188,
                        "y": 3050.195556640625,
                        "z": 358.8160095214844
                    },
                    "rotation": {
                        "roll": -0.01513672061264515,
                        "pitch": -3.265684127807617,
                        "yaw": 168.09228515625
                    }
                },
                "velocity": {
                    "x": -5.167895793914795,
                    "y": 1.0946736335754395,
                    "z": -0.31131353974342346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.820842742919922,
                "transform": {
                    "location": {
                        "x": -1039.1883544921875,
                        "y": 3054.4970703125,
                        "z": 357.6840515136719
                    },
                    "rotation": {
                        "roll": -0.004882792476564646,
                        "pitch": -3.1259384155273438,
                        "yaw": 165.82601928710938
                    }
                },
                "velocity": {
                    "x": -7.568634986877441,
                    "y": 1.9240975379943848,
                    "z": -0.42330917716026306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13052089512348175,
        "expert_target_speed": 5.7931420022552755,
        "target_point": [
            45.476403789377066,
            -0.23777736490924362
        ],
        "target_point_next": [
            67.41555929558417,
            -1.828083691041174
        ]
    },
    "75": {
        "acceleration": [
            0.5474281311035156,
            -0.09844303131103516,
            0.014164447784423828
        ],
        "angular_velocity": [
            -0.18592657148838043,
            -1.1826505661010742,
            -0.8030577301979065
        ],
        "forward_vector": [
            -0.9743384122848511,
            0.21837052702903748,
            -0.05457989498972893
        ],
        "right_vector": [
            -0.21858228743076324,
            -0.9758162498474121,
            -0.002132390858605504
        ],
        "location": [
            -1004.4013061523438,
            3047.033447265625,
            359.75970458984375
        ],
        "rotation": [
            0.12235948443412781,
            -3.1287524700164795,
            167.36752319335938
        ],
        "velocity": [
            -5.098601341247559,
            1.1617830991744995,
            -0.3097997307777405
        ],
        "speed": 5.229290162775337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.115575790405273,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1022.15576171875,
                3050.4833984375,
                358.7344055175781
            ],
            "velocity": [
                -5.697669506072998,
                1.2087676525115967,
                -0.34180015325546265
            ],
            "speed_kmh": 21.004198189960388,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8401679992675781,
                "transform": {
                    "location": {
                        "x": -977.2925415039062,
                        "y": 3040.625,
                        "z": 361.4090576171875
                    },
                    "rotation": {
                        "roll": -0.01174930203706026,
                        "pitch": -3.237058639526367,
                        "yaw": 165.5007781982422
                    }
                },
                "velocity": {
                    "x": -1.7787377834320068,
                    "y": 0.45870155096054077,
                    "z": -0.10910055041313171
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0156077146530151,
                "transform": {
                    "location": {
                        "x": -991.02099609375,
                        "y": 3044.00341796875,
                        "z": 360.5770263671875
                    },
                    "rotation": {
                        "roll": -0.027069097384810448,
                        "pitch": -3.752929210662842,
                        "yaw": 167.56056213378906
                    }
                },
                "velocity": {
                    "x": -0.9904080033302307,
                    "y": 0.21682508289813995,
                    "z": -0.05948049575090408
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.834499835968018,
                "transform": {
                    "location": {
                        "x": -1022.15576171875,
                        "y": 3050.4833984375,
                        "z": 358.7344055175781
                    },
                    "rotation": {
                        "roll": -0.024078385904431343,
                        "pitch": -3.3114256858825684,
                        "yaw": 168.02882385253906
                    }
                },
                "velocity": {
                    "x": -5.697669506072998,
                    "y": 1.2087676525115967,
                    "z": -0.34180015325546265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.193868637084961,
                "transform": {
                    "location": {
                        "x": -1041.1390380859375,
                        "y": 3054.993896484375,
                        "z": 357.57513427734375
                    },
                    "rotation": {
                        "roll": -0.007110540755093098,
                        "pitch": -3.0671987533569336,
                        "yaw": 165.535400390625
                    }
                },
                "velocity": {
                    "x": -7.923396587371826,
                    "y": 2.040847063064575,
                    "z": -0.4407006800174713
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16999219357967377,
        "expert_target_speed": 6.22859320683132,
        "target_point": [
            44.18888302366881,
            -0.06645156153166454
        ],
        "target_point_next": [
            66.13379804638737,
            -1.5752004412771559
        ]
    },
    "80": {
        "acceleration": [
            -9.648914337158203,
            2.056729793548584,
            -0.5846422910690308
        ],
        "angular_velocity": [
            0.300456166267395,
            2.114727020263672,
            0.21327461302280426
        ],
        "forward_vector": [
            -0.9739221930503845,
            0.2197704166173935,
            -0.0563608780503273
        ],
        "right_vector": [
            -0.22002623975276947,
            -0.975492537021637,
            -0.0017025655834004283
        ],
        "location": [
            -1005.7072143554688,
            3047.3291015625,
            359.6809997558594
        ],
        "rotation": [
            0.09770517796278,
            -3.230952501296997,
            167.28390502929688
        ],
        "velocity": [
            -5.704047203063965,
            1.2818686962127686,
            -0.34483131766319275
        ],
        "speed": 5.846310105452162,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.53385353088379,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1023.8717041015625,
                3050.857666015625,
                358.6301574707031
            ],
            "velocity": [
                -8.024206161499023,
                1.7903944253921509,
                -0.48346540331840515
            ],
            "speed_kmh": 29.648603277376886,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1311991214752197,
                "transform": {
                    "location": {
                        "x": -977.8218383789062,
                        "y": 3040.761474609375,
                        "z": 361.3765869140625
                    },
                    "rotation": {
                        "roll": -0.007446293253451586,
                        "pitch": -3.232325315475464,
                        "yaw": 165.5086212158203
                    }
                },
                "velocity": {
                    "x": -2.06015944480896,
                    "y": 0.5309731364250183,
                    "z": -0.12578029930591583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.660947799682617,
                "transform": {
                    "location": {
                        "x": -991.4816284179688,
                        "y": 3044.10498046875,
                        "z": 360.5492858886719
                    },
                    "rotation": {
                        "roll": -0.019744880497455597,
                        "pitch": -3.2294294834136963,
                        "yaw": 167.54568481445312
                    }
                },
                "velocity": {
                    "x": -2.5940730571746826,
                    "y": 0.5714408159255981,
                    "z": -0.15774530172348022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.235723495483398,
                "transform": {
                    "location": {
                        "x": -1023.8717041015625,
                        "y": 3050.857666015625,
                        "z": 358.6301574707031
                    },
                    "rotation": {
                        "roll": -0.0020751855336129665,
                        "pitch": -3.160888433456421,
                        "yaw": 167.68820190429688
                    }
                },
                "velocity": {
                    "x": -8.024206161499023,
                    "y": 1.7903944253921509,
                    "z": -0.48346540331840515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.924741268157959,
                "transform": {
                    "location": {
                        "x": -1043.088623046875,
                        "y": 3055.4990234375,
                        "z": 357.4681091308594
                    },
                    "rotation": {
                        "roll": -0.004272436257451773,
                        "pitch": -3.029113531112671,
                        "yaw": 165.3041229248047
                    }
                },
                "velocity": {
                    "x": -7.651793479919434,
                    "y": 2.019529104232788,
                    "z": -0.41603124141693115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21214553713798523,
        "expert_target_speed": 6.871754794849203,
        "target_point": [
            42.84997558927924,
            -0.0010068466533024178
        ],
        "target_point_next": [
            64.7970694028544,
            -1.4777233646767005
        ]
    },
    "85": {
        "acceleration": [
            -4.552783966064453,
            0.8873391151428223,
            -0.28739452362060547
        ],
        "angular_velocity": [
            0.09509304910898209,
            0.3900953531265259,
            0.5791923999786377
        ],
        "forward_vector": [
            -0.9746984839439392,
            0.21753692626953125,
            -0.051386479288339615
        ],
        "right_vector": [
            -0.21776309609413147,
            -0.9760008454322815,
            -0.0012234877794981003
        ],
        "location": [
            -1007.3182373046875,
            3047.68798828125,
            359.5826416015625
        ],
        "rotation": [
            0.07019343972206116,
            -2.945525646209717,
            167.418701171875
        ],
        "velocity": [
            -7.036744117736816,
            1.5545932054519653,
            -0.425464004278183
        ],
        "speed": 7.206422677927038,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.983314514160156,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1025.9210205078125,
                3051.31396484375,
                358.5079345703125
            ],
            "velocity": [
                -8.081958770751953,
                1.8121927976608276,
                -0.48769262433052063
            ],
            "speed_kmh": 29.869142596900154,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5889354944229126,
                "transform": {
                    "location": {
                        "x": -977.951904296875,
                        "y": 3040.795166015625,
                        "z": 361.3707275390625
                    },
                    "rotation": {
                        "roll": -0.008117666468024254,
                        "pitch": -3.8074615001678467,
                        "yaw": 165.51878356933594
                    }
                },
                "velocity": {
                    "x": -0.5698549747467041,
                    "y": 0.14456936717033386,
                    "z": -0.03478528931736946
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.3127617835998535,
                "transform": {
                    "location": {
                        "x": -992.3442993164062,
                        "y": 3044.294921875,
                        "z": 360.4969482421875
                    },
                    "rotation": {
                        "roll": -0.00906373094767332,
                        "pitch": -3.11089825630188,
                        "yaw": 167.5615692138672
                    }
                },
                "velocity": {
                    "x": -4.2046895027160645,
                    "y": 0.9247793555259705,
                    "z": -0.2555038332939148
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.29698371887207,
                "transform": {
                    "location": {
                        "x": -1025.9210205078125,
                        "y": 3051.31396484375,
                        "z": 358.5079345703125
                    },
                    "rotation": {
                        "roll": -0.00744629418477416,
                        "pitch": -3.318631649017334,
                        "yaw": 167.42926025390625
                    }
                },
                "velocity": {
                    "x": -8.081958770751953,
                    "y": 1.8121927976608276,
                    "z": -0.48769262433052063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.000144958496094,
                "transform": {
                    "location": {
                        "x": -1045.0018310546875,
                        "y": 3056.005859375,
                        "z": 357.3644714355469
                    },
                    "rotation": {
                        "roll": 0.0007705747266300023,
                        "pitch": -2.9645068645477295,
                        "yaw": 164.9971466064453
                    }
                },
                "velocity": {
                    "x": -7.716291904449463,
                    "y": 2.0715439319610596,
                    "z": -0.4121584892272949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21559689939022064,
        "expert_target_speed": 8.196389663097369,
        "target_point": [
            41.19934131440647,
            -0.10247094335240625
        ],
        "target_point_next": [
            63.14290009729573,
            -1.6308185734274065
        ]
    },
    "90": {
        "acceleration": [
            -4.508256912231445,
            0.8186745643615723,
            -0.26636362075805664
        ],
        "angular_velocity": [
            -0.14299005270004272,
            -0.03185531869530678,
            1.0601762533187866
        ],
        "forward_vector": [
            -0.975628674030304,
            0.21341218054294586,
            -0.05102944001555443
        ],
        "right_vector": [
            -0.2136579304933548,
            -0.9769083261489868,
            -0.0006531463586725295
        ],
        "location": [
            -1009.2249145507812,
            3048.105224609375,
            359.4674987792969
        ],
        "rotation": [
            0.03747135028243065,
            -2.925041913986206,
            167.66128540039062
        ],
        "velocity": [
            -8.15123462677002,
            1.7632752656936646,
            -0.4915647804737091
        ],
        "speed": 8.33977011693138,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.02597999572754,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1027.8668212890625,
                3051.75341796875,
                358.3914489746094
            ],
            "velocity": [
                -7.593650817871094,
                1.766178846359253,
                -0.45932990312576294
            ],
            "speed_kmh": 28.115493972114173,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.453661322593689,
                "transform": {
                    "location": {
                        "x": -978.2186279296875,
                        "y": 3040.864013671875,
                        "z": 361.3526916503906
                    },
                    "rotation": {
                        "roll": -0.008087125606834888,
                        "pitch": -3.3333096504211426,
                        "yaw": 165.522705078125
                    }
                },
                "velocity": {
                    "x": -1.4053030014038086,
                    "y": 0.36194854974746704,
                    "z": -0.08513443171977997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.572172164916992,
                "transform": {
                    "location": {
                        "x": -993.5796508789062,
                        "y": 3044.56396484375,
                        "z": 360.42230224609375
                    },
                    "rotation": {
                        "roll": -0.02975458651781082,
                        "pitch": -3.1318600177764893,
                        "yaw": 167.68505859375
                    }
                },
                "velocity": {
                    "x": -5.438986778259277,
                    "y": 1.1652065515518188,
                    "z": -0.3298748731613159
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.809859275817871,
                "transform": {
                    "location": {
                        "x": -1027.8668212890625,
                        "y": 3051.75341796875,
                        "z": 358.3914489746094
                    },
                    "rotation": {
                        "roll": 0.007599820848554373,
                        "pitch": -3.4031004905700684,
                        "yaw": 167.21876525878906
                    }
                },
                "velocity": {
                    "x": -7.593650817871094,
                    "y": 1.766178846359253,
                    "z": -0.45932990312576294
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.051194190979004,
                "transform": {
                    "location": {
                        "x": -1046.9442138671875,
                        "y": 3056.528076171875,
                        "z": 357.2611389160156
                    },
                    "rotation": {
                        "roll": -0.0003662061644718051,
                        "pitch": -2.905876398086548,
                        "yaw": 164.80575561523438
                    }
                },
                "velocity": {
                    "x": -7.7614593505859375,
                    "y": 2.1015727519989014,
                    "z": -0.4060300588607788
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2157328575849533,
        "expert_target_speed": 9.240503096505057,
        "target_point": [
            39.246743079279845,
            -0.2767397789067054
        ],
        "target_point_next": [
            61.18363443357448,
            -1.8979788872264898
        ]
    },
    "95": {
        "acceleration": [
            -1.4487838745117188,
            0.19175291061401367,
            -0.0822305679321289
        ],
        "angular_velocity": [
            -0.29949477314949036,
            -0.6563679575920105,
            1.0587807893753052
        ],
        "forward_vector": [
            -0.9766300320625305,
            0.2086576670408249,
            -0.05153433978557587
        ],
        "right_vector": [
            -0.20893271267414093,
            -0.9779300093650818,
            -5.121947833686136e-05
        ],
        "location": [
            -1011.3938598632812,
            3048.56982421875,
            359.3370361328125
        ],
        "rotation": [
            0.002938564633950591,
            -2.9540088176727295,
            167.94003295898438
        ],
        "velocity": [
            -9.05828857421875,
            1.91936194896698,
            -0.54433673620224
        ],
        "speed": 9.259402906503436,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.79484748840332,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1029.8033447265625,
                3052.2041015625,
                358.2744140625
            ],
            "velocity": [
                -7.9352641105651855,
                1.8684589862823486,
                -0.4765682816505432
            ],
            "speed_kmh": 29.398287019507507,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.564763069152832,
                "transform": {
                    "location": {
                        "x": -978.7031860351562,
                        "y": 3040.987060546875,
                        "z": 361.32220458984375
                    },
                    "rotation": {
                        "roll": -0.027404772117733955,
                        "pitch": -3.1029889583587646,
                        "yaw": 165.59991455078125
                    }
                },
                "velocity": {
                    "x": -2.4832260608673096,
                    "y": 0.6235126852989197,
                    "z": -0.15109531581401825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.887673377990723,
                "transform": {
                    "location": {
                        "x": -994.978515625,
                        "y": 3044.86279296875,
                        "z": 360.3373107910156
                    },
                    "rotation": {
                        "roll": -0.026214586570858955,
                        "pitch": -3.2936742305755615,
                        "yaw": 167.883056640625
                    }
                },
                "velocity": {
                    "x": -5.7486162185668945,
                    "y": 1.2230366468429565,
                    "z": -0.3496943712234497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.166191101074219,
                "transform": {
                    "location": {
                        "x": -1029.8033447265625,
                        "y": 3052.2041015625,
                        "z": 358.2744140625
                    },
                    "rotation": {
                        "roll": 0.003908791113644838,
                        "pitch": -3.354886293411255,
                        "yaw": 166.8701934814453
                    }
                },
                "velocity": {
                    "x": -7.9352641105651855,
                    "y": 1.8684589862823486,
                    "z": -0.4765682816505432
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.981801986694336,
                "transform": {
                    "location": {
                        "x": -1048.873291015625,
                        "y": 3057.056396484375,
                        "z": 357.1604309082031
                    },
                    "rotation": {
                        "roll": 0.004183247685432434,
                        "pitch": -2.8570475578308105,
                        "yaw": 164.5321502685547
                    }
                },
                "velocity": {
                    "x": -7.680501937866211,
                    "y": 2.1362740993499756,
                    "z": -0.3941865861415863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21293850243091583,
        "expert_target_speed": 10.084513577332617,
        "target_point": [
            37.02678542766346,
            -0.466499941823578
        ],
        "target_point_next": [
            58.95552958875109,
            -2.194446137177371
        ]
    },
    "100": {
        "acceleration": [
            -5.222454071044922,
            1.1249017715454102,
            -0.3026771545410156
        ],
        "angular_velocity": [
            0.10455762594938278,
            0.5206292867660522,
            0.24152839183807373
        ],
        "forward_vector": [
            -0.977316677570343,
            0.20562736690044403,
            -0.05069013312458992
        ],
        "right_vector": [
            -0.20589280128479004,
            -0.9785745143890381,
            1.4894175365043338e-05
        ],
        "location": [
            -1013.7902221679688,
            3049.075439453125,
            359.19268798828125
        ],
        "rotation": [
            -0.0008544718730263412,
            -2.90557599067688,
            168.11827087402344
        ],
        "velocity": [
            -10.296307563781738,
            2.164139747619629,
            -0.6183469891548157
        ],
        "speed": 10.521285581867655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.38229751586914,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1031.78759765625,
                3052.6708984375,
                358.1553955078125
            ],
            "velocity": [
                -7.841763973236084,
                1.8528082370758057,
                -0.46711423993110657
            ],
            "speed_kmh": 29.05633936851847,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.0478129386901855,
                "transform": {
                    "location": {
                        "x": -979.5089721679688,
                        "y": 3041.189697265625,
                        "z": 361.2722473144531
                    },
                    "rotation": {
                        "roll": -0.02859496884047985,
                        "pitch": -2.9083285331726074,
                        "yaw": 165.7332000732422
                    }
                },
                "velocity": {
                    "x": -3.9196174144744873,
                    "y": 0.9817559123039246,
                    "z": -0.23988230526447296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.2539644241333,
                "transform": {
                    "location": {
                        "x": -996.7095336914062,
                        "y": 3045.22998046875,
                        "z": 360.2325744628906
                    },
                    "rotation": {
                        "roll": -0.006378178484737873,
                        "pitch": -3.0261220932006836,
                        "yaw": 168.00405883789062
                    }
                },
                "velocity": {
                    "x": -8.061107635498047,
                    "y": 1.7055658102035522,
                    "z": -0.4873510003089905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071205139160156,
                "transform": {
                    "location": {
                        "x": -1031.78759765625,
                        "y": 3052.6708984375,
                        "z": 358.1553955078125
                    },
                    "rotation": {
                        "roll": -0.012512197718024254,
                        "pitch": -3.343869209289551,
                        "yaw": 166.73831176757812
                    }
                },
                "velocity": {
                    "x": -7.841763973236084,
                    "y": 1.8528082370758057,
                    "z": -0.46711423993110657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.002902030944824,
                "transform": {
                    "location": {
                        "x": -1050.7940673828125,
                        "y": 3057.591552734375,
                        "z": 357.06182861328125
                    },
                    "rotation": {
                        "roll": 0.0004234716179780662,
                        "pitch": -2.803553342819214,
                        "yaw": 164.28164672851562
                    }
                },
                "velocity": {
                    "x": -7.694973468780518,
                    "y": 2.163602352142334,
                    "z": -0.3907044231891632
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19520996510982513,
        "expert_target_speed": 11.172328512294655,
        "target_point": [
            34.57603333236356,
            -0.5802916914701628
        ],
        "target_point_next": [
            56.49929595032586,
            -2.376447230483693
        ]
    },
    "105": {
        "acceleration": [
            -2.9224777221679688,
            0.742039680480957,
            -0.17423748970031738
        ],
        "angular_velocity": [
            0.06409046053886414,
            -0.4475491940975189,
            -0.5338116884231567
        ],
        "forward_vector": [
            -0.9770606160163879,
            0.20665502548217773,
            -0.05144171789288521
        ],
        "right_vector": [
            -0.20691147446632385,
            -0.978359580039978,
            -0.00034728689934127033
        ],
        "location": [
            -1016.4813232421875,
            3049.643310546875,
            359.03118896484375
        ],
        "rotation": [
            0.019924454391002655,
            -2.948694944381714,
            168.05755615234375
        ],
        "velocity": [
            -11.151007652282715,
            2.365856409072876,
            -0.6697128415107727
        ],
        "speed": 11.399221386113126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.625558853149414,
        "front_vehicle_info": {
            "id": 4537,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1033.7286376953125,
                3053.137451171875,
                358.0404968261719
            ],
            "velocity": [
                -7.749277114868164,
                1.9043694734573364,
                -0.4584394693374634
            ],
            "speed_kmh": 28.77480825155689,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1040.4722900390625,
                        "y": 3074.650146484375,
                        "z": 356.6406555175781
                    },
                    "rotation": {
                        "roll": -4.1690573215902305e-10,
                        "pitch": -0.616028368473053,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1311.6011962890625,
                        "y": 3080.990966796875,
                        "z": 346.2933044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.5789483785629272,
                        "yaw": 177.47254943847656
                    }
                },
                "velocity": {
                    "x": 3.4129721271369817e-10,
                    "y": -1.5065110617329402e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1263.8331298828125,
                        "y": 3079.639892578125,
                        "z": 348.05780029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.604426145553589,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 1.4503873657645272e-09,
                    "y": -3.2400193639148256e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1235.840087890625,
                        "y": 3079.0146484375,
                        "z": 349.4162902832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8959386348724365,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 1.773803437465915e-09,
                    "y": -3.962498384968427e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1205.84765625,
                        "y": 3078.34423828125,
                        "z": 351.00714111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 2.466118198540812e-09,
                    "y": -5.509059874952982e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1157.859619140625,
                        "y": 3077.2724609375,
                        "z": 353.23980712890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 8.877267254625565e-10,
                    "y": -1.983091815760396e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1116.5272216796875,
                        "y": 3076.349365234375,
                        "z": 354.7469177246094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 8.877267254625565e-10,
                    "y": -1.983091815760396e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1092.533203125,
                        "y": 3075.81298828125,
                        "z": 355.56756591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.720210313796997,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 4.0534547940396237e-10,
                    "y": -9.055009346503606e-12,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1062.52978515625,
                        "y": 3075.14306640625,
                        "z": 356.2969970703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.399753093719482,
                "transform": {
                    "location": {
                        "x": -980.6638793945312,
                        "y": 3041.479248046875,
                        "z": 361.2016296386719
                    },
                    "rotation": {
                        "roll": -0.018920907750725746,
                        "pitch": -2.8549506664276123,
                        "yaw": 165.8593292236328
                    }
                },
                "velocity": {
                    "x": -5.229527473449707,
                    "y": 1.3070015907287598,
                    "z": -0.31800001859664917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.722651481628418,
                "transform": {
                    "location": {
                        "x": -998.929443359375,
                        "y": 3045.69580078125,
                        "z": 360.098388671875
                    },
                    "rotation": {
                        "roll": -0.03076173923909664,
                        "pitch": -3.073421001434326,
                        "yaw": 168.19039916992188
                    }
                },
                "velocity": {
                    "x": -9.504786491394043,
                    "y": 1.9646832942962646,
                    "z": -0.5736002326011658
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4537,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993002414703369,
                "transform": {
                    "location": {
                        "x": -1033.7286376953125,
                        "y": 3053.137451171875,
                        "z": 358.0404968261719
                    },
                    "rotation": {
                        "roll": 0.00399959459900856,
                        "pitch": -3.299220323562622,
                        "yaw": 166.42404174804688
                    }
                },
                "velocity": {
                    "x": -7.749277114868164,
                    "y": 1.9043694734573364,
                    "z": -0.4584394693374634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4536,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.037368774414062,
                "transform": {
                    "location": {
                        "x": -1052.72412109375,
                        "y": 3058.13720703125,
                        "z": 356.9647521972656
                    },
                    "rotation": {
                        "roll": 0.0009327302686870098,
                        "pitch": -2.753085136413574,
                        "yaw": 164.06320190429688
                    }
                },
                "velocity": {
                    "x": -7.715962886810303,
                    "y": 2.2167539596557617,
                    "z": -0.3862874507904053
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17981112003326416,
        "expert_target_speed": 11.84987236199989,
        "target_point": [
            31.82626498249902,
            -0.5449413176985178
        ],
        "target_point_next": [
            53.75141837905479,
            -2.3178674509515176
        ]
    },
    "110": {
        "acceleration": [
            -3.0426597595214844,
            0.8768177032470703,
            -0.19326090812683105
        ],
        "angular_velocity": [
            0.03675359860062599,
            -0.20434759557247162,
            -1.0215405225753784
        ],
        "forward_vector": [
            -0.9762147665023804,
            0.21023467183113098,
            -0.05297313630580902
        ],
        "right_vector": [
            -0.21048666536808014,
            -0.9775963425636292,
            -0.0008394652395509183
        ],
        "location": [
            -1019.3667602539062,
            3050.260986328125,
            358.8580627441406
        ],
        "rotation": [
            0.0481654517352581,
            -3.0365583896636963,
            167.84657287597656
        ],
        "velocity": [
            -11.899802207946777,
            2.5735409259796143,
            -0.7157558798789978
        ],
        "speed": 12.174908849184334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.14649847149848938,
                "transform": {
                    "location": {
                        "x": -1040.471923828125,
                        "y": 3074.650146484375,
                        "z": 356.4285888671875
                    },
                    "rotation": {
                        "roll": -0.0005493159987963736,
                        "pitch": -0.5498028993606567,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.0014332460705190897,
                    "y": -0.00018261367222294211,
                    "z": -0.14649134874343872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.148681640625,
                        "y": 3081.107421875,
                        "z": 346.06048583984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.98828125,
                        "y": 3079.732666015625,
                        "z": 347.70233154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.311767578125,
                        "y": 3079.069580078125,
                        "z": 349.1151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.2501220703125,
                        "y": 3078.397705078125,
                        "z": 350.6980285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.01220703125,
                        "y": 3077.365234375,
                        "z": 352.9217834472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.6781005859375,
                        "y": 3076.44189453125,
                        "z": 354.45928955078125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.6927490234375,
                        "y": 3075.90576171875,
                        "z": 355.2635192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.22562232613563538,
                "transform": {
                    "location": {
                        "x": -1062.52783203125,
                        "y": 3075.14306640625,
                        "z": 356.1031494140625
                    },
                    "rotation": {
                        "roll": 3.5312248655827716e-05,
                        "pitch": -1.1029388904571533,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": 0.0040303245186805725,
                    "y": -0.0002249896788271144,
                    "z": -0.22558622062206268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.849115371704102,
                "transform": {
                    "location": {
                        "x": -981.9828491210938,
                        "y": 3041.80908203125,
                        "z": 361.1219787597656
                    },
                    "rotation": {
                        "roll": -0.004791255574673414,
                        "pitch": -3.127345323562622,
                        "yaw": 165.93115234375
                    }
                },
                "velocity": {
                    "x": -5.665124893188477,
                    "y": 1.4136818647384644,
                    "z": -0.34643322229385376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.94935417175293,
                "transform": {
                    "location": {
                        "x": -1001.338623046875,
                        "y": 3046.189208984375,
                        "z": 359.9527893066406
                    },
                    "rotation": {
                        "roll": -0.01614377275109291,
                        "pitch": -3.2818236351013184,
                        "yaw": 168.47994995117188
                    }
                },
                "velocity": {
                    "x": -9.732890129089355,
                    "y": 1.9785548448562622,
                    "z": -0.5880579948425293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17690923810005188,
        "expert_target_speed": 20.0,
        "target_point": [
            28.877249836638107,
            -0.4313719532054412
        ],
        "target_point_next": [
            50.808783549559486,
            -2.123544383977599
        ]
    },
    "115": {
        "acceleration": [
            -2.22564697265625,
            0.7544517517089844,
            -0.1412975788116455
        ],
        "angular_velocity": [
            0.044806577265262604,
            -0.29596492648124695,
            -1.1948986053466797
        ],
        "forward_vector": [
            -0.975163459777832,
            0.2149086445569992,
            -0.05357726663351059
        ],
        "right_vector": [
            -0.2151508778333664,
            -0.9765799641609192,
            -0.001273052184842527
        ],
        "location": [
            -1022.432373046875,
            3050.9306640625,
            358.67376708984375
        ],
        "rotation": [
            0.07304545491933823,
            -3.0712218284606934,
            167.5717010498047
        ],
        "velocity": [
            -12.573203086853027,
            2.7810592651367188,
            -0.757226288318634
        ],
        "speed": 12.87710085770292,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 155.90188598632812,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1170.7611083984375,
                3098.56591796875,
                352.7689514160156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.8394775390625,
                        "y": 3095.06640625,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.7611083984375,
                        "y": 3098.56591796875,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.6829833984375,
                        "y": 3102.06494140625,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.6048583984375,
                        "y": 3105.56396484375,
                        "z": 352.7689514160156
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.13134765625,
                        "y": 3086.510009765625,
                        "z": 345.7106628417969
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1384.7646484375,
                        "y": 3089.990478515625,
                        "z": 345.7103576660156
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1383.990478515625,
                        "y": 3093.427978515625,
                        "z": 345.76239013671875
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.04545803368091583,
                "transform": {
                    "location": {
                        "x": -1040.471923828125,
                        "y": 3074.650146484375,
                        "z": 356.4342041015625
                    },
                    "rotation": {
                        "roll": 7.220732186397072e-06,
                        "pitch": -0.557582437992096,
                        "yaw": 178.72019958496094
                    }
                },
                "velocity": {
                    "x": -0.0004680099373217672,
                    "y": 7.224205910461023e-05,
                    "z": 0.04545556753873825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.391845703125,
                        "y": 3081.311767578125,
                        "z": 345.94244384765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.230712890625,
                        "y": 3079.827392578125,
                        "z": 347.50518798828125
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.5533447265625,
                        "y": 3079.16455078125,
                        "z": 348.89764404296875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.490966796875,
                        "y": 3078.49267578125,
                        "z": 350.4594421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.2554931640625,
                        "y": 3077.460205078125,
                        "z": 352.7351379394531
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.920654296875,
                        "y": 3076.536865234375,
                        "z": 354.2616271972656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.92333984375,
                        "y": 3076.00048828125,
                        "z": 355.1182861328125
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.034316789358854294,
                "transform": {
                    "location": {
                        "x": -1062.527587890625,
                        "y": 3075.14306640625,
                        "z": 356.09564208984375
                    },
                    "rotation": {
                        "roll": 0.0015262812376022339,
                        "pitch": -1.1073853969573975,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -0.0006999922916293144,
                    "y": 0.000289821473415941,
                    "z": 0.03430842608213425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.58203125,
                "transform": {
                    "location": {
                        "x": -983.642333984375,
                        "y": 3042.221923828125,
                        "z": 361.0196533203125
                    },
                    "rotation": {
                        "roll": -0.03286740556359291,
                        "pitch": -2.8418502807617188,
                        "yaw": 166.03298950195312
                    }
                },
                "velocity": {
                    "x": -7.3530731201171875,
                    "y": 1.793578863143921,
                    "z": -0.4500987231731415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.073747634887695,
                "transform": {
                    "location": {
                        "x": -1003.6658935546875,
                        "y": 3046.659912109375,
                        "z": 359.8124084472656
                    },
                    "rotation": {
                        "roll": -0.004241913557052612,
                        "pitch": -3.518728733062744,
                        "yaw": 168.61476135253906
                    }
                },
                "velocity": {
                    "x": -8.881244659423828,
                    "y": 1.7802925109863281,
                    "z": -0.5356795191764832
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16201072931289673,
        "expert_target_speed": 20.0,
        "target_point": [
            25.741086979758062,
            -0.2986178412340559
        ],
        "target_point_next": [
            47.68048640547832,
            -1.8855555763635596
        ]
    },
    "120": {
        "acceleration": [
            -0.5955886840820312,
            0.42412757873535156,
            -0.021020174026489258
        ],
        "angular_velocity": [
            -0.14211785793304443,
            -0.632850706577301,
            -1.2729724645614624
        ],
        "forward_vector": [
            -0.9738536477088928,
            0.22018030285835266,
            -0.0559445396065712
        ],
        "right_vector": [
            -0.22043895721435547,
            -0.9753995537757874,
            -0.0015814360231161118
        ],
        "location": [
            -1025.6170654296875,
            3051.64306640625,
            358.48236083984375
        ],
        "rotation": [
            0.0907517746090889,
            -3.2070605754852295,
            167.2600860595703
        ],
        "velocity": [
            -12.83469009399414,
            2.9096176624298096,
            -0.7733157873153687
        ],
        "speed": 13.160362637495778,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 150.67013549804688,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1168.6900634765625,
                3098.51953125,
                352.6340026855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04068303480744362,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.5135192871094
                    },
                    "rotation": {
                        "roll": 0.001605443423613906,
                        "pitch": -0.31082141399383545,
                        "yaw": 178.7201385498047
                    }
                },
                "velocity": {
                    "x": 0.0002036432852037251,
                    "y": 0.00011932088091270998,
                    "z": -0.0406823493540287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.056429095566272736,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.5023498535156
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.29156026244163513,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": 0.00025034300051629543,
                    "y": 0.00033385216374881566,
                    "z": -0.05642755329608917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.7684326171875,
                        "y": 3095.020263671875,
                        "z": 352.6340637207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.6900634765625,
                        "y": 3098.51953125,
                        "z": 352.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.6119384765625,
                        "y": 3102.018798828125,
                        "z": 352.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.5338134765625,
                        "y": 3105.517333984375,
                        "z": 352.6340026855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.3668212890625,
                        "y": 3086.64208984375,
                        "z": 345.6682434082031
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.000244140625,
                        "y": 3090.123291015625,
                        "z": 345.6677551269531
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1385.226806640625,
                        "y": 3093.55908203125,
                        "z": 345.661865234375
                    },
                    "rotation": {
                        "roll": -3.335308695895378e-09,
                        "pitch": 0.7094721794128418,
                        "yaw": 173.91842651367188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2559925317764282,
                "transform": {
                    "location": {
                        "x": -1040.6258544921875,
                        "y": 3074.654296875,
                        "z": 356.4385070800781
                    },
                    "rotation": {
                        "roll": 0.0011334377340972424,
                        "pitch": -0.49355626106262207,
                        "yaw": 178.75543212890625
                    }
                },
                "velocity": {
                    "x": -1.2553985118865967,
                    "y": 0.03861217945814133,
                    "z": -0.0009087466751225293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.63525390625,
                        "y": 3081.53076171875,
                        "z": 345.8537292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.4737548828125,
                        "y": 3079.92236328125,
                        "z": 347.3274841308594
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.794921875,
                        "y": 3079.25927734375,
                        "z": 348.68780517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1216.731201171875,
                        "y": 3078.58740234375,
                        "z": 350.228515625
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.4981689453125,
                        "y": 3077.554931640625,
                        "z": 352.5605773925781
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1129.163818359375,
                        "y": 3076.631591796875,
                        "z": 354.1011962890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.166748046875,
                        "y": 3076.09521484375,
                        "z": 354.9715881347656
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1936554908752441,
                "transform": {
                    "location": {
                        "x": -1062.655029296875,
                        "y": 3075.145751953125,
                        "z": 356.09771728515625
                    },
                    "rotation": {
                        "roll": 0.002773918444290757,
                        "pitch": -0.8086533546447754,
                        "yaw": 178.70079040527344
                    }
                },
                "velocity": {
                    "x": -1.1933369636535645,
                    "y": 0.02754071168601513,
                    "z": 0.0013810062082484365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.50344467163086,
                "transform": {
                    "location": {
                        "x": -985.6399536132812,
                        "y": 3042.704833984375,
                        "z": 360.898193359375
                    },
                    "rotation": {
                        "roll": -0.04870600998401642,
                        "pitch": -2.926168918609619,
                        "yaw": 166.42132568359375
                    }
                },
                "velocity": {
                    "x": -8.25525188446045,
                    "y": 1.9767447710037231,
                    "z": -0.5018556118011475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.31000280380249,
                "transform": {
                    "location": {
                        "x": -1005.6598510742188,
                        "y": 3047.057861328125,
                        "z": 359.6921691894531
                    },
                    "rotation": {
                        "roll": -0.0006714022601954639,
                        "pitch": -3.7052886486053467,
                        "yaw": 168.7243194580078
                    }
                },
                "velocity": {
                    "x": -7.157118320465088,
                    "y": 1.4238444566726685,
                    "z": -0.42949584126472473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15751251578330994,
        "expert_target_speed": 20.0,
        "target_point": [
            22.47893838542046,
            -0.16605463583070268
        ],
        "target_point_next": [
            44.426644323431624,
            -1.6336453809165974
        ]
    },
    "125": {
        "acceleration": [
            -0.22190093994140625,
            0.3592681884765625,
            0.015845298767089844
        ],
        "angular_velocity": [
            -0.12953464686870575,
            -0.28788015246391296,
            -1.2849045991897583
        ],
        "forward_vector": [
            -0.9725043773651123,
            0.22559058666229248,
            -0.057828567922115326
        ],
        "right_vector": [
            -0.22587242722511292,
            -0.9741554856300354,
            -0.0017009865259751678
        ],
        "location": [
            -1028.836181640625,
            3052.381103515625,
            358.28851318359375
        ],
        "rotation": [
            0.09762276709079742,
            -3.3151824474334717,
            166.94015502929688
        ],
        "velocity": [
            -12.915533065795898,
            3.003261089324951,
            -0.7794896364212036
        ],
        "speed": 13.260112048709109,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 145.38516235351562,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1166.6087646484375,
                3098.47265625,
                352.70916748046875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.31046321988105774,
                "transform": {
                    "location": {
                        "x": -1026.2763671875,
                        "y": 3077.834228515625,
                        "z": 356.5439758300781
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.28207314014434814,
                        "yaw": 178.71275329589844
                    }
                },
                "velocity": {
                    "x": -0.2938985228538513,
                    "y": 0.0025030814576894045,
                    "z": 0.10002406686544418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.29247182607650757,
                "transform": {
                    "location": {
                        "x": -1026.197021484375,
                        "y": 3081.3330078125,
                        "z": 356.5333251953125
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.2840333878993988,
                        "yaw": 178.72491455078125
                    }
                },
                "velocity": {
                    "x": -0.27302855253219604,
                    "y": 0.0009754386264830828,
                    "z": 0.1048533245921135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.6871337890625,
                        "y": 3094.973388671875,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.6087646484375,
                        "y": 3098.47265625,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.5306396484375,
                        "y": 3101.971923828125,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.4525146484375,
                        "y": 3105.470458984375,
                        "z": 352.70916748046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.1949462890625,
                        "y": 3086.7314453125,
                        "z": 345.6771545410156
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.828369140625,
                        "y": 3090.21337890625,
                        "z": 345.6767883300781
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1386.054931640625,
                        "y": 3093.6494140625,
                        "z": 345.67108154296875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.016439437866211,
                "transform": {
                    "location": {
                        "x": -1041.0057373046875,
                        "y": 3074.664306640625,
                        "z": 356.4358825683594
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.5119636058807373,
                        "yaw": 178.81033325195312
                    }
                },
                "velocity": {
                    "x": -2.015949249267578,
                    "y": 0.04004957526922226,
                    "z": -0.01930585317313671
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1326.8780517578125,
                        "y": 3081.763916015625,
                        "z": 345.779052734375
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.7161865234375,
                        "y": 3080.01708984375,
                        "z": 347.15814208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1251.03564453125,
                        "y": 3079.354248046875,
                        "z": 348.48101806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1220.970947265625,
                        "y": 3078.682373046875,
                        "z": 350.0016784667969
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1174.739990234375,
                        "y": 3077.649658203125,
                        "z": 352.3795166015625
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.4071044921875,
                        "y": 3076.72607421875,
                        "z": 353.9460754394531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.41015625,
                        "y": 3076.190185546875,
                        "z": 354.8207702636719
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.083941698074341,
                "transform": {
                    "location": {
                        "x": -1063.0679931640625,
                        "y": 3075.155029296875,
                        "z": 356.0933532714844
                    },
                    "rotation": {
                        "roll": 0.0029062870889902115,
                        "pitch": -0.7217323780059814,
                        "yaw": 178.68258666992188
                    }
                },
                "velocity": {
                    "x": -2.083167791366577,
                    "y": 0.047303326427936554,
                    "z": -0.03142431750893593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9385085105896,
                "transform": {
                    "location": {
                        "x": -987.6328125,
                        "y": 3043.181396484375,
                        "z": 360.7787170410156
                    },
                    "rotation": {
                        "roll": -0.028198260813951492,
                        "pitch": -3.3891875743865967,
                        "yaw": 166.57740783691406
                    }
                },
                "velocity": {
                    "x": -7.7092719078063965,
                    "y": 1.8351011276245117,
                    "z": -0.4684520661830902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.120534896850586,
                "transform": {
                    "location": {
                        "x": -1007.3029174804688,
                        "y": 3047.38427734375,
                        "z": 359.5934753417969
                    },
                    "rotation": {
                        "roll": 0.004904934670776129,
                        "pitch": -3.6465420722961426,
                        "yaw": 168.76536560058594
                    }
                },
                "velocity": {
                    "x": -5.993046283721924,
                    "y": 1.189420223236084,
                    "z": -0.3600336015224457
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1544603407382965,
        "expert_target_speed": 20.0,
        "target_point": [
            19.176889508114833,
            -0.049005665860700987
        ],
        "target_point_next": [
            41.13244793621978,
            -1.3940233782133404
        ]
    },
    "130": {
        "acceleration": [
            -0.32318115234375,
            0.6718158721923828,
            0.0694894790649414
        ],
        "angular_velocity": [
            0.32914289832115173,
            0.19820262491703033,
            -2.495706558227539
        ],
        "forward_vector": [
            -0.9706096649169922,
            0.2335747629404068,
            -0.05796317011117935
        ],
        "right_vector": [
            -0.2338217943906784,
            -0.9722760915756226,
            -0.0025786070618778467
        ],
        "location": [
            -1032.074951171875,
            3053.1474609375,
            358.0938720703125
        ],
        "rotation": [
            0.14799226820468903,
            -3.3229074478149414,
            166.4691925048828
        ],
        "velocity": [
            -12.986696243286133,
            3.1448092460632324,
            -0.7754591703414917
        ],
        "speed": 13.362039683727442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 140.0788116455078,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1164.5274658203125,
                3098.4267578125,
                352.7843322753906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7530490159988403,
                "transform": {
                    "location": {
                        "x": -1026.574951171875,
                        "y": 3077.837646484375,
                        "z": 356.5552978515625
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.1386733204126358,
                        "yaw": 178.8424835205078
                    }
                },
                "velocity": {
                    "x": -1.7527750730514526,
                    "y": 0.029032422229647636,
                    "z": 0.010836810804903507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5481294393539429,
                "transform": {
                    "location": {
                        "x": -1026.491943359375,
                        "y": 3081.335205078125,
                        "z": 356.5451965332031
                    },
                    "rotation": {
                        "roll": -0.0018310550367459655,
                        "pitch": -0.24178868532180786,
                        "yaw": 178.7662353515625
                    }
                },
                "velocity": {
                    "x": -1.5479844808578491,
                    "y": 0.018384141847491264,
                    "z": 0.010516452603042126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.6058349609375,
                        "y": 3094.927734375,
                        "z": 352.7843017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.5274658203125,
                        "y": 3098.4267578125,
                        "z": 352.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.4493408203125,
                        "y": 3101.925537109375,
                        "z": 352.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.3712158203125,
                        "y": 3105.425048828125,
                        "z": 352.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.4371337890625,
                        "y": 3086.86669921875,
                        "z": 345.6904602050781
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.070556640625,
                        "y": 3090.3486328125,
                        "z": 345.6903381347656
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1387.297119140625,
                        "y": 3093.784423828125,
                        "z": 345.6851501464844
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.218625068664551,
                "transform": {
                    "location": {
                        "x": -1041.6951904296875,
                        "y": 3074.67919921875,
                        "z": 356.4279479980469
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -0.5284448862075806,
                        "yaw": 178.8646240234375
                    }
                },
                "velocity": {
                    "x": -3.2176342010498047,
                    "y": 0.06960854679346085,
                    "z": -0.03914758935570717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.1201171875,
                        "y": 3082.0146484375,
                        "z": 345.71990966796875
                    },
                    "rotation": {
                        "roll": 1.6676037217777662e-09,
                        "pitch": -0.551086962223053,
                        "yaw": 176.33619689941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.9578857421875,
                        "y": 3080.11181640625,
                        "z": 346.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1255.2757568359375,
                        "y": 3079.448974609375,
                        "z": 348.27490234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.2100830078125,
                        "y": 3078.77734375,
                        "z": 349.7779541015625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1178.9808349609375,
                        "y": 3077.744384765625,
                        "z": 352.19036865234375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.6492919921875,
                        "y": 3076.82080078125,
                        "z": 353.7913513183594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.6531982421875,
                        "y": 3076.284912109375,
                        "z": 354.6662292480469
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.4073519706726074,
                "transform": {
                    "location": {
                        "x": -1063.7518310546875,
                        "y": 3075.170654296875,
                        "z": 356.0810852050781
                    },
                    "rotation": {
                        "roll": 0.00011380534124327824,
                        "pitch": -0.6196893453598022,
                        "yaw": 178.69024658203125
                    }
                },
                "velocity": {
                    "x": -3.4059054851531982,
                    "y": 0.07654131948947906,
                    "z": -0.06321737915277481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.982849597930908,
                "transform": {
                    "location": {
                        "x": -989.5467529296875,
                        "y": 3043.628173828125,
                        "z": 360.6627197265625
                    },
                    "rotation": {
                        "roll": -0.06170657277107239,
                        "pitch": -3.4558091163635254,
                        "yaw": 166.92225646972656
                    }
                },
                "velocity": {
                    "x": -7.7682318687438965,
                    "y": 1.7770559787750244,
                    "z": -0.4717349112033844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.264538764953613,
                "transform": {
                    "location": {
                        "x": -1008.6505126953125,
                        "y": 3047.653076171875,
                        "z": 359.5125427246094
                    },
                    "rotation": {
                        "roll": 0.010511612519621849,
                        "pitch": -3.5994274616241455,
                        "yaw": 168.77877807617188
                    }
                },
                "velocity": {
                    "x": -5.153534412384033,
                    "y": 1.0298771858215332,
                    "z": -0.3095206320285797
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1602853536605835,
        "expert_target_speed": 20.0,
        "target_point": [
            15.848466159333153,
            0.09594278762569264
        ],
        "target_point_next": [
            37.81433843442387,
            -1.0685630006267495
        ]
    },
    "135": {
        "acceleration": [
            -0.12037277221679688,
            0.7030391693115234,
            0.12934088706970215
        ],
        "angular_velocity": [
            0.31575727462768555,
            0.21322260797023773,
            -2.8627636432647705
        ],
        "forward_vector": [
            -0.9677717089653015,
            0.24536734819412231,
            -0.05668056011199951
        ],
        "right_vector": [
            -0.24554893374443054,
            -0.9693765044212341,
            -0.0038467722479254007
        ],
        "location": [
            -1035.329345703125,
            3053.9541015625,
            357.90130615234375
        ],
        "rotation": [
            0.22075927257537842,
            -3.249298334121704,
            165.77310180664062
        ],
        "velocity": [
            -13.035873413085938,
            3.3196892738342285,
            -0.7590562105178833
        ],
        "speed": 13.451926721358946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 134.7505340576172,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1162.4461669921875,
                3098.3798828125,
                352.8642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1296091079711914,
                "transform": {
                    "location": {
                        "x": -1027.1827392578125,
                        "y": 3077.84619140625,
                        "z": 356.5543212890625
                    },
                    "rotation": {
                        "roll": -0.004577635787427425,
                        "pitch": -0.12628336250782013,
                        "yaw": 179.023193359375
                    }
                },
                "velocity": {
                    "x": -3.129262685775757,
                    "y": 0.044407181441783905,
                    "z": -0.014029741287231445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6640751361846924,
                "transform": {
                    "location": {
                        "x": -1027.0198974609375,
                        "y": 3081.3447265625,
                        "z": 356.5442199707031
                    },
                    "rotation": {
                        "roll": -0.0038757326547056437,
                        "pitch": -0.2471640408039093,
                        "yaw": 178.96446228027344
                    }
                },
                "velocity": {
                    "x": -2.6638519763946533,
                    "y": 0.032118119299411774,
                    "z": -0.012559251859784126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.5245361328125,
                        "y": 3094.880859375,
                        "z": 352.86419677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.4461669921875,
                        "y": 3098.3798828125,
                        "z": 352.8642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.3680419921875,
                        "y": 3101.878662109375,
                        "z": 352.8642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.2899169921875,
                        "y": 3105.378173828125,
                        "z": 352.8642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.2652587890625,
                        "y": 3086.95654296875,
                        "z": 345.69940185546875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.898681640625,
                        "y": 3090.4384765625,
                        "z": 345.69940185546875
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1388.125244140625,
                        "y": 3093.874267578125,
                        "z": 345.6944885253906
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.660590171813965,
                "transform": {
                    "location": {
                        "x": -1042.6702880859375,
                        "y": 3074.69970703125,
                        "z": 356.41650390625
                    },
                    "rotation": {
                        "roll": -3.051740350201726e-05,
                        "pitch": -0.5991510152816772,
                        "yaw": 178.7173309326172
                    }
                },
                "velocity": {
                    "x": -4.659126281738281,
                    "y": 0.10186472535133362,
                    "z": -0.05714557692408562
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.202880859375,
                        "y": 3080.213623046875,
                        "z": 346.8387756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.51806640625,
                        "y": 3079.54345703125,
                        "z": 348.07232666015625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.450439453125,
                        "y": 3078.871826171875,
                        "z": 349.5575256347656
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.2216796875,
                        "y": 3077.838623046875,
                        "z": 351.993896484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.890869140625,
                        "y": 3076.91552734375,
                        "z": 353.63665771484375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1117.896728515625,
                        "y": 3076.3798828125,
                        "z": 354.5115661621094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.79184103012085,
                "transform": {
                    "location": {
                        "x": -1064.7884521484375,
                        "y": 3075.194091796875,
                        "z": 356.0611572265625
                    },
                    "rotation": {
                        "roll": 0.00020691091776825488,
                        "pitch": -0.5411080718040466,
                        "yaw": 178.700927734375
                    }
                },
                "velocity": {
                    "x": -4.789721965789795,
                    "y": 0.108650803565979,
                    "z": -0.09218128025531769
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.173553466796875,
                "transform": {
                    "location": {
                        "x": -991.5278930664062,
                        "y": 3044.079833984375,
                        "z": 360.54205322265625
                    },
                    "rotation": {
                        "roll": -0.044891320168972015,
                        "pitch": -3.3968167304992676,
                        "yaw": 167.1816864013672
                    }
                },
                "velocity": {
                    "x": -7.957765102386475,
                    "y": 1.8015716075897217,
                    "z": -0.4850580394268036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.535000801086426,
                "transform": {
                    "location": {
                        "x": -1009.9712524414062,
                        "y": 3047.917236328125,
                        "z": 359.43310546875
                    },
                    "rotation": {
                        "roll": 0.01502428948879242,
                        "pitch": -3.406986951828003,
                        "yaw": 168.69857788085938
                    }
                },
                "velocity": {
                    "x": -5.417694568634033,
                    "y": 1.0855475664138794,
                    "z": -0.3262006938457489
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17567352950572968,
        "expert_target_speed": 20.0,
        "target_point": [
            12.493306375973182,
            0.27057368240401125
        ],
        "target_point_next": [
            34.47170514192823,
            -0.6269820100954373
        ]
    },
    "140": {
        "acceleration": [
            -0.2689361572265625,
            0.6989622116088867,
            0.02375006675720215
        ],
        "angular_velocity": [
            0.1336333304643631,
            0.2753605842590332,
            -2.696413040161133
        ],
        "forward_vector": [
            -0.9647215604782104,
            0.2574603855609894,
            -0.05501328408718109
        ],
        "right_vector": [
            -0.2576043903827667,
            -0.9662396311759949,
            -0.004578837193548679
        ],
        "location": [
            -1038.59619140625,
            3054.805908203125,
            357.7129211425781
        ],
        "rotation": [
            0.2627468705177307,
            -3.153621196746826,
            165.0574188232422
        ],
        "velocity": [
            -13.08494758605957,
            3.5021071434020996,
            -0.7448509931564331
        ],
        "speed": 13.545501385101778,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 129.4024200439453,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1160.3648681640625,
                3098.333251953125,
                352.94366455078125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.650479316711426,
                "transform": {
                    "location": {
                        "x": -1028.1688232421875,
                        "y": 3077.85986328125,
                        "z": 356.54937744140625
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -0.13022437691688538,
                        "yaw": 179.13536071777344
                    }
                },
                "velocity": {
                    "x": -4.649975776672363,
                    "y": 0.06302239000797272,
                    "z": -0.02672186866402626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6696343421936035,
                "transform": {
                    "location": {
                        "x": -1027.825439453125,
                        "y": 3081.35498046875,
                        "z": 356.5401916503906
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.28011971712112427,
                        "yaw": 178.99899291992188
                    }
                },
                "velocity": {
                    "x": -3.6692728996276855,
                    "y": 0.04714089632034302,
                    "z": -0.02075960673391819
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.4432373046875,
                        "y": 3094.834228515625,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.3648681640625,
                        "y": 3098.333251953125,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.2867431640625,
                        "y": 3101.83251953125,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.2086181640625,
                        "y": 3105.33154296875,
                        "z": 352.94366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.009521484375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.561346530914307,
                "transform": {
                    "location": {
                        "x": -1043.9547119140625,
                        "y": 3074.72802734375,
                        "z": 356.40142822265625
                    },
                    "rotation": {
                        "roll": 0.001440277323126793,
                        "pitch": -0.7188978791236877,
                        "yaw": 178.66372680664062
                    }
                },
                "velocity": {
                    "x": -5.559489727020264,
                    "y": 0.12347838282585144,
                    "z": -0.07348446547985077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.448486328125,
                        "y": 3080.32958984375,
                        "z": 346.6902770996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.761962890625,
                        "y": 3079.638427734375,
                        "z": 347.8764343261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.693115234375,
                        "y": 3078.966552734375,
                        "z": 349.3401794433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1187.46533203125,
                        "y": 3077.93359375,
                        "z": 351.7889709472656
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1146.136474609375,
                        "y": 3077.010498046875,
                        "z": 353.48187255859375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.1414794921875,
                        "y": 3076.474609375,
                        "z": 354.3567810058594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.377767562866211,
                "transform": {
                    "location": {
                        "x": -1066.099609375,
                        "y": 3075.223388671875,
                        "z": 356.0360412597656
                    },
                    "rotation": {
                        "roll": -0.00024413972278125584,
                        "pitch": -0.742946982383728,
                        "yaw": 178.6997528076172
                    }
                },
                "velocity": {
                    "x": -5.3753461837768555,
                    "y": 0.11881205439567566,
                    "z": -0.10917619615793228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.986932754516602,
                "transform": {
                    "location": {
                        "x": -993.4913940429688,
                        "y": 3044.5224609375,
                        "z": 360.42303466796875
                    },
                    "rotation": {
                        "roll": -0.04064936563372612,
                        "pitch": -3.486565589904785,
                        "yaw": 167.3267364501953
                    }
                },
                "velocity": {
                    "x": -7.78713321685791,
                    "y": 1.711387276649475,
                    "z": -0.47202232480049133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.919053554534912,
                "transform": {
                    "location": {
                        "x": -1011.6127319335938,
                        "y": 3048.245849609375,
                        "z": 359.3348083496094
                    },
                    "rotation": {
                        "roll": 0.006956871133297682,
                        "pitch": -3.020043134689331,
                        "yaw": 168.72657775878906
                    }
                },
                "velocity": {
                    "x": -7.751400470733643,
                    "y": 1.552530288696289,
                    "z": -0.4656677842140198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21151231229305267,
        "expert_target_speed": 20.0,
        "target_point": [
            9.112936495261419,
            0.4072494056878937
        ],
        "target_point_next": [
            31.100831910311427,
            -0.21570625348482686
        ]
    },
    "145": {
        "acceleration": [
            -0.164794921875,
            0.4910421371459961,
            0.13486504554748535
        ],
        "angular_velocity": [
            0.04073554649949074,
            0.3469586968421936,
            -1.717423677444458
        ],
        "forward_vector": [
            -0.9624132513999939,
            0.2662718594074249,
            -0.05347893759608269
        ],
        "right_vector": [
            -0.2664324641227722,
            -0.9638442993164062,
            -0.004234505817294121
        ],
        "location": [
            -1041.8756103515625,
            3055.69775390625,
            357.5289306640625
        ],
        "rotation": [
            0.24296773970127106,
            -3.065579891204834,
            164.53477478027344
        ],
        "velocity": [
            -13.13815689086914,
            3.638869047164917,
            -0.7261939644813538
        ],
        "speed": 13.632774274941516,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 124.03622436523438,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1158.2835693359375,
                3098.287109375,
                353.0213928222656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.436188697814941,
                "transform": {
                    "location": {
                        "x": -1029.46923828125,
                        "y": 3077.876708984375,
                        "z": 356.5414123535156
                    },
                    "rotation": {
                        "roll": -0.005889892112463713,
                        "pitch": -0.21771226823329926,
                        "yaw": 179.22032165527344
                    }
                },
                "velocity": {
                    "x": -5.435635089874268,
                    "y": 0.07012984156608582,
                    "z": -0.03311785310506821
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.074044704437256,
                "transform": {
                    "location": {
                        "x": -1028.9044189453125,
                        "y": 3081.37158203125,
                        "z": 356.5335388183594
                    },
                    "rotation": {
                        "roll": -0.005065917037427425,
                        "pitch": -0.2752634286880493,
                        "yaw": 179.33985900878906
                    }
                },
                "velocity": {
                    "x": -5.073538780212402,
                    "y": 0.06417550146579742,
                    "z": -0.03190211206674576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.3619384765625,
                        "y": 3094.787841796875,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.2835693359375,
                        "y": 3098.287109375,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.2054443359375,
                        "y": 3101.785888671875,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.1273193359375,
                        "y": 3105.284912109375,
                        "z": 353.0213928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.930727958679199,
                "transform": {
                    "location": {
                        "x": -1045.7191162109375,
                        "y": 3074.767822265625,
                        "z": 356.3771667480469
                    },
                    "rotation": {
                        "roll": 0.0016335907857865095,
                        "pitch": -0.641115665435791,
                        "yaw": 178.69825744628906
                    }
                },
                "velocity": {
                    "x": -7.928004741668701,
                    "y": 0.1782192587852478,
                    "z": -0.10688084363937378
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.694091796875,
                        "y": 3080.4609375,
                        "z": 346.546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.0059814453125,
                        "y": 3079.733154296875,
                        "z": 347.68682861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.93603515625,
                        "y": 3079.0615234375,
                        "z": 349.125732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1191.7083740234375,
                        "y": 3078.0283203125,
                        "z": 351.57720947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.3814697265625,
                        "y": 3077.10546875,
                        "z": 353.3270568847656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.3868408203125,
                        "y": 3076.569580078125,
                        "z": 354.2020263671875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.820754528045654,
                "transform": {
                    "location": {
                        "x": -1067.5816650390625,
                        "y": 3075.256103515625,
                        "z": 356.0054626464844
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.6795355081558228,
                        "yaw": 178.73838806152344
                    }
                },
                "velocity": {
                    "x": -6.817667007446289,
                    "y": 0.15070635080337524,
                    "z": -0.13927417993545532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.060911178588867,
                "transform": {
                    "location": {
                        "x": -995.4437255859375,
                        "y": 3044.947509765625,
                        "z": 360.304443359375
                    },
                    "rotation": {
                        "roll": -0.0655212551355362,
                        "pitch": -3.44600772857666,
                        "yaw": 167.75218200683594
                    }
                },
                "velocity": {
                    "x": -7.867256164550781,
                    "y": 1.6901464462280273,
                    "z": -0.477475106716156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.33301830291748,
                "transform": {
                    "location": {
                        "x": -1013.6649169921875,
                        "y": 3048.6611328125,
                        "z": 359.21142578125
                    },
                    "rotation": {
                        "roll": 0.03438245505094528,
                        "pitch": -3.2354671955108643,
                        "yaw": 168.52206420898438
                    }
                },
                "velocity": {
                    "x": -8.149439811706543,
                    "y": 1.6692266464233398,
                    "z": -0.4893961250782013
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22962404787540436,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            27.70301259029173,
            0.05307049557660104
        ],
        "target_point_next": [
            78.98786797637557,
            4.1356631970590065
        ]
    },
    "150": {
        "acceleration": [
            -0.2784919738769531,
            0.4886484146118164,
            0.07738232612609863
        ],
        "angular_velocity": [
            -0.03253461793065071,
            0.43109583854675293,
            -1.6345224380493164
        ],
        "forward_vector": [
            -0.9605581164360046,
            0.273199200630188,
            -0.05186780169606209
        ],
        "right_vector": [
            -0.2733752727508545,
            -0.9618999361991882,
            -0.003806948196142912
        ],
        "location": [
            -1045.1693115234375,
            3056.621826171875,
            357.3492431640625
        ],
        "rotation": [
            0.21841660141944885,
            -2.973140239715576,
            164.1233367919922
        ],
        "velocity": [
            -13.197118759155273,
            3.7608494758605957,
            -0.7081120610237122
        ],
        "speed": 13.722533742838053,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 118.6528091430664,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1156.2022705078125,
                3098.240234375,
                353.0974426269531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.533863544464111,
                "transform": {
                    "location": {
                        "x": -1030.8905029296875,
                        "y": 3077.89501953125,
                        "z": 356.5324401855469
                    },
                    "rotation": {
                        "roll": -0.00616455078125,
                        "pitch": -0.19177120923995972,
                        "yaw": 179.2691192626953
                    }
                },
                "velocity": {
                    "x": -6.533229351043701,
                    "y": 0.0814262256026268,
                    "z": -0.04067021608352661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.854533672332764,
                "transform": {
                    "location": {
                        "x": -1030.3009033203125,
                        "y": 3081.388916015625,
                        "z": 356.5244445800781
                    },
                    "rotation": {
                        "roll": -0.0054931640625,
                        "pitch": -0.22872936725616455,
                        "yaw": 179.38868713378906
                    }
                },
                "velocity": {
                    "x": -6.853916645050049,
                    "y": 0.08155592530965805,
                    "z": -0.04252270236611366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.2806396484375,
                        "y": 3094.740966796875,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.2022705078125,
                        "y": 3098.240234375,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.1241455078125,
                        "y": 3101.7392578125,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.0460205078125,
                        "y": 3105.238037109375,
                        "z": 353.0974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.326165199279785,
                "transform": {
                    "location": {
                        "x": -1047.888671875,
                        "y": 3074.81640625,
                        "z": 356.34820556640625
                    },
                    "rotation": {
                        "roll": 0.0005092923529446125,
                        "pitch": -0.6651579141616821,
                        "yaw": 178.7130126953125
                    }
                },
                "velocity": {
                    "x": -9.322986602783203,
                    "y": 0.20938889682292938,
                    "z": -0.12425355613231659
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.939208984375,
                        "y": 3080.6064453125,
                        "z": 346.4056701660156
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.2506103515625,
                        "y": 3079.827392578125,
                        "z": 347.5035400390625
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.1793212890625,
                        "y": 3079.15625,
                        "z": 348.9141845703125
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1195.951416015625,
                        "y": 3078.123291015625,
                        "z": 351.3582763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.626953125,
                        "y": 3077.2001953125,
                        "z": 353.1722717285156
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.6326904296875,
                        "y": 3076.664306640625,
                        "z": 354.0472106933594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.236650466918945,
                "transform": {
                    "location": {
                        "x": -1069.4688720703125,
                        "y": 3075.298095703125,
                        "z": 355.9658508300781
                    },
                    "rotation": {
                        "roll": -0.0021972651593387127,
                        "pitch": -0.6080575585365295,
                        "yaw": 178.753173828125
                    }
                },
                "velocity": {
                    "x": -8.232824325561523,
                    "y": 0.18096810579299927,
                    "z": -0.1739715337753296
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.091009140014648,
                "transform": {
                    "location": {
                        "x": -997.4196166992188,
                        "y": 3045.370849609375,
                        "z": 360.18487548828125
                    },
                    "rotation": {
                        "roll": -0.025421131402254105,
                        "pitch": -3.443077564239502,
                        "yaw": 167.92684936523438
                    }
                },
                "velocity": {
                    "x": -7.899524211883545,
                    "y": 1.6832059621810913,
                    "z": -0.47829046845436096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.851090431213379,
                "transform": {
                    "location": {
                        "x": -1015.6282348632812,
                        "y": 3049.06591796875,
                        "z": 359.09368896484375
                    },
                    "rotation": {
                        "roll": 0.02457338012754917,
                        "pitch": -3.429622173309326,
                        "yaw": 168.33193969726562
                    }
                },
                "velocity": {
                    "x": -7.674508094787598,
                    "y": 1.5903922319412231,
                    "z": -0.4606529176235199
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24878095090389252,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            24.28106531388183,
            0.23978092870355194
        ],
        "target_point_next": [
            75.53528081652267,
            4.69055033933148
        ]
    },
    "155": {
        "acceleration": [
            -0.15193939208984375,
            0.3923320770263672,
            0.06709694862365723
        ],
        "angular_velocity": [
            0.04883868992328644,
            0.3896675407886505,
            -1.5082502365112305
        ],
        "forward_vector": [
            -0.9586950540542603,
            0.27996066212654114,
            -0.050257716327905655
        ],
        "right_vector": [
            -0.28014710545539856,
            -0.9599509835243225,
            -0.0034392529632896185
        ],
        "location": [
            -1048.4761962890625,
            3057.5751953125,
            357.1739807128906
        ],
        "rotation": [
            0.19730441272258759,
            -2.8807687759399414,
            163.72100830078125
        ],
        "velocity": [
            -13.245546340942383,
            3.8734800815582275,
            -0.6911051273345947
        ],
        "speed": 13.800302381190075,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 113.25518035888672,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1154.1209716796875,
                3098.1943359375,
                353.1736145019531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.0137939453125,
                        "y": 3095.04833984375,
                        "z": 352.65753173828125
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.9354248046875,
                        "y": 3098.54736328125,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.8572998046875,
                        "y": 3102.04638671875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.7791748046875,
                        "y": 3105.545654296875,
                        "z": 352.6575012207031
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054465293884277,
                "transform": {
                    "location": {
                        "x": -1032.7655029296875,
                        "y": 3077.921142578125,
                        "z": 356.5206604003906
                    },
                    "rotation": {
                        "roll": 0.006416456773877144,
                        "pitch": -0.13479377329349518,
                        "yaw": 179.1812744140625
                    }
                },
                "velocity": {
                    "x": -8.053330421447754,
                    "y": 0.12573425471782684,
                    "z": -0.04974924400448799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.28371524810791,
                "transform": {
                    "location": {
                        "x": -1032.21728515625,
                        "y": 3081.4130859375,
                        "z": 356.5126037597656
                    },
                    "rotation": {
                        "roll": 0.0017473073676228523,
                        "pitch": -0.24389921128749847,
                        "yaw": 179.25746154785156
                    }
                },
                "velocity": {
                    "x": -8.282466888427734,
                    "y": 0.1341138780117035,
                    "z": -0.05189213529229164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.1993408203125,
                        "y": 3094.69482421875,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.1209716796875,
                        "y": 3098.1943359375,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1154.0428466796875,
                        "y": 3101.693115234375,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.9647216796875,
                        "y": 3105.192138671875,
                        "z": 353.1736145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.494552612304688,
                "transform": {
                    "location": {
                        "x": -1050.375732421875,
                        "y": 3074.8720703125,
                        "z": 356.3128967285156
                    },
                    "rotation": {
                        "roll": 0.00014774563896935433,
                        "pitch": -0.7780746221542358,
                        "yaw": 178.71676635742188
                    }
                },
                "velocity": {
                    "x": -10.490610122680664,
                    "y": 0.23324111104011536,
                    "z": -0.16832253336906433
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.183837890625,
                        "y": 3080.76611328125,
                        "z": 346.2681579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.4951171875,
                        "y": 3079.92236328125,
                        "z": 347.3265686035156
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.4229736328125,
                        "y": 3079.2509765625,
                        "z": 348.7054138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.194091796875,
                        "y": 3078.218017578125,
                        "z": 351.1319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.872314453125,
                        "y": 3077.295166015625,
                        "z": 353.0169372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.8779296875,
                        "y": 3076.759033203125,
                        "z": 353.8924255371094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.474778175354004,
                "transform": {
                    "location": {
                        "x": -1071.6258544921875,
                        "y": 3075.345947265625,
                        "z": 355.9190979003906
                    },
                    "rotation": {
                        "roll": -0.0006103516789153218,
                        "pitch": -0.6849040389060974,
                        "yaw": 178.75881958007812
                    }
                },
                "velocity": {
                    "x": -9.470078468322754,
                    "y": 0.20994456112384796,
                    "z": -0.2120324671268463
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018383979797363,
                "transform": {
                    "location": {
                        "x": -999.3842163085938,
                        "y": 3045.78173828125,
                        "z": 360.0661926269531
                    },
                    "rotation": {
                        "roll": -0.058441162109375,
                        "pitch": -3.454490900039673,
                        "yaw": 168.2313995361328
                    }
                },
                "velocity": {
                    "x": -7.840307235717773,
                    "y": 1.6123048067092896,
                    "z": -0.4738607704639435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.148581504821777,
                "transform": {
                    "location": {
                        "x": -1017.5764770507812,
                        "y": 3049.470458984375,
                        "z": 358.9767761230469
                    },
                    "rotation": {
                        "roll": 0.003850526874884963,
                        "pitch": -3.354640483856201,
                        "yaw": 168.261474609375
                    }
                },
                "velocity": {
                    "x": -7.963952541351318,
                    "y": 1.6573792695999146,
                    "z": -0.47741958498954773
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27566802501678467,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            20.83723394761713,
            0.39845282916922997
        ],
        "target_point_next": [
            72.0589332375117,
            5.209011735714869
        ]
    },
    "160": {
        "acceleration": [
            -0.32604217529296875,
            -0.007839202880859375,
            0.12175321578979492
        ],
        "angular_velocity": [
            -0.36926478147506714,
            0.4668252170085907,
            0.7033455967903137
        ],
        "forward_vector": [
            -0.9585530757904053,
            0.28073588013648987,
            -0.04861380532383919
        ],
        "right_vector": [
            -0.28099897503852844,
            -0.9597069621086121,
            -0.0014755316078662872
        ],
        "location": [
            -1051.7982177734375,
            3058.54638671875,
            357.0035705566406
        ],
        "rotation": [
            0.08464184403419495,
            -2.786464214324951,
            163.676025390625
        ],
        "velocity": [
            -13.319475173950195,
            3.8902928829193115,
            -0.6694830656051636
        ],
        "speed": 13.875979159121284,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 107.84566497802734,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1152.0396728515625,
                3098.1474609375,
                353.24951171875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.93603515625,
                        "y": 3095.00146484375,
                        "z": 352.6640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.8575439453125,
                        "y": 3098.5009765625,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7794189453125,
                        "y": 3102.0,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.7012939453125,
                        "y": 3105.498779296875,
                        "z": 352.6640930175781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.218892097473145,
                "transform": {
                    "location": {
                        "x": -1034.8292236328125,
                        "y": 3077.955322265625,
                        "z": 356.5047607421875
                    },
                    "rotation": {
                        "roll": 0.0046908059157431126,
                        "pitch": -0.4161975681781769,
                        "yaw": 179.02415466308594
                    }
                },
                "velocity": {
                    "x": -8.217435836791992,
                    "y": 0.14038532972335815,
                    "z": -0.06504544615745544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.163904190063477,
                "transform": {
                    "location": {
                        "x": -1034.30029296875,
                        "y": 3081.447021484375,
                        "z": 356.4986572265625
                    },
                    "rotation": {
                        "roll": -0.00012207064719405025,
                        "pitch": -0.40944933891296387,
                        "yaw": 179.04771423339844
                    }
                },
                "velocity": {
                    "x": -8.162328720092773,
                    "y": 0.1423880010843277,
                    "z": -0.0738033875823021
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.1180419921875,
                        "y": 3094.64794921875,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.0396728515625,
                        "y": 3098.1474609375,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.9615478515625,
                        "y": 3101.646240234375,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.8834228515625,
                        "y": 3105.145263671875,
                        "z": 353.24951171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.874528884887695,
                "transform": {
                    "location": {
                        "x": -1052.9329833984375,
                        "y": 3074.928955078125,
                        "z": 356.2721862792969
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.9994478821754456,
                        "yaw": 178.72796630859375
                    }
                },
                "velocity": {
                    "x": -9.870609283447266,
                    "y": 0.2210366576910019,
                    "z": -0.16894470155239105
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.42822265625,
                        "y": 3080.94091796875,
                        "z": 346.14111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.739501953125,
                        "y": 3080.01708984375,
                        "z": 347.1572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1250.66552734375,
                        "y": 3079.34521484375,
                        "z": 348.4989318847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.4356689453125,
                        "y": 3078.31298828125,
                        "z": 350.8994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.1168212890625,
                        "y": 3077.389892578125,
                        "z": 352.8562316894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.123046875,
                        "y": 3076.85400390625,
                        "z": 353.7376403808594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.67529010772705,
                "transform": {
                    "location": {
                        "x": -1074.1588134765625,
                        "y": 3075.401611328125,
                        "z": 355.8619384765625
                    },
                    "rotation": {
                        "roll": -0.0019226063741371036,
                        "pitch": -0.7638199925422668,
                        "yaw": 178.74600219726562
                    }
                },
                "velocity": {
                    "x": -10.669836044311523,
                    "y": 0.23486873507499695,
                    "z": -0.2475002259016037
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.079174995422363,
                "transform": {
                    "location": {
                        "x": -1001.3521728515625,
                        "y": 3046.185302734375,
                        "z": 359.947265625
                    },
                    "rotation": {
                        "roll": -0.02447506971657276,
                        "pitch": -3.44299578666687,
                        "yaw": 168.44033813476562
                    }
                },
                "velocity": {
                    "x": -7.903072834014893,
                    "y": 1.6086286306381226,
                    "z": -0.4762563109397888
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.107278823852539,
                "transform": {
                    "location": {
                        "x": -1019.5715942382812,
                        "y": 3049.8955078125,
                        "z": 358.8570861816406
                    },
                    "rotation": {
                        "roll": 0.025752875953912735,
                        "pitch": -3.3908402919769287,
                        "yaw": 167.9540252685547
                    }
                },
                "velocity": {
                    "x": -7.912408828735352,
                    "y": 1.701998233795166,
                    "z": -0.47429412603378296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.27454873919487,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            17.3758400971875,
            0.41314369054812694
        ],
        "target_point_next": [
            68.59374561503337,
            5.26392811193249
        ]
    },
    "165": {
        "acceleration": [
            -0.18571853637695312,
            -0.10436534881591797,
            0.00674128532409668
        ],
        "angular_velocity": [
            -0.16054916381835938,
            0.3297504484653473,
            0.7477454543113708
        ],
        "forward_vector": [
            -0.9596415758132935,
            0.27724722027778625,
            -0.04713849723339081
        ],
        "right_vector": [
            -0.27757102251052856,
            -0.960705041885376,
            0.0003373138315510005
        ],
        "location": [
            -1055.136962890625,
            3059.5166015625,
            356.8379211425781
        ],
        "rotation": [
            -0.01934816688299179,
            -2.701838254928589,
            163.8856201171875
        ],
        "velocity": [
            -13.380155563354492,
            3.866516590118408,
            -0.653247594833374
        ],
        "speed": 13.92761693331731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 102.43143463134766,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1149.9583740234375,
                3098.10107421875,
                353.3254089355469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.854736328125,
                        "y": 3094.954833984375,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.7762451171875,
                        "y": 3098.454345703125,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6981201171875,
                        "y": 3101.953369140625,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.6199951171875,
                        "y": 3105.452392578125,
                        "z": 352.73919677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.90714168548584,
                "transform": {
                    "location": {
                        "x": -1036.830078125,
                        "y": 3077.990234375,
                        "z": 356.4872131347656
                    },
                    "rotation": {
                        "roll": -0.0010070796124637127,
                        "pitch": -0.5961866974830627,
                        "yaw": 179.00790405273438
                    }
                },
                "velocity": {
                    "x": -7.905513763427734,
                    "y": 0.13928866386413574,
                    "z": -0.07962973415851593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.856309413909912,
                "transform": {
                    "location": {
                        "x": -1036.28173828125,
                        "y": 3081.4814453125,
                        "z": 356.48187255859375
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.5871230363845825,
                        "yaw": 178.9895782470703
                    }
                },
                "velocity": {
                    "x": -7.854698181152344,
                    "y": 0.13966035842895508,
                    "z": -0.07618644833564758
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1150.0367431640625,
                        "y": 3094.60205078125,
                        "z": 353.32537841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.9583740234375,
                        "y": 3098.10107421875,
                        "z": 353.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.8802490234375,
                        "y": 3101.600341796875,
                        "z": 353.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.8021240234375,
                        "y": 3105.099365234375,
                        "z": 353.3254089355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.031512260437012,
                "transform": {
                    "location": {
                        "x": -1055.3865966796875,
                        "y": 3074.98388671875,
                        "z": 356.2299499511719
                    },
                    "rotation": {
                        "roll": -0.00018310487212147564,
                        "pitch": -0.9711298942565918,
                        "yaw": 178.72100830078125
                    }
                },
                "velocity": {
                    "x": -10.027563095092773,
                    "y": 0.22375230491161346,
                    "z": -0.17071422934532166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.672119140625,
                        "y": 3081.131103515625,
                        "z": 346.0284423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.98388671875,
                        "y": 3080.112060546875,
                        "z": 346.9934387207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1254.908203125,
                        "y": 3079.440185546875,
                        "z": 348.2927551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.6771240234375,
                        "y": 3078.40771484375,
                        "z": 350.6659240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.36083984375,
                        "y": 3077.48486328125,
                        "z": 352.68865966796875
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.36767578125,
                        "y": 3076.948974609375,
                        "z": 353.5827941894531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.72301197052002,
                "transform": {
                    "location": {
                        "x": -1076.9615478515625,
                        "y": 3075.463623046875,
                        "z": 355.7964782714844
                    },
                    "rotation": {
                        "roll": 0.003160405671223998,
                        "pitch": -0.8514718413352966,
                        "yaw": 178.72052001953125
                    }
                },
                "velocity": {
                    "x": -11.716629028320312,
                    "y": 0.2632467448711395,
                    "z": -0.28337547183036804
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.048188209533691,
                "transform": {
                    "location": {
                        "x": -1003.325439453125,
                        "y": 3046.58642578125,
                        "z": 359.8282470703125
                    },
                    "rotation": {
                        "roll": -0.008544915355741978,
                        "pitch": -3.4519364833831787,
                        "yaw": 168.5258026123047
                    }
                },
                "velocity": {
                    "x": -7.876254558563232,
                    "y": 1.5852079391479492,
                    "z": -0.47441238164901733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.00386905670166,
                "transform": {
                    "location": {
                        "x": -1021.5284423828125,
                        "y": 3050.318359375,
                        "z": 358.7394104003906
                    },
                    "rotation": {
                        "roll": 0.010773863643407822,
                        "pitch": -3.4018166065216064,
                        "yaw": 167.79603576660156
                    }
                },
                "velocity": {
                    "x": -7.808302879333496,
                    "y": 1.6942745447158813,
                    "z": -0.4709031581878662
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24943208694458008,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            13.9003824263136,
            0.3549766301319428
        ],
        "target_point_next": [
            65.13569299977293,
            5.018334388110302
        ]
    },
    "170": {
        "acceleration": [
            -0.16855239868164062,
            0.28635501861572266,
            0.15433788299560547
        ],
        "angular_velocity": [
            0.2887178957462311,
            0.40035733580589294,
            -0.9674742817878723
        ],
        "forward_vector": [
            -0.959671139717102,
            0.2774159014225006,
            -0.04551684856414795
        ],
        "right_vector": [
            -0.27771615982055664,
            -0.9606630802154541,
            0.0002851947501767427
        ],
        "location": [
            -1058.4891357421875,
            3060.4853515625,
            356.6771545410156
        ],
        "rotation": [
            -0.016357406973838806,
            -2.6088247299194336,
            163.87680053710938
        ],
        "velocity": [
            -13.42339038848877,
            3.8970751762390137,
            -0.6299474835395813
        ],
        "speed": 13.977646599160783,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 97.01747131347656,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1147.8770751953125,
                3098.0546875,
                353.4012756347656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.7733154296875,
                        "y": 3094.908935546875,
                        "z": 352.8165588378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6949462890625,
                        "y": 3098.407958984375,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.6168212890625,
                        "y": 3101.90673828125,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.5386962890625,
                        "y": 3105.40625,
                        "z": 352.81658935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.114052772521973,
                "transform": {
                    "location": {
                        "x": -1038.831787109375,
                        "y": 3078.028564453125,
                        "z": 356.4670104980469
                    },
                    "rotation": {
                        "roll": 0.003996115177869797,
                        "pitch": -0.548552930355072,
                        "yaw": 178.8765869140625
                    }
                },
                "velocity": {
                    "x": -8.112062454223633,
                    "y": 0.16073428094387054,
                    "z": -0.08032003045082092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.186474800109863,
                "transform": {
                    "location": {
                        "x": -1038.294189453125,
                        "y": 3081.51953125,
                        "z": 356.4616394042969
                    },
                    "rotation": {
                        "roll": 0.0004975246265530586,
                        "pitch": -0.5566672086715698,
                        "yaw": 178.9026641845703
                    }
                },
                "velocity": {
                    "x": -8.184425354003906,
                    "y": 0.1642450988292694,
                    "z": -0.08105000108480453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.9554443359375,
                        "y": 3094.5556640625,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.8770751953125,
                        "y": 3098.0546875,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.7989501953125,
                        "y": 3101.5537109375,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.7208251953125,
                        "y": 3105.052734375,
                        "z": 353.4012756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.155913352966309,
                "transform": {
                    "location": {
                        "x": -1058.0345458984375,
                        "y": 3075.042724609375,
                        "z": 356.18359375
                    },
                    "rotation": {
                        "roll": 5.372105442802422e-05,
                        "pitch": -0.9590404629707336,
                        "yaw": 178.73060607910156
                    }
                },
                "velocity": {
                    "x": -11.151312828063965,
                    "y": 0.2471877932548523,
                    "z": -0.20376792550086975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.9158935546875,
                        "y": 3081.338134765625,
                        "z": 345.9300231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.228271484375,
                        "y": 3080.214111328125,
                        "z": 346.837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.1510009765625,
                        "y": 3079.534912109375,
                        "z": 348.08990478515625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.9183349609375,
                        "y": 3078.502685546875,
                        "z": 350.43414306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.6044921875,
                        "y": 3077.57958984375,
                        "z": 352.5124816894531
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.612060546875,
                        "y": 3077.0439453125,
                        "z": 353.4280700683594
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.754034996032715,
                "transform": {
                    "location": {
                        "x": -1080.0235595703125,
                        "y": 3075.5322265625,
                        "z": 355.7213134765625
                    },
                    "rotation": {
                        "roll": 0.0011405046097934246,
                        "pitch": -1.0104923248291016,
                        "yaw": 178.7194366455078
                    }
                },
                "velocity": {
                    "x": -12.746731758117676,
                    "y": 0.2850494086742401,
                    "z": -0.3240154981613159
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.056890487670898,
                "transform": {
                    "location": {
                        "x": -1005.294921875,
                        "y": 3046.981201171875,
                        "z": 359.70947265625
                    },
                    "rotation": {
                        "roll": -0.01159671787172556,
                        "pitch": -3.438843011856079,
                        "yaw": 168.67330932617188
                    }
                },
                "velocity": {
                    "x": -7.8875579833984375,
                    "y": 1.5732275247573853,
                    "z": -0.474201500415802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.114001274108887,
                "transform": {
                    "location": {
                        "x": -1023.4948120117188,
                        "y": 3050.75048828125,
                        "z": 358.62127685546875
                    },
                    "rotation": {
                        "roll": 0.03076072223484516,
                        "pitch": -3.3771936893463135,
                        "yaw": 167.55836486816406
                    }
                },
                "velocity": {
                    "x": -7.905422210693359,
                    "y": 1.7651668787002563,
                    "z": -0.4748747944831848
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21865957975387573,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            10.410980871974179,
            0.35686064991018807
        ],
        "target_point_next": [
            61.64557036740166,
            5.028133963768225
        ]
    },
    "175": {
        "acceleration": [
            -0.043582916259765625,
            0.37862300872802734,
            0.061566829681396484
        ],
        "angular_velocity": [
            0.2892075777053833,
            0.22902753949165344,
            -1.5227915048599243
        ],
        "forward_vector": [
            -0.9580419063568115,
            0.2832535207271576,
            -0.0438535176217556
        ],
        "right_vector": [
            -0.2834959924221039,
            -0.9589731693267822,
            -0.000717677641659975
        ],
        "location": [
            -1061.849365234375,
            3061.46923828125,
            356.5218811035156
        ],
        "rotation": [
            0.0411594994366169,
            -2.513427495956421,
            163.5292205810547
        ],
        "velocity": [
            -13.446900367736816,
            3.983396291732788,
            -0.6087675094604492
        ],
        "speed": 14.024499118215633,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 91.604248046875,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1145.7957763671875,
                3098.0078125,
                353.4771728515625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.6920166015625,
                        "y": 3094.862060546875,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.6136474609375,
                        "y": 3098.361083984375,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.5355224609375,
                        "y": 3101.85986328125,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.4573974609375,
                        "y": 3105.359375,
                        "z": 352.8959655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063214302062988,
                "transform": {
                    "location": {
                        "x": -1040.8590087890625,
                        "y": 3078.0693359375,
                        "z": 356.4470520019531
                    },
                    "rotation": {
                        "roll": 0.0018952719401568174,
                        "pitch": -0.5689069032669067,
                        "yaw": 178.86093139648438
                    }
                },
                "velocity": {
                    "x": -8.061147689819336,
                    "y": 0.16273526847362518,
                    "z": -0.08272777497768402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99136209487915,
                "transform": {
                    "location": {
                        "x": -1040.3187255859375,
                        "y": 3081.559814453125,
                        "z": 356.4417419433594
                    },
                    "rotation": {
                        "roll": 0.00029427831759676337,
                        "pitch": -0.5686337351799011,
                        "yaw": 178.8453826904297
                    }
                },
                "velocity": {
                    "x": -7.989321708679199,
                    "y": 0.16234217584133148,
                    "z": -0.07906603068113327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.8741455078125,
                        "y": 3094.5087890625,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.7957763671875,
                        "y": 3098.0078125,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.7176513671875,
                        "y": 3101.5068359375,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.6395263671875,
                        "y": 3105.005859375,
                        "z": 353.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.87857437133789,
                "transform": {
                    "location": {
                        "x": -1060.92822265625,
                        "y": 3075.107177734375,
                        "z": 356.130615234375
                    },
                    "rotation": {
                        "roll": 0.0003706516872625798,
                        "pitch": -1.0358595848083496,
                        "yaw": 178.71853637695312
                    }
                },
                "velocity": {
                    "x": -11.873497009277344,
                    "y": 0.2654954195022583,
                    "z": -0.22383737564086914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.1591796875,
                        "y": 3081.559326171875,
                        "z": 345.8446044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.4727783203125,
                        "y": 3080.330322265625,
                        "z": 346.6894836425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.3936767578125,
                        "y": 3079.6298828125,
                        "z": 347.8935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1217.1590576171875,
                        "y": 3078.597412109375,
                        "z": 350.2049560546875
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.84765625,
                        "y": 3077.674560546875,
                        "z": 352.32958984375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.856689453125,
                        "y": 3077.138671875,
                        "z": 353.2732238769531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.773343086242676,
                "transform": {
                    "location": {
                        "x": -1083.34228515625,
                        "y": 3075.606689453125,
                        "z": 355.6355895996094
                    },
                    "rotation": {
                        "roll": 0.000669747416395694,
                        "pitch": -1.044404149055481,
                        "yaw": 178.71383666992188
                    }
                },
                "velocity": {
                    "x": -13.764994621276855,
                    "y": 0.30896976590156555,
                    "z": -0.36663803458213806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.054466247558594,
                "transform": {
                    "location": {
                        "x": -1007.2670288085938,
                        "y": 3047.374267578125,
                        "z": 359.5909423828125
                    },
                    "rotation": {
                        "roll": -0.00408933823928237,
                        "pitch": -3.4333720207214355,
                        "yaw": 168.73397827148438
                    }
                },
                "velocity": {
                    "x": -7.886055946350098,
                    "y": 1.5684345960617065,
                    "z": -0.4738800823688507
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06226634979248,
                "transform": {
                    "location": {
                        "x": -1025.4659423828125,
                        "y": 3051.193603515625,
                        "z": 358.50250244140625
                    },
                    "rotation": {
                        "roll": 0.02131534181535244,
                        "pitch": -3.399869918823242,
                        "yaw": 167.31259155273438
                    }
                },
                "velocity": {
                    "x": -7.850178241729736,
                    "y": 1.7750568389892578,
                    "z": -0.47330474853515625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2096956968307495,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            58.11263556172223,
            5.392801477716992
        ],
        "target_point_next": [
            70.54243057178567,
            8.631156365402097
        ]
    },
    "180": {
        "acceleration": [
            -0.16843795776367188,
            0.25475502014160156,
            0.052933692932128906
        ],
        "angular_velocity": [
            0.14297005534172058,
            0.44995278120040894,
            -1.1458826065063477
        ],
        "forward_vector": [
            -0.9562502503395081,
            0.28948691487312317,
            -0.04222305491566658
        ],
        "right_vector": [
            -0.28969165682792664,
            -0.9571191072463989,
            -0.0013195298379287124
        ],
        "location": [
            -1065.215087890625,
            3062.47705078125,
            356.3716735839844
        ],
        "rotation": [
            0.0756709948182106,
            -2.419922113418579,
            163.15728759765625
        ],
        "velocity": [
            -13.470254898071289,
            4.07631254196167,
            -0.5915704965591431
        ],
        "speed": 14.073524468261942,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 86.1932373046875,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1143.7144775390625,
                3097.9619140625,
                353.5531311035156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -1026.193359375,
                        "y": 3081.3330078125,
                        "z": 356.90765380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -1026.271484375,
                        "y": 3077.834228515625,
                        "z": 356.8439636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.6107177734375,
                        "y": 3094.81591796875,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.5323486328125,
                        "y": 3098.315185546875,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.4542236328125,
                        "y": 3101.81396484375,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.3760986328125,
                        "y": 3105.31298828125,
                        "z": 352.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028270721435547,
                "transform": {
                    "location": {
                        "x": -1042.8643798828125,
                        "y": 3078.11083984375,
                        "z": 356.42401123046875
                    },
                    "rotation": {
                        "roll": 0.0035272492095828056,
                        "pitch": -0.7214045524597168,
                        "yaw": 178.79129028320312
                    }
                },
                "velocity": {
                    "x": -8.025959968566895,
                    "y": 0.16984595358371735,
                    "z": -0.09079708158969879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067915916442871,
                "transform": {
                    "location": {
                        "x": -1042.3193359375,
                        "y": 3081.600830078125,
                        "z": 356.4198303222656
                    },
                    "rotation": {
                        "roll": 0.0002240745088784024,
                        "pitch": -0.6585394740104675,
                        "yaw": 178.82298278808594
                    }
                },
                "velocity": {
                    "x": -8.065470695495605,
                    "y": 0.1708219349384308,
                    "z": -0.10129820555448532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.7928466796875,
                        "y": 3094.46240234375,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.7144775390625,
                        "y": 3097.9619140625,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.6363525390625,
                        "y": 3101.46044921875,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1143.5582275390625,
                        "y": 3104.959716796875,
                        "z": 353.5531311035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.301323890686035,
                "transform": {
                    "location": {
                        "x": -1064.105224609375,
                        "y": 3075.177978515625,
                        "z": 356.06976318359375
                    },
                    "rotation": {
                        "roll": -0.0010070792632177472,
                        "pitch": -1.029630422592163,
                        "yaw": 178.72296142578125
                    }
                },
                "velocity": {
                    "x": -13.29554557800293,
                    "y": 0.29651960730552673,
                    "z": -0.2564533054828644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4547,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.4017333984375,
                        "y": 3081.795166015625,
                        "z": 345.7720947265625
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.716552734375,
                        "y": 3080.4619140625,
                        "z": 346.54608154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1267.63623046875,
                        "y": 3079.724853515625,
                        "z": 347.7035217285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1221.3997802734375,
                        "y": 3078.692138671875,
                        "z": 349.97857666015625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1180.0902099609375,
                        "y": 3077.769287109375,
                        "z": 352.13958740234375
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.1007080078125,
                        "y": 3077.2333984375,
                        "z": 353.1183776855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.801342964172363,
                "transform": {
                    "location": {
                        "x": -1086.9156494140625,
                        "y": 3075.686767578125,
                        "z": 355.53839111328125
                    },
                    "rotation": {
                        "roll": -0.0021362316329032183,
                        "pitch": -1.1731873750686646,
                        "yaw": 178.7189178466797
                    }
                },
                "velocity": {
                    "x": -14.791837692260742,
                    "y": 0.32905909419059753,
                    "z": -0.41593703627586365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.062005043029785,
                "transform": {
                    "location": {
                        "x": -1009.2391967773438,
                        "y": 3047.768310546875,
                        "z": 359.472412109375
                    },
                    "rotation": {
                        "roll": 0.017653396353125572,
                        "pitch": -3.4369168281555176,
                        "yaw": 168.6881561279297
                    }
                },
                "velocity": {
                    "x": -7.89100456237793,
                    "y": 1.5820324420928955,
                    "z": -0.47448110580444336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0569429397583,
                "transform": {
                    "location": {
                        "x": -1027.4249267578125,
                        "y": 3051.6376953125,
                        "z": 358.3844909667969
                    },
                    "rotation": {
                        "roll": 0.002553903963416815,
                        "pitch": -3.3951706886291504,
                        "yaw": 167.2194366455078
                    }
                },
                "velocity": {
                    "x": -7.843024730682373,
                    "y": 1.7823634147644043,
                    "z": -0.473781943321228
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19562625885009766,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            54.56304825027345,
            5.75931210754012
        ],
        "target_point_next": [
            66.97155920042867,
            9.078288210296856
        ]
    },
    "185": {
        "acceleration": [
            -0.2977180480957031,
            -0.07170677185058594,
            0.10921001434326172
        ],
        "angular_velocity": [
            -0.20386193692684174,
            0.6580415964126587,
            0.8035980463027954
        ],
        "forward_vector": [
            -0.9564827084541321,
            0.28899624943733215,
            -0.04027409106492996
        ],
        "right_vector": [
            -0.2892352342605591,
            -0.9572580456733704,
            0.00011176150292158127
        ],
        "location": [
            -1068.5906982421875,
            3063.4970703125,
            356.2269592285156
        ],
        "rotation": [
            -0.0064086620695889,
            -2.308159828186035,
            163.18807983398438
        ],
        "velocity": [
            -13.530046463012695,
            4.078301429748535,
            -0.5637509226799011
        ],
        "speed": 14.131337510765613,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.78707122802734,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1141.6331787109375,
                3097.9150390625,
                353.62896728515625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4091636538505554,
                "transform": {
                    "location": {
                        "x": -1026.1925048828125,
                        "y": 3081.3330078125,
                        "z": 356.5216369628906
                    },
                    "rotation": {
                        "roll": -0.0002136232506018132,
                        "pitch": -0.3079800307750702,
                        "yaw": 178.72012329101562
                    }
                },
                "velocity": {
                    "x": 0.0018424828303977847,
                    "y": 0.0002337385667487979,
                    "z": -0.40915945172309875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04068303480744362,
                "transform": {
                    "location": {
                        "x": -1026.2706298828125,
                        "y": 3077.834228515625,
                        "z": 356.5135192871094
                    },
                    "rotation": {
                        "roll": 0.001605443423613906,
                        "pitch": -0.31082141399383545,
                        "yaw": 178.7201385498047
                    }
                },
                "velocity": {
                    "x": 0.0002036432852037251,
                    "y": 0.00011932088091270998,
                    "z": -0.0406823493540287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.5294189453125,
                        "y": 3094.76904296875,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.4510498046875,
                        "y": 3098.268310546875,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.3729248046875,
                        "y": 3101.76708984375,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.2947998046875,
                        "y": 3105.26611328125,
                        "z": 353.05181884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078510284423828,
                "transform": {
                    "location": {
                        "x": -1044.8785400390625,
                        "y": 3078.153564453125,
                        "z": 356.3987121582031
                    },
                    "rotation": {
                        "roll": 0.0009730566525831819,
                        "pitch": -0.7756021022796631,
                        "yaw": 178.79254150390625
                    }
                },
                "velocity": {
                    "x": -8.07587718963623,
                    "y": 0.17363548278808594,
                    "z": -0.11122891306877136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.055536270141602,
                "transform": {
                    "location": {
                        "x": -1044.337158203125,
                        "y": 3081.643798828125,
                        "z": 356.3949890136719
                    },
                    "rotation": {
                        "roll": 0.00025381537852808833,
                        "pitch": -0.782200038433075,
                        "yaw": 178.78404235839844
                    }
                },
                "velocity": {
                    "x": -8.052974700927734,
                    "y": 0.1723857969045639,
                    "z": -0.10742998868227005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.7115478515625,
                        "y": 3094.41552734375,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.6331787109375,
                        "y": 3097.9150390625,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.5550537109375,
                        "y": 3101.41357421875,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.4769287109375,
                        "y": 3104.912841796875,
                        "z": 353.62896728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.243927001953125,
                "transform": {
                    "location": {
                        "x": -1067.553466796875,
                        "y": 3075.255126953125,
                        "z": 356.0012512207031
                    },
                    "rotation": {
                        "roll": -0.0016479502664878964,
                        "pitch": -1.115383505821228,
                        "yaw": 178.7171630859375
                    }
                },
                "velocity": {
                    "x": -14.237300872802734,
                    "y": 0.318729043006897,
                    "z": -0.29519128799438477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.959716796875,
                        "y": 3080.607421875,
                        "z": 346.4049072265625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1271.87890625,
                        "y": 3079.819580078125,
                        "z": 347.51971435546875
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1225.640380859375,
                        "y": 3078.786865234375,
                        "z": 349.7552185058594
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.332275390625,
                        "y": 3077.86376953125,
                        "z": 351.94146728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.34423828125,
                        "y": 3077.328125,
                        "z": 352.9625244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.518442153930664,
                "transform": {
                    "location": {
                        "x": -1090.6754150390625,
                        "y": 3075.771484375,
                        "z": 355.4313659667969
                    },
                    "rotation": {
                        "roll": 0.0023503610864281654,
                        "pitch": -1.3118948936462402,
                        "yaw": 178.70651245117188
                    }
                },
                "velocity": {
                    "x": -15.507793426513672,
                    "y": 0.3496740162372589,
                    "z": -0.4561917781829834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046202659606934,
                "transform": {
                    "location": {
                        "x": -1011.209716796875,
                        "y": 3048.16357421875,
                        "z": 359.3540954589844
                    },
                    "rotation": {
                        "roll": 0.01882871426641941,
                        "pitch": -3.432060480117798,
                        "yaw": 168.65142822265625
                    }
                },
                "velocity": {
                    "x": -7.874986171722412,
                    "y": 1.5818418264389038,
                    "z": -0.4730147421360016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.085583686828613,
                "transform": {
                    "location": {
                        "x": -1029.3885498046875,
                        "y": 3052.0947265625,
                        "z": 358.26605224609375
                    },
                    "rotation": {
                        "roll": 0.024266665801405907,
                        "pitch": -3.3848230838775635,
                        "yaw": 166.8784942626953
                    }
                },
                "velocity": {
                    "x": -7.857579708099365,
                    "y": 1.8468555212020874,
                    "z": -0.4735291302204132
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1663602739572525,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            51.039782352836,
            5.73005791227477
        ],
        "target_point_next": [
            63.45007669333096,
            9.042359340748765
        ]
    },
    "190": {
        "acceleration": [
            -0.5341148376464844,
            -0.3241443634033203,
            0.04132390022277832
        ],
        "angular_velocity": [
            -0.30367451906204224,
            0.18595685064792633,
            2.060047149658203
        ],
        "forward_vector": [
            -0.9585738778114319,
            0.2821683883666992,
            -0.03894893079996109
        ],
        "right_vector": [
            -0.28246843814849854,
            -0.9592738151550293,
            0.00231359270401299
        ],
        "location": [
            -1071.9886474609375,
            3064.50927734375,
            356.08734130859375
        ],
        "rotation": [
            -0.1326598823070526,
            -2.2321739196777344,
            163.5975341796875
        ],
        "velocity": [
            -13.64942741394043,
            4.009332656860352,
            -0.5509284138679504
        ],
        "speed": 14.22608931090324,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.38776397705078,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1139.5518798828125,
                3097.86865234375,
                353.7048645019531
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.2523193359375,
                        "y": 3095.075927734375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.1739501953125,
                        "y": 3098.574951171875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0958251953125,
                        "y": 3102.073974609375,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0177001953125,
                        "y": 3105.572998046875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12802335619926453,
                "transform": {
                    "location": {
                        "x": -1026.192626953125,
                        "y": 3081.3330078125,
                        "z": 356.5382995605469
                    },
                    "rotation": {
                        "roll": -0.0004272458900231868,
                        "pitch": -0.30321940779685974,
                        "yaw": 178.7201385498047
                    }
                },
                "velocity": {
                    "x": -0.000618388585280627,
                    "y": -8.390234870603308e-05,
                    "z": 0.12802183628082275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.31046321988105774,
                "transform": {
                    "location": {
                        "x": -1026.2763671875,
                        "y": 3077.834228515625,
                        "z": 356.5439758300781
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.28207314014434814,
                        "yaw": 178.71275329589844
                    }
                },
                "velocity": {
                    "x": -0.2938985228538513,
                    "y": 0.0025030814576894045,
                    "z": 0.10002406686544418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.4481201171875,
                        "y": 3094.722412109375,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.3697509765625,
                        "y": 3098.221923828125,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2916259765625,
                        "y": 3101.720947265625,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2135009765625,
                        "y": 3105.219970703125,
                        "z": 353.1279602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048776626586914,
                "transform": {
                    "location": {
                        "x": -1046.8941650390625,
                        "y": 3078.197021484375,
                        "z": 356.37127685546875
                    },
                    "rotation": {
                        "roll": 0.0017649021465331316,
                        "pitch": -0.7748371362686157,
                        "yaw": 178.74391174316406
                    }
                },
                "velocity": {
                    "x": -8.046113967895508,
                    "y": 0.17553752660751343,
                    "z": -0.10972187668085098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06110668182373,
                "transform": {
                    "location": {
                        "x": -1046.349609375,
                        "y": 3081.686767578125,
                        "z": 356.36767578125
                    },
                    "rotation": {
                        "roll": 6.533548730658367e-05,
                        "pitch": -0.7742360234260559,
                        "yaw": 178.76747131347656
                    }
                },
                "velocity": {
                    "x": -8.058481216430664,
                    "y": 0.17479249835014343,
                    "z": -0.10850543528795242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.6302490234375,
                        "y": 3094.36962890625,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.5518798828125,
                        "y": 3097.86865234375,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.4737548828125,
                        "y": 3101.36767578125,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1139.3956298828125,
                        "y": 3104.86669921875,
                        "z": 353.7048645019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.130210876464844,
                "transform": {
                    "location": {
                        "x": -1071.227783203125,
                        "y": 3075.33740234375,
                        "z": 355.9235534667969
                    },
                    "rotation": {
                        "roll": -0.0001831048575695604,
                        "pitch": -1.1791090965270996,
                        "yaw": 178.71266174316406
                    }
                },
                "velocity": {
                    "x": -15.1226224899292,
                    "y": 0.339637815952301,
                    "z": -0.3379623591899872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.2044677734375,
                        "y": 3080.76708984375,
                        "z": 346.2674865722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.1231689453125,
                        "y": 3079.91455078125,
                        "z": 347.3421325683594
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1229.88232421875,
                        "y": 3078.881591796875,
                        "z": 349.5353088378906
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.5745849609375,
                        "y": 3077.958740234375,
                        "z": 351.7349548339844
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.588134765625,
                        "y": 3077.4228515625,
                        "z": 352.7997131347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.375728607177734,
                "transform": {
                    "location": {
                        "x": -1094.674560546875,
                        "y": 3075.861572265625,
                        "z": 355.31103515625
                    },
                    "rotation": {
                        "roll": -0.0020141617860645056,
                        "pitch": -1.3790833950042725,
                        "yaw": 178.71484375
                    }
                },
                "velocity": {
                    "x": -16.36393928527832,
                    "y": 0.36560389399528503,
                    "z": -0.5023233890533447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.066795349121094,
                "transform": {
                    "location": {
                        "x": -1013.180908203125,
                        "y": 3048.56201171875,
                        "z": 359.2356262207031
                    },
                    "rotation": {
                        "roll": 0.04293425753712654,
                        "pitch": -3.4237618446350098,
                        "yaw": 168.54808044433594
                    }
                },
                "velocity": {
                    "x": -7.888654708862305,
                    "y": 1.6176027059555054,
                    "z": -0.4750450849533081
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.061934471130371,
                "transform": {
                    "location": {
                        "x": -1031.3494873046875,
                        "y": 3052.55810546875,
                        "z": 358.1482238769531
                    },
                    "rotation": {
                        "roll": 0.008589842356741428,
                        "pitch": -3.367638349533081,
                        "yaw": 166.69580078125
                    }
                },
                "velocity": {
                    "x": -7.830813884735107,
                    "y": 1.85797917842865,
                    "z": -0.4701584577560425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10450641065835953,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            47.53393651417157,
            5.376681115860012
        ],
        "target_point_next": [
            59.967583111275935,
            8.600216235741215
        ]
    },
    "195": {
        "acceleration": [
            -0.41477203369140625,
            -0.013079643249511719,
            0.12030720710754395
        ],
        "angular_velocity": [
            0.2193807065486908,
            0.4492097795009613,
            0.3694232404232025
        ],
        "forward_vector": [
            -0.9601100087165833,
            0.2771838903427124,
            -0.03684770688414574
        ],
        "right_vector": [
            -0.27746421098709106,
            -0.9607323408126831,
            0.00262249237857759
        ],
        "location": [
            -1075.416259765625,
            3065.508056640625,
            355.95166015625
        ],
        "rotation": [
            -0.15036003291606903,
            -2.111696243286133,
            163.8965606689453
        ],
        "velocity": [
            -13.758909225463867,
            3.9831504821777344,
            -0.5300577282905579
        ],
        "speed": 14.32386368401443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.99734497070312,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1137.4705810546875,
                3097.82177734375,
                353.7807312011719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.184814453125,
                        "y": 3095.029541015625,
                        "z": 352.6190490722656
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.1063232421875,
                        "y": 3098.529052734375,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.0281982421875,
                        "y": 3102.028076171875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.9500732421875,
                        "y": 3105.52685546875,
                        "z": 352.6190185546875
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6809329986572266,
                "transform": {
                    "location": {
                        "x": -1026.418701171875,
                        "y": 3081.3349609375,
                        "z": 356.5545654296875
                    },
                    "rotation": {
                        "roll": -0.008880611509084702,
                        "pitch": -0.12481486797332764,
                        "yaw": 178.882080078125
                    }
                },
                "velocity": {
                    "x": -1.6807504892349243,
                    "y": 0.014604843221604824,
                    "z": 0.019998682662844658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7530490159988403,
                "transform": {
                    "location": {
                        "x": -1026.574951171875,
                        "y": 3077.837646484375,
                        "z": 356.5552978515625
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.1386733204126358,
                        "yaw": 178.8424835205078
                    }
                },
                "velocity": {
                    "x": -1.7527750730514526,
                    "y": 0.029032422229647636,
                    "z": 0.010836810804903507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.3668212890625,
                        "y": 3094.67626953125,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2884521484375,
                        "y": 3098.175537109375,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.2103271484375,
                        "y": 3101.67431640625,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.1322021484375,
                        "y": 3105.17333984375,
                        "z": 353.2039794921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056564331054688,
                "transform": {
                    "location": {
                        "x": -1048.9056396484375,
                        "y": 3078.2412109375,
                        "z": 356.3439636230469
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.7869880199432373,
                        "yaw": 178.76210021972656
                    }
                },
                "velocity": {
                    "x": -8.053786277770996,
                    "y": 0.1767147034406662,
                    "z": -0.11629468947649002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036388397216797,
                "transform": {
                    "location": {
                        "x": -1048.3609619140625,
                        "y": 3081.730224609375,
                        "z": 356.3406677246094
                    },
                    "rotation": {
                        "roll": 0.00024650676641613245,
                        "pitch": -0.7684030532836914,
                        "yaw": 178.7593536376953
                    }
                },
                "velocity": {
                    "x": -8.033754348754883,
                    "y": 0.17557378113269806,
                    "z": -0.10728462785482407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.992855072021484,
                "transform": {
                    "location": {
                        "x": -1137.5614013671875,
                        "y": 3094.32470703125,
                        "z": 353.7801208496094
                    },
                    "rotation": {
                        "roll": -0.0159912146627903,
                        "pitch": 2.053755760192871,
                        "yaw": -1.2096861600875854
                    }
                },
                "velocity": {
                    "x": 7.986495018005371,
                    "y": -0.13731952011585236,
                    "z": 0.28770682215690613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.4705810546875,
                        "y": 3097.82177734375,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.3924560546875,
                        "y": 3101.32080078125,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.3143310546875,
                        "y": 3104.81982421875,
                        "z": 353.7807312011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.905619621276855,
                "transform": {
                    "location": {
                        "x": -1075.1163330078125,
                        "y": 3075.424560546875,
                        "z": 355.8349914550781
                    },
                    "rotation": {
                        "roll": -0.0003051743842661381,
                        "pitch": -1.2875657081604004,
                        "yaw": 178.71969604492188
                    }
                },
                "velocity": {
                    "x": -15.8972806930542,
                    "y": 0.35555997490882874,
                    "z": -0.3725534975528717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.4486083984375,
                        "y": 3080.94189453125,
                        "z": 346.1405029296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.367431640625,
                        "y": 3080.00927734375,
                        "z": 347.17095947265625
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.1241455078125,
                        "y": 3078.975830078125,
                        "z": 349.3182067871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.8167724609375,
                        "y": 3078.053466796875,
                        "z": 351.52105712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.832275390625,
                        "y": 3077.517822265625,
                        "z": 352.6287841796875
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.558134078979492,
                "transform": {
                    "location": {
                        "x": -1098.7977294921875,
                        "y": 3075.95361328125,
                        "z": 355.18182373046875
                    },
                    "rotation": {
                        "roll": -0.0012817378155887127,
                        "pitch": -1.692015290260315,
                        "yaw": 178.72393798828125
                    }
                },
                "velocity": {
                    "x": -16.545204162597656,
                    "y": 0.3712458610534668,
                    "z": -0.5387334227561951
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046786308288574,
                "transform": {
                    "location": {
                        "x": -1015.1500854492188,
                        "y": 3048.9677734375,
                        "z": 359.1175231933594
                    },
                    "rotation": {
                        "roll": 0.038060262799263,
                        "pitch": -3.427518606185913,
                        "yaw": 168.34022521972656
                    }
                },
                "velocity": {
                    "x": -7.865703582763672,
                    "y": 1.6309013366699219,
                    "z": -0.47078582644462585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068967819213867,
                "transform": {
                    "location": {
                        "x": -1033.306640625,
                        "y": 3053.028076171875,
                        "z": 358.0318603515625
                    },
                    "rotation": {
                        "roll": 0.028545860201120377,
                        "pitch": -3.3126211166381836,
                        "yaw": 166.4462127685547
                    }
                },
                "velocity": {
                    "x": -7.826409816741943,
                    "y": 1.9083338975906372,
                    "z": -0.4623965322971344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0632239505648613,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            43.99119716221236,
            5.137374916956917
        ],
        "target_point_next": [
            56.441499431009674,
            8.295969507336116
        ]
    },
    "200": {
        "acceleration": [
            -0.5405616760253906,
            -0.19411087036132812,
            -0.04477739334106445
        ],
        "angular_velocity": [
            0.5055674314498901,
            0.7370171546936035,
            0.7056419253349304
        ],
        "forward_vector": [
            -0.9605073928833008,
            0.2762068808078766,
            -0.03369325026869774
        ],
        "right_vector": [
            -0.27642831206321716,
            -0.9610323905944824,
            0.0020084776915609837
        ],
        "location": [
            -1078.872314453125,
            3066.505615234375,
            355.8232727050781
        ],
        "rotation": [
            -0.11514276266098022,
            -1.9308465719223022,
            163.95669555664062
        ],
        "velocity": [
            -13.875950813293457,
            3.9805843830108643,
            -0.4991099536418915
        ],
        "speed": 14.435617860112858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.67982482910156,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1135.4478759765625,
                3097.791748046875,
                353.8577575683594
            ],
            "velocity": [
                7.938272953033447,
                -0.06280897557735443,
                0.30360499024391174
            ],
            "speed_kmh": 28.599569711964527,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8677358627319336,
                "transform": {
                    "location": {
                        "x": -1040.4720458984375,
                        "y": 3074.650146484375,
                        "z": 356.4779968261719
                    },
                    "rotation": {
                        "roll": 0.0001374548301100731,
                        "pitch": -0.5727249979972839,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": 0.009943360462784767,
                    "y": -0.0001557174837216735,
                    "z": -0.8676788806915283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.1583251953125,
                        "y": 3094.984619140625,
                        "z": 352.6921691894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.0633544921875,
                        "y": 3098.4833984375,
                        "z": 352.6927185058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.9625244140625,
                        "y": 3101.9814453125,
                        "z": 352.69354248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.8687744140625,
                        "y": 3105.47998046875,
                        "z": 352.6941223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7403652667999268,
                "transform": {
                    "location": {
                        "x": -1026.9661865234375,
                        "y": 3081.3427734375,
                        "z": 356.5548400878906
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.14889810979366302,
                        "yaw": 178.9866943359375
                    }
                },
                "velocity": {
                    "x": -2.740057945251465,
                    "y": 0.03958498686552048,
                    "z": -0.010840377770364285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.1296091079711914,
                "transform": {
                    "location": {
                        "x": -1027.1827392578125,
                        "y": 3077.84619140625,
                        "z": 356.5543212890625
                    },
                    "rotation": {
                        "roll": -0.004577635787427425,
                        "pitch": -0.12628336250782013,
                        "yaw": 179.023193359375
                    }
                },
                "velocity": {
                    "x": -3.129262685775757,
                    "y": 0.044407181441783905,
                    "z": -0.014029741287231445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.3614501953125,
                        "y": 3094.6318359375,
                        "z": 353.2771301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.2529296875,
                        "y": 3098.130615234375,
                        "z": 353.2781982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.1500244140625,
                        "y": 3101.62841796875,
                        "z": 353.2790832519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.0509033203125,
                        "y": 3105.126708984375,
                        "z": 353.2798767089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062808990478516,
                "transform": {
                    "location": {
                        "x": -1050.9195556640625,
                        "y": 3078.28564453125,
                        "z": 356.3135986328125
                    },
                    "rotation": {
                        "roll": 0.0012576727895066142,
                        "pitch": -0.9427504539489746,
                        "yaw": 178.72445678710938
                    }
                },
                "velocity": {
                    "x": -8.059918403625488,
                    "y": 0.17779384553432465,
                    "z": -0.12242555618286133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084709167480469,
                "transform": {
                    "location": {
                        "x": -1050.375732421875,
                        "y": 3081.7744140625,
                        "z": 356.3109436035156
                    },
                    "rotation": {
                        "roll": 0.0006128083914518356,
                        "pitch": -0.8859847784042358,
                        "yaw": 178.74176025390625
                    }
                },
                "velocity": {
                    "x": -8.0816650390625,
                    "y": 0.17916645109653473,
                    "z": -0.13080167770385742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084362030029297,
                "transform": {
                    "location": {
                        "x": -1135.552734375,
                        "y": 3094.301513671875,
                        "z": 353.8525390625
                    },
                    "rotation": {
                        "roll": -0.005523681174963713,
                        "pitch": 2.07716965675354,
                        "yaw": -0.585113525390625
                    }
                },
                "velocity": {
                    "x": 8.078747749328613,
                    "y": -0.06611666083335876,
                    "z": 0.29388928413391113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.944324970245361,
                "transform": {
                    "location": {
                        "x": -1135.4478759765625,
                        "y": 3097.791748046875,
                        "z": 353.8577575683594
                    },
                    "rotation": {
                        "roll": -0.050628662109375,
                        "pitch": 2.053687572479248,
                        "yaw": -0.7720335721969604
                    }
                },
                "velocity": {
                    "x": 7.938272953033447,
                    "y": -0.06280897557735443,
                    "z": 0.30360499024391174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9827094078063965,
                "transform": {
                    "location": {
                        "x": -1135.343994140625,
                        "y": 3101.282958984375,
                        "z": 353.85736083984375
                    },
                    "rotation": {
                        "roll": -0.0564269982278347,
                        "pitch": 2.0453615188598633,
                        "yaw": -0.9866027235984802
                    }
                },
                "velocity": {
                    "x": 7.97645902633667,
                    "y": -0.07733593881130219,
                    "z": 0.306223601102829
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990315914154053,
                "transform": {
                    "location": {
                        "x": -1135.245849609375,
                        "y": 3104.776123046875,
                        "z": 353.85986328125
                    },
                    "rotation": {
                        "roll": -0.02444457821547985,
                        "pitch": 2.0674092769622803,
                        "yaw": -1.1741639375686646
                    }
                },
                "velocity": {
                    "x": 7.980386257171631,
                    "y": -0.07029243558645248,
                    "z": 0.39197593927383423
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.04062271118164,
                "transform": {
                    "location": {
                        "x": -1079.1202392578125,
                        "y": 3075.513916015625,
                        "z": 355.7390441894531
                    },
                    "rotation": {
                        "roll": -0.0007019012118689716,
                        "pitch": -1.4325501918792725,
                        "yaw": 178.7252655029297
                    }
                },
                "velocity": {
                    "x": -16.031658172607422,
                    "y": 0.35432782769203186,
                    "z": -0.40242472290992737
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.6927490234375,
                        "y": 3081.132080078125,
                        "z": 346.02789306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1284.61181640625,
                        "y": 3080.10400390625,
                        "z": 347.0069580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.365966796875,
                        "y": 3079.07080078125,
                        "z": 349.104248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.058349609375,
                        "y": 3078.147705078125,
                        "z": 351.29986572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.07568359375,
                        "y": 3077.612060546875,
                        "z": 352.4505310058594
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.477725982666016,
                "transform": {
                    "location": {
                        "x": -1102.922119140625,
                        "y": 3076.0458984375,
                        "z": 355.04541015625
                    },
                    "rotation": {
                        "roll": 6.676436169072986e-05,
                        "pitch": -1.8978294134140015,
                        "yaw": 178.71917724609375
                    }
                },
                "velocity": {
                    "x": -16.464031219482422,
                    "y": 0.36796823143959045,
                    "z": -0.5619012117385864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.064605712890625,
                "transform": {
                    "location": {
                        "x": -1017.11865234375,
                        "y": 3049.376220703125,
                        "z": 358.9994812011719
                    },
                    "rotation": {
                        "roll": 0.014080802910029888,
                        "pitch": -3.417997121810913,
                        "yaw": 168.26551818847656
                    }
                },
                "velocity": {
                    "x": -7.881849765777588,
                    "y": 1.640214443206787,
                    "z": -0.4733019173145294
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.071724891662598,
                "transform": {
                    "location": {
                        "x": -1035.263916015625,
                        "y": 3053.5087890625,
                        "z": 357.9169006347656
                    },
                    "rotation": {
                        "roll": 0.020618349313735962,
                        "pitch": -3.2636964321136475,
                        "yaw": 166.18634033203125
                    }
                },
                "velocity": {
                    "x": -7.8238701820373535,
                    "y": 1.9322607517242432,
                    "z": -0.4540625512599945
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08679573237895966,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            40.39942357094836,
            5.09478323814068
        ],
        "target_point_next": [
            52.853033985926345,
            8.240309267717333
        ]
    },
    "205": {
        "acceleration": [
            -0.6173324584960938,
            -0.6009912490844727,
            -0.15509188175201416
        ],
        "angular_velocity": [
            0.14135238528251648,
            -0.5213413834571838,
            3.1614370346069336
        ],
        "forward_vector": [
            -0.9632245302200317,
            0.2665368318557739,
            -0.034011002629995346
        ],
        "right_vector": [
            -0.2667527198791504,
            -0.9637631773948669,
            0.0018929423531517386
        ],
        "location": [
            -1082.359619140625,
            3067.48828125,
            355.70037841796875
        ],
        "rotation": [
            -0.10852045565843582,
            -1.949062705039978,
            164.53253173828125
        ],
        "velocity": [
            -14.02541446685791,
            3.8595378398895264,
            -0.5009292364120483
        ],
        "speed": 14.546761952568216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.41627502441406,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1133.446533203125,
                3097.775146484375,
                353.93206787109375
            ],
            "velocity": [
                8.064779281616211,
                -0.07429879158735275,
                0.2942272424697876
            ],
            "speed_kmh": 29.05375195650471,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.048087410628795624,
                "transform": {
                    "location": {
                        "x": -1040.4718017578125,
                        "y": 3074.650146484375,
                        "z": 356.4404602050781
                    },
                    "rotation": {
                        "roll": -0.0001525875850347802,
                        "pitch": -0.5577327013015747,
                        "yaw": 178.72023010253906
                    }
                },
                "velocity": {
                    "x": -0.0005777990445494652,
                    "y": 8.385235560126603e-05,
                    "z": 0.048083867877721786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.1739501953125,
                        "y": 3094.940185546875,
                        "z": 352.76373291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1165.0506591796875,
                        "y": 3098.438720703125,
                        "z": 352.7654113769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.9404296875,
                        "y": 3101.936767578125,
                        "z": 352.7665100097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.842041015625,
                        "y": 3105.4345703125,
                        "z": 352.7673034667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.255096197128296,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.316895484924316,
                "transform": {
                    "location": {
                        "x": -1027.8603515625,
                        "y": 3081.355224609375,
                        "z": 356.5506286621094
                    },
                    "rotation": {
                        "roll": -0.005279541481286287,
                        "pitch": -0.12771770358085632,
                        "yaw": 179.10487365722656
                    }
                },
                "velocity": {
                    "x": -4.316431999206543,
                    "y": 0.05914176627993584,
                    "z": -0.02243613265454769
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.650479316711426,
                "transform": {
                    "location": {
                        "x": -1028.1688232421875,
                        "y": 3077.85986328125,
                        "z": 356.54937744140625
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -0.13022437691688538,
                        "yaw": 179.13536071777344
                    }
                },
                "velocity": {
                    "x": -4.649975776672363,
                    "y": 0.06302239000797272,
                    "z": -0.02672186866402626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.372314453125,
                        "y": 3094.587158203125,
                        "z": 353.349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.25634765625,
                        "y": 3098.0859375,
                        "z": 353.3510437011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.14404296875,
                        "y": 3101.583984375,
                        "z": 353.352294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.0450439453125,
                        "y": 3105.08203125,
                        "z": 353.35302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056501388549805,
                "transform": {
                    "location": {
                        "x": -1052.9332275390625,
                        "y": 3078.329833984375,
                        "z": 356.28045654296875
                    },
                    "rotation": {
                        "roll": 7.302343874471262e-05,
                        "pitch": -0.9849473834037781,
                        "yaw": 178.74937438964844
                    }
                },
                "velocity": {
                    "x": -8.053353309631348,
                    "y": 0.17754167318344116,
                    "z": -0.13852980732917786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026004791259766,
                "transform": {
                    "location": {
                        "x": -1052.38720703125,
                        "y": 3081.819091796875,
                        "z": 356.2785949707031
                    },
                    "rotation": {
                        "roll": -0.0004577648069243878,
                        "pitch": -0.9870920777320862,
                        "yaw": 178.72943115234375
                    }
                },
                "velocity": {
                    "x": -8.022812843322754,
                    "y": 0.17989809811115265,
                    "z": -0.13734179735183716
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.781269073486328,
                "transform": {
                    "location": {
                        "x": -1133.572265625,
                        "y": 3094.286376953125,
                        "z": 353.9245300292969
                    },
                    "rotation": {
                        "roll": 0.033645711839199066,
                        "pitch": 2.0799427032470703,
                        "yaw": -0.46209704875946045
                    }
                },
                "velocity": {
                    "x": 7.775652885437012,
                    "y": -0.08198804408311844,
                    "z": 0.2839833199977875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070487022399902,
                "transform": {
                    "location": {
                        "x": -1133.446533203125,
                        "y": 3097.775146484375,
                        "z": 353.93206787109375
                    },
                    "rotation": {
                        "roll": 0.02936175838112831,
                        "pitch": 2.0883984565734863,
                        "yaw": -0.3509215712547302
                    }
                },
                "velocity": {
                    "x": 8.064779281616211,
                    "y": -0.07429879158735275,
                    "z": 0.2942272424697876
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.10813045501709,
                "transform": {
                    "location": {
                        "x": -1133.3333740234375,
                        "y": 3101.264892578125,
                        "z": 353.9331970214844
                    },
                    "rotation": {
                        "roll": 0.007417237386107445,
                        "pitch": 2.0787951946258545,
                        "yaw": -0.3915404975414276
                    }
                },
                "velocity": {
                    "x": 8.10225772857666,
                    "y": -0.07044937461614609,
                    "z": 0.30039140582084656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.083521842956543,
                "transform": {
                    "location": {
                        "x": -1133.237060546875,
                        "y": 3104.760986328125,
                        "z": 353.95611572265625
                    },
                    "rotation": {
                        "roll": 0.031049685552716255,
                        "pitch": 2.0802910327911377,
                        "yaw": -0.4306640028953552
                    }
                },
                "velocity": {
                    "x": 8.075772285461426,
                    "y": -0.07887405157089233,
                    "z": 0.34498274326324463
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.882283210754395,
                "transform": {
                    "location": {
                        "x": -1083.10693359375,
                        "y": 3075.602783203125,
                        "z": 355.6369323730469
                    },
                    "rotation": {
                        "roll": 0.0006259395158849657,
                        "pitch": -1.484732747077942,
                        "yaw": 178.72244262695312
                    }
                },
                "velocity": {
                    "x": -15.872748374938965,
                    "y": 0.3557855486869812,
                    "z": -0.41977134346961975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.9365234375,
                        "y": 3081.33935546875,
                        "z": 345.9295654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.8560791015625,
                        "y": 3080.204833984375,
                        "z": 346.85125732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.60791015625,
                        "y": 3079.16552734375,
                        "z": 348.8931884765625
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.2994384765625,
                        "y": 3078.24267578125,
                        "z": 351.07171630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.31884765625,
                        "y": 3077.706787109375,
                        "z": 352.2648620605469
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.43927001953125,
                "transform": {
                    "location": {
                        "x": -1107.0301513671875,
                        "y": 3076.137451171875,
                        "z": 354.9026184082031
                    },
                    "rotation": {
                        "roll": -0.003753659315407276,
                        "pitch": -2.0624916553497314,
                        "yaw": 178.72869873046875
                    }
                },
                "velocity": {
                    "x": -16.424884796142578,
                    "y": 0.3630863428115845,
                    "z": -0.583871603012085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.048453330993652,
                "transform": {
                    "location": {
                        "x": -1019.0855102539062,
                        "y": 3049.79248046875,
                        "z": 358.88140869140625
                    },
                    "rotation": {
                        "roll": 0.05076129361987114,
                        "pitch": -3.429198741912842,
                        "yaw": 168.00328063964844
                    }
                },
                "velocity": {
                    "x": -7.855242729187012,
                    "y": 1.6885110139846802,
                    "z": -0.4708341956138611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064580917358398,
                "transform": {
                    "location": {
                        "x": -1037.21923828125,
                        "y": 3053.9931640625,
                        "z": 357.80389404296875
                    },
                    "rotation": {
                        "roll": 0.003849694738164544,
                        "pitch": -3.2008655071258545,
                        "yaw": 166.08489990234375
                    }
                },
                "velocity": {
                    "x": -7.815086364746094,
                    "y": 1.9396331310272217,
                    "z": -0.446895956993103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10937728732824326,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            36.82551650573927,
            4.705551557976102
        ],
        "target_point_next": [
            49.31011090390817,
            7.725758352883086
        ]
    },
    "210": {
        "acceleration": [
            -0.6956291198730469,
            -1.1723756790161133,
            0.17122924327850342
        ],
        "angular_velocity": [
            0.06895390152931213,
            2.7334938049316406,
            5.492636680603027
        ],
        "forward_vector": [
            -0.9681848883628845,
            0.2481706291437149,
            -0.032085515558719635
        ],
        "right_vector": [
            -0.24835333228111267,
            -0.9686678647994995,
            0.0017775421729311347
        ],
        "location": [
            -1085.8883056640625,
            3068.427978515625,
            355.576171875
        ],
        "rotation": [
            -0.1018981859087944,
            -1.8386800289154053,
            165.62315368652344
        ],
        "velocity": [
            -14.199114799499512,
            3.6087746620178223,
            -0.46277403831481934
        ],
        "speed": 14.650532947663983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.22555923461914,
        "front_vehicle_info": {
            "id": 4558,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                -1131.4722900390625,
                3097.75439453125,
                354.00360107421875
            ],
            "velocity": [
                7.7418365478515625,
                -0.10157153010368347,
                0.280082106590271
            ],
            "speed_kmh": 27.8912415429951,
            "color": "12,42,12"
        },
        "other_vehicles": [
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8172560334205627,
                "transform": {
                    "location": {
                        "x": -1040.50927734375,
                        "y": 3074.651123046875,
                        "z": 356.44879150390625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.471890926361084,
                        "yaw": 178.7150115966797
                    }
                },
                "velocity": {
                    "x": -0.8169938325881958,
                    "y": 0.018779972568154335,
                    "z": 0.008705845102667809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.2203369140625,
                        "y": 3094.895751953125,
                        "z": 352.8379211425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.07373046875,
                        "y": 3098.394287109375,
                        "z": 352.8404541015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.9537353515625,
                        "y": 3101.89208984375,
                        "z": 352.84197998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1162.8560791015625,
                        "y": 3105.390625,
                        "z": 352.8426818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.372307777404785,
                "transform": {
                    "location": {
                        "x": -1029.1077880859375,
                        "y": 3081.371826171875,
                        "z": 356.54327392578125
                    },
                    "rotation": {
                        "roll": -0.006256103515625,
                        "pitch": -0.176731139421463,
                        "yaw": 179.20834350585938
                    }
                },
                "velocity": {
                    "x": -5.371737480163574,
                    "y": 0.07045423239469528,
                    "z": -0.03412378579378128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.436188697814941,
                "transform": {
                    "location": {
                        "x": -1029.46923828125,
                        "y": 3077.876708984375,
                        "z": 356.5414123535156
                    },
                    "rotation": {
                        "roll": -0.005889892112463713,
                        "pitch": -0.21771226823329926,
                        "yaw": 179.22032165527344
                    }
                },
                "velocity": {
                    "x": -5.435635089874268,
                    "y": 0.07012984156608582,
                    "z": -0.03311785310506821
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.806424617767334,
                "transform": {
                    "location": {
                        "x": -1147.427490234375,
                        "y": 3094.546875,
                        "z": 353.4201354980469
                    },
                    "rotation": {
                        "roll": -0.013519288040697575,
                        "pitch": 2.059062957763672,
                        "yaw": -1.1337890625
                    }
                },
                "velocity": {
                    "x": 7.800306797027588,
                    "y": -0.12901149690151215,
                    "z": 0.2807765305042267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.6808552742004395,
                "transform": {
                    "location": {
                        "x": -1147.2861328125,
                        "y": 3098.042724609375,
                        "z": 353.4229736328125
                    },
                    "rotation": {
                        "roll": 0.012775247916579247,
                        "pitch": 2.1143670082092285,
                        "yaw": -1.2284544706344604
                    }
                },
                "velocity": {
                    "x": 7.674506664276123,
                    "y": -0.1155032068490982,
                    "z": 0.2900755703449249
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.151123046875,
                        "y": 3101.539306640625,
                        "z": 353.4249267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.054931640625,
                        "y": 3105.037353515625,
                        "z": 353.4255065917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059823036193848,
                "transform": {
                    "location": {
                        "x": -1054.947021484375,
                        "y": 3078.375,
                        "z": 356.2459716796875
                    },
                    "rotation": {
                        "roll": 0.0017455449560657144,
                        "pitch": -0.9776595830917358,
                        "yaw": 178.71263122558594
                    }
                },
                "velocity": {
                    "x": -8.05664348602295,
                    "y": 0.1799105554819107,
                    "z": -0.13734839856624603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.085160255432129,
                "transform": {
                    "location": {
                        "x": -1054.40087890625,
                        "y": 3081.86376953125,
                        "z": 356.2440490722656
                    },
                    "rotation": {
                        "roll": -0.0005187976639717817,
                        "pitch": -0.9756446480751038,
                        "yaw": 178.72439575195312
                    }
                },
                "velocity": {
                    "x": -8.081977844238281,
                    "y": 0.17996807396411896,
                    "z": -0.13804176449775696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4559,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.879393100738525,
                "transform": {
                    "location": {
                        "x": -1131.61572265625,
                        "y": 3094.260986328125,
                        "z": 353.995849609375
                    },
                    "rotation": {
                        "roll": 0.030876949429512024,
                        "pitch": 2.0887606143951416,
                        "yaw": -0.7740782499313354
                    }
                },
                "velocity": {
                    "x": 7.873363971710205,
                    "y": -0.11329276114702225,
                    "z": 0.2865957021713257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4558,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.7475666999816895,
                "transform": {
                    "location": {
                        "x": -1131.4722900390625,
                        "y": 3097.75439453125,
                        "z": 354.00360107421875
                    },
                    "rotation": {
                        "roll": 0.05804720148444176,
                        "pitch": 2.08803653717041,
                        "yaw": -0.5845336318016052
                    }
                },
                "velocity": {
                    "x": 7.7418365478515625,
                    "y": -0.10157153010368347,
                    "z": 0.280082106590271
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4557,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.786038398742676,
                "transform": {
                    "location": {
                        "x": -1131.3494873046875,
                        "y": 3101.24462890625,
                        "z": 354.00537109375
                    },
                    "rotation": {
                        "roll": 0.0562923289835453,
                        "pitch": 2.089245557785034,
                        "yaw": -0.524993896484375
                    }
                },
                "velocity": {
                    "x": 7.780398845672607,
                    "y": -0.09227878600358963,
                    "z": 0.2815471291542053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4556,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.791666507720947,
                "transform": {
                    "location": {
                        "x": -1131.2554931640625,
                        "y": 3104.739501953125,
                        "z": 354.03436279296875
                    },
                    "rotation": {
                        "roll": 0.028668677434325218,
                        "pitch": 2.0837745666503906,
                        "yaw": -0.6050718426704407
                    }
                },
                "velocity": {
                    "x": 7.785557270050049,
                    "y": -0.0970027968287468,
                    "z": 0.2928318977355957
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.830324172973633,
                "transform": {
                    "location": {
                        "x": -1087.064697265625,
                        "y": 3075.691162109375,
                        "z": 355.52880859375
                    },
                    "rotation": {
                        "roll": 0.00016672449419274926,
                        "pitch": -1.6230441331863403,
                        "yaw": 178.72015380859375
                    }
                },
                "velocity": {
                    "x": -15.820104598999023,
                    "y": 0.3514319062232971,
                    "z": -0.44715484976768494
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.1798095703125,
                        "y": 3081.560546875,
                        "z": 345.8442077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.100341796875,
                        "y": 3080.3193359375,
                        "z": 346.7019348144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1246.849853515625,
                        "y": 3079.260498046875,
                        "z": 348.6847839355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.5401611328125,
                        "y": 3078.33740234375,
                        "z": 350.838623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.5614013671875,
                        "y": 3077.8017578125,
                        "z": 352.072021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.442955017089844,
                "transform": {
                    "location": {
                        "x": -1111.1358642578125,
                        "y": 3076.228759765625,
                        "z": 354.75518798828125
                    },
                    "rotation": {
                        "roll": -0.0003051774110645056,
                        "pitch": -2.1178228855133057,
                        "yaw": 178.73109436035156
                    }
                },
                "velocity": {
                    "x": -16.42801856994629,
                    "y": 0.3665579855442047,
                    "z": -0.5971549153327942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.064414024353027,
                "transform": {
                    "location": {
                        "x": -1021.0512084960938,
                        "y": 3050.216064453125,
                        "z": 358.7633361816406
                    },
                    "rotation": {
                        "roll": 0.03513450548052788,
                        "pitch": -3.418605089187622,
                        "yaw": 167.81063842773438
                    }
                },
                "velocity": {
                    "x": -7.867708683013916,
                    "y": 1.7060047388076782,
                    "z": -0.4727301597595215
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.068841934204102,
                "transform": {
                    "location": {
                        "x": -1039.1712646484375,
                        "y": 3054.48876953125,
                        "z": 357.6928405761719
                    },
                    "rotation": {
                        "roll": 0.02708696387708187,
                        "pitch": -3.149413824081421,
                        "yaw": 165.7347412109375
                    }
                },
                "velocity": {
                    "x": -7.804637908935547,
                    "y": 2.000023365020752,
                    "z": -0.4401586055755615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1271761655807495,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            33.25690335441074,
            4.037877020882035
        ],
        "target_point_next": [
            45.79672182389123,
            6.819908495051256
        ]
    },
    "215": {
        "acceleration": [
            -0.7356452941894531,
            -1.474289894104004,
            -0.28688669204711914
        ],
        "angular_velocity": [
            0.5793558955192566,
            -1.541102647781372,
            6.056636810302734
        ],
        "forward_vector": [
            -0.9743943214416504,
            0.22314107418060303,
            -0.027635272592306137
        ],
        "right_vector": [
            -0.22325493395328522,
            -0.9747594594955444,
            0.0010659218532964587
        ],
        "location": [
            -1089.4620361328125,
            3069.29345703125,
            355.46734619140625
        ],
        "rotation": [
            -0.06109617277979851,
            -1.5835860967636108,
            167.1013946533203
        ],
        "velocity": [
            -14.378510475158691,
            3.2671995162963867,
            -0.4288327693939209
        ],
        "speed": 14.74503835747929,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.88861846923828,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1145.3724365234375,
                3098.018310546875,
                353.4955139160156
            ],
            "velocity": [
                7.6393723487854,
                -0.07157722115516663,
                0.2842445373535156
            ],
            "speed_kmh": 27.521977194259097,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.063136339187622,
                "transform": {
                    "location": {
                        "x": -1040.89453125,
                        "y": 3074.65966796875,
                        "z": 356.4470520019531
                    },
                    "rotation": {
                        "roll": -0.006988526321947575,
                        "pitch": -0.3819578289985657,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -2.062518358230591,
                    "y": 0.04697167128324509,
                    "z": -0.01851237751543522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.3013916015625,
                        "y": 3094.85302734375,
                        "z": 352.9109802246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.1593017578125,
                        "y": 3098.35107421875,
                        "z": 352.9133605957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.244384765625,
                        "y": 3101.853271484375,
                        "z": 352.9071044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.9180908203125,
                        "y": 3105.347412109375,
                        "z": 352.91656494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.708004951477051,
                "transform": {
                    "location": {
                        "x": -1030.4757080078125,
                        "y": 3081.389404296875,
                        "z": 356.53436279296875
                    },
                    "rotation": {
                        "roll": -0.004974366165697575,
                        "pitch": -0.2892789840698242,
                        "yaw": 179.27110290527344
                    }
                },
                "velocity": {
                    "x": -5.7074456214904785,
                    "y": 0.07187439501285553,
                    "z": -0.03491475060582161
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.533863544464111,
                "transform": {
                    "location": {
                        "x": -1030.8905029296875,
                        "y": 3077.89501953125,
                        "z": 356.5324401855469
                    },
                    "rotation": {
                        "roll": -0.00616455078125,
                        "pitch": -0.19177120923995972,
                        "yaw": 179.2691192626953
                    }
                },
                "velocity": {
                    "x": -6.533229351043701,
                    "y": 0.0814262256026268,
                    "z": -0.04067021608352661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4986186027526855,
                "transform": {
                    "location": {
                        "x": -1145.5169677734375,
                        "y": 3094.521240234375,
                        "z": 353.4891357421875
                    },
                    "rotation": {
                        "roll": 0.0022035823203623295,
                        "pitch": 2.0751752853393555,
                        "yaw": -0.7384337782859802
                    }
                },
                "velocity": {
                    "x": 7.4931840896606445,
                    "y": -0.08716737478971481,
                    "z": 0.2717941403388977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.644993782043457,
                "transform": {
                    "location": {
                        "x": -1145.3724365234375,
                        "y": 3098.018310546875,
                        "z": 353.4955139160156
                    },
                    "rotation": {
                        "roll": 0.028491798788309097,
                        "pitch": 2.0976808071136475,
                        "yaw": -0.7875365018844604
                    }
                },
                "velocity": {
                    "x": 7.6393723487854,
                    "y": -0.07157722115516663,
                    "z": 0.2842445373535156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.282913684844971,
                "transform": {
                    "location": {
                        "x": -1145.7071533203125,
                        "y": 3101.51513671875,
                        "z": 353.477294921875
                    },
                    "rotation": {
                        "roll": -0.0408630333840847,
                        "pitch": 1.506589412689209,
                        "yaw": -0.9853515028953552
                    }
                },
                "velocity": {
                    "x": 5.2794718742370605,
                    "y": -0.0592251755297184,
                    "z": 0.1812317669391632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.466913223266602,
                "transform": {
                    "location": {
                        "x": -1145.1412353515625,
                        "y": 3104.999267578125,
                        "z": 353.4928894042969
                    },
                    "rotation": {
                        "roll": 0.001763862674124539,
                        "pitch": 2.0829274654388428,
                        "yaw": -1.080138921737671
                    }
                },
                "velocity": {
                    "x": 7.461990833282471,
                    "y": -0.09890983253717422,
                    "z": 0.2523839771747589
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060905456542969,
                "transform": {
                    "location": {
                        "x": -1056.9610595703125,
                        "y": 3078.419677734375,
                        "z": 356.21142578125
                    },
                    "rotation": {
                        "roll": -0.0005798345664516091,
                        "pitch": -0.994106650352478,
                        "yaw": 178.73715209960938
                    }
                },
                "velocity": {
                    "x": -8.057635307312012,
                    "y": 0.17927296459674835,
                    "z": -0.14344367384910583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029327392578125,
                "transform": {
                    "location": {
                        "x": -1056.414306640625,
                        "y": 3081.90869140625,
                        "z": 356.2098083496094
                    },
                    "rotation": {
                        "roll": 0.00011254514538450167,
                        "pitch": -0.9748250246047974,
                        "yaw": 178.72439575195312
                    }
                },
                "velocity": {
                    "x": -8.026165008544922,
                    "y": 0.17868301272392273,
                    "z": -0.1372874677181244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.852920532226562,
                "transform": {
                    "location": {
                        "x": -1091.021728515625,
                        "y": 3075.779296875,
                        "z": 355.4154968261719
                    },
                    "rotation": {
                        "roll": -9.155205043498427e-05,
                        "pitch": -1.690765380859375,
                        "yaw": 178.72271728515625
                    }
                },
                "velocity": {
                    "x": -15.841911315917969,
                    "y": 0.3552091419696808,
                    "z": -0.4719732701778412
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4546,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.42236328125,
                        "y": 3081.796875,
                        "z": 345.77178955078125
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.34423828125,
                        "y": 3080.44873046875,
                        "z": 346.55810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1251.0914306640625,
                        "y": 3079.35546875,
                        "z": 348.478271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.78076171875,
                        "y": 3078.432373046875,
                        "z": 350.6052551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.8037109375,
                        "y": 3077.896728515625,
                        "z": 351.87017822265625
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449462890625,
                "transform": {
                    "location": {
                        "x": -1115.2437744140625,
                        "y": 3076.3203125,
                        "z": 354.6047058105469
                    },
                    "rotation": {
                        "roll": 0.0032317456789314747,
                        "pitch": -2.1255478858947754,
                        "yaw": 178.7129364013672
                    }
                },
                "velocity": {
                    "x": -16.434276580810547,
                    "y": 0.36816921830177307,
                    "z": -0.6031533479690552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046764373779297,
                "transform": {
                    "location": {
                        "x": -1023.0150756835938,
                        "y": 3050.645263671875,
                        "z": 358.6453552246094
                    },
                    "rotation": {
                        "roll": 0.055732302367687225,
                        "pitch": -3.423276901245117,
                        "yaw": 167.63201904296875
                    }
                },
                "velocity": {
                    "x": -7.840731143951416,
                    "y": 1.7470324039459229,
                    "z": -0.4703470468521118
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.069392204284668,
                "transform": {
                    "location": {
                        "x": -1041.1226806640625,
                        "y": 3054.990966796875,
                        "z": 357.58392333984375
                    },
                    "rotation": {
                        "roll": 0.008984974585473537,
                        "pitch": -3.1032142639160156,
                        "yaw": 165.55191040039062
                    }
                },
                "velocity": {
                    "x": -7.801294326782227,
                    "y": 2.016249418258667,
                    "z": -0.43548545241355896
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1394750326871872,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            29.673250990212498,
            3.2244838535606077
        ],
        "target_point_next": [
            42.28066519886036,
            5.682095161798002
        ]
    },
    "220": {
        "acceleration": [
            -0.6712913513183594,
            -1.5304327011108398,
            0.01154482364654541
        ],
        "angular_velocity": [
            0.1196317970752716,
            0.3936336934566498,
            6.216228485107422
        ],
        "forward_vector": [
            -0.9800345301628113,
            0.19664065539836884,
            -0.029407668858766556
        ],
        "right_vector": [
            -0.1967075616121292,
            -0.9804620146751404,
            -0.0006292224279604852
        ],
        "location": [
            -1093.076904296875,
            3070.06982421875,
            355.35955810546875
        ],
        "rotation": [
            0.03606739267706871,
            -1.685178279876709,
            168.65444946289062
        ],
        "velocity": [
            -14.549818992614746,
            2.8999404907226562,
            -0.4438144564628601
        ],
        "speed": 14.835999715812397,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.655879974365234,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1143.4857177734375,
                3097.9970703125,
                353.56488037109375
            ],
            "velocity": [
                7.4621124267578125,
                -0.11062751710414886,
                0.2720899283885956
            ],
            "speed_kmh": 26.884406939178128,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3843748569488525,
                "transform": {
                    "location": {
                        "x": -1041.5682373046875,
                        "y": 3074.674560546875,
                        "z": 356.4395751953125
                    },
                    "rotation": {
                        "roll": 0.0006431313813664019,
                        "pitch": -0.42486506700515747,
                        "yaw": 178.7144317626953
                    }
                },
                "velocity": {
                    "x": -3.383298873901367,
                    "y": 0.07580513507127762,
                    "z": -0.039185378700494766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.41845703125,
                        "y": 3094.811279296875,
                        "z": 352.982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.267578125,
                        "y": 3098.30859375,
                        "z": 352.9851989746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.91064453125,
                        "y": 3101.82373046875,
                        "z": 352.95794677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.0599365234375,
                        "y": 3105.305908203125,
                        "z": 352.9871520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.1331021785736084,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.858024597167969,
                "transform": {
                    "location": {
                        "x": -1032.248291015625,
                        "y": 3081.4130859375,
                        "z": 356.5234680175781
                    },
                    "rotation": {
                        "roll": 0.005176748614758253,
                        "pitch": -0.1041262298822403,
                        "yaw": 179.2053985595703
                    }
                },
                "velocity": {
                    "x": -7.856955528259277,
                    "y": 0.1198403537273407,
                    "z": -0.04936165362596512
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054465293884277,
                "transform": {
                    "location": {
                        "x": -1032.7655029296875,
                        "y": 3077.921142578125,
                        "z": 356.5206604003906
                    },
                    "rotation": {
                        "roll": 0.006416456773877144,
                        "pitch": -0.13479377329349518,
                        "yaw": 179.1812744140625
                    }
                },
                "velocity": {
                    "x": -8.053330421447754,
                    "y": 0.12573425471782684,
                    "z": -0.04974924400448799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.602346420288086,
                "transform": {
                    "location": {
                        "x": -1143.6302490234375,
                        "y": 3094.49951171875,
                        "z": 353.5577697753906
                    },
                    "rotation": {
                        "roll": 0.02449783869087696,
                        "pitch": 2.087278366088867,
                        "yaw": -0.6667175889015198
                    }
                },
                "velocity": {
                    "x": 7.596624374389648,
                    "y": -0.09904992580413818,
                    "z": 0.27777099609375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.467890739440918,
                "transform": {
                    "location": {
                        "x": -1143.4857177734375,
                        "y": 3097.9970703125,
                        "z": 353.56488037109375
                    },
                    "rotation": {
                        "roll": 0.012120934203267097,
                        "pitch": 2.089778184890747,
                        "yaw": -0.6853942275047302
                    }
                },
                "velocity": {
                    "x": 7.4621124267578125,
                    "y": -0.11062751710414886,
                    "z": 0.2720899283885956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.424117565155029,
                "transform": {
                    "location": {
                        "x": -1144.3656005859375,
                        "y": 3101.501220703125,
                        "z": 353.5232849121094
                    },
                    "rotation": {
                        "roll": -0.01266479678452015,
                        "pitch": 1.8786025047302246,
                        "yaw": -0.6851500868797302
                    }
                },
                "velocity": {
                    "x": 5.420428276062012,
                    "y": -0.04586802423000336,
                    "z": 0.19468875229358673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.400576114654541,
                "transform": {
                    "location": {
                        "x": -1143.2845458984375,
                        "y": 3104.97607421875,
                        "z": 353.5578308105469
                    },
                    "rotation": {
                        "roll": 0.021765539422631264,
                        "pitch": 2.086916446685791,
                        "yaw": -0.6606140732765198
                    }
                },
                "velocity": {
                    "x": 7.3953118324279785,
                    "y": -0.0842924565076828,
                    "z": 0.2660503387451172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060378074645996,
                "transform": {
                    "location": {
                        "x": -1058.974609375,
                        "y": 3078.464599609375,
                        "z": 356.1754455566406
                    },
                    "rotation": {
                        "roll": -6.103468331275508e-05,
                        "pitch": -1.0737261772155762,
                        "yaw": 178.7076873779297
                    }
                },
                "velocity": {
                    "x": -8.057117462158203,
                    "y": 0.1792226880788803,
                    "z": -0.14290961623191833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084074974060059,
                "transform": {
                    "location": {
                        "x": -1058.4276123046875,
                        "y": 3081.953369140625,
                        "z": 356.1739501953125
                    },
                    "rotation": {
                        "roll": -0.0004272485966794193,
                        "pitch": -1.0431474447250366,
                        "yaw": 178.7230987548828
                    }
                },
                "velocity": {
                    "x": -8.080718994140625,
                    "y": 0.18006287515163422,
                    "z": -0.14773696660995483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.867147445678711,
                "transform": {
                    "location": {
                        "x": -1094.9840087890625,
                        "y": 3075.86767578125,
                        "z": 355.2955627441406
                    },
                    "rotation": {
                        "roll": -0.0001525867119198665,
                        "pitch": -1.7528655529022217,
                        "yaw": 178.72036743164062
                    }
                },
                "velocity": {
                    "x": -15.855792045593262,
                    "y": 0.3514713644981384,
                    "z": -0.4865090847015381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1301.5875244140625,
                        "y": 3080.592041015625,
                        "z": 346.4171142578125
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1255.332763671875,
                        "y": 3079.4501953125,
                        "z": 348.2720947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.020751953125,
                        "y": 3078.52734375,
                        "z": 350.37408447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1190.044921875,
                        "y": 3077.991455078125,
                        "z": 351.6620178222656
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.450510025024414,
                "transform": {
                    "location": {
                        "x": -1119.3525390625,
                        "y": 3076.412109375,
                        "z": 354.45428466796875
                    },
                    "rotation": {
                        "roll": 0.002741984324529767,
                        "pitch": -2.1207258701324463,
                        "yaw": 178.71543884277344
                    }
                },
                "velocity": {
                    "x": -16.43539047241211,
                    "y": 0.37048250436782837,
                    "z": -0.5999504923820496
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1024.99951171875,
                        "y": 3051.10986328125,
                        "z": 358.52685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 167.0977783203125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.063288688659668,
                "transform": {
                    "location": {
                        "x": -1043.071044921875,
                        "y": 3055.500244140625,
                        "z": 357.47674560546875
                    },
                    "rotation": {
                        "roll": 0.029114553704857826,
                        "pitch": -3.050014019012451,
                        "yaw": 165.29766845703125
                    }
                },
                "velocity": {
                    "x": -7.78285551071167,
                    "y": 2.0646629333496094,
                    "z": -0.4253813922405243
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1578047275543213,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            26.052782555642466,
            2.469141028984749
        ],
        "target_point_next": [
            38.72217294149878,
            4.584157251514448
        ]
    },
    "225": {
        "acceleration": [
            -0.52276611328125,
            -1.5438222885131836,
            -0.09820401668548584
        ],
        "angular_velocity": [
            -0.9065572023391724,
            -0.62136310338974,
            6.334889888763428
        ],
        "forward_vector": [
            -0.9850393533706665,
            0.16963106393814087,
            -0.030376527458429337
        ],
        "right_vector": [
            -0.16976149380207062,
            -0.9854835867881775,
            0.001748887705616653
        ],
        "location": [
            -1096.732421875,
            3070.7509765625,
            355.2483825683594
        ],
        "rotation": [
            -0.10025019943714142,
            -1.7407145500183105,
            170.2290802001953
        ],
        "velocity": [
            -14.69489860534668,
            2.5197830200195312,
            -0.4586327373981476
        ],
        "speed": 14.909371264053979,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.52399826049805,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1141.62451171875,
                3097.9697265625,
                353.6326904296875
            ],
            "velocity": [
                7.428318977355957,
                -0.11789306253194809,
                0.27080002427101135
            ],
            "speed_kmh": 26.763077535415047,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.871372699737549,
                "transform": {
                    "location": {
                        "x": -1042.6129150390625,
                        "y": 3074.697998046875,
                        "z": 356.4276428222656
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": -0.4719250500202179,
                        "yaw": 178.71847534179688
                    }
                },
                "velocity": {
                    "x": -4.869843482971191,
                    "y": 0.10894624143838882,
                    "z": -0.055029477924108505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.083204746246338,
                "transform": {
                    "location": {
                        "x": -1157.9398193359375,
                        "y": 3094.7822265625,
                        "z": 353.0308837890625
                    },
                    "rotation": {
                        "roll": 0.002178784692659974,
                        "pitch": 1.9934793710708618,
                        "yaw": -1.121795415878296
                    }
                },
                "velocity": {
                    "x": 5.080384731292725,
                    "y": -0.06315672397613525,
                    "z": 0.157078355550766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.342279434204102,
                "transform": {
                    "location": {
                        "x": -1157.6458740234375,
                        "y": 3098.276123046875,
                        "z": 353.06121826171875
                    },
                    "rotation": {
                        "roll": -0.00857544131577015,
                        "pitch": 1.9175071716308594,
                        "yaw": -1.1358033418655396
                    }
                },
                "velocity": {
                    "x": 5.333077907562256,
                    "y": -0.06885281205177307,
                    "z": 0.3057642877101898
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.631591796875,
                        "y": 3101.795166015625,
                        "z": 353.0057373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.2261962890625,
                        "y": 3105.264892578125,
                        "z": 353.05426025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.289725303649902,
                "transform": {
                    "location": {
                        "x": -1034.2969970703125,
                        "y": 3081.446533203125,
                        "z": 356.5085144042969
                    },
                    "rotation": {
                        "roll": 0.005214684642851353,
                        "pitch": -0.3388729989528656,
                        "yaw": 179.05435180664062
                    }
                },
                "velocity": {
                    "x": -8.288285255432129,
                    "y": 0.13999266922473907,
                    "z": -0.06543807685375214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.218892097473145,
                "transform": {
                    "location": {
                        "x": -1034.8292236328125,
                        "y": 3077.955322265625,
                        "z": 356.5047607421875
                    },
                    "rotation": {
                        "roll": 0.0046908059157431126,
                        "pitch": -0.4161975681781769,
                        "yaw": 179.02415466308594
                    }
                },
                "velocity": {
                    "x": -8.217435836791992,
                    "y": 0.14038532972335815,
                    "z": -0.06504544615745544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.306635856628418,
                "transform": {
                    "location": {
                        "x": -1141.8668212890625,
                        "y": 3094.474609375,
                        "z": 353.6218566894531
                    },
                    "rotation": {
                        "roll": 0.021610891446471214,
                        "pitch": 1.9382846355438232,
                        "yaw": -0.83001708984375
                    }
                },
                "velocity": {
                    "x": 6.301746845245361,
                    "y": -0.09531746804714203,
                    "z": 0.22925187647342682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.434188365936279,
                "transform": {
                    "location": {
                        "x": -1141.62451171875,
                        "y": 3097.9697265625,
                        "z": 353.6326904296875
                    },
                    "rotation": {
                        "roll": 0.012347953394055367,
                        "pitch": 2.088214159011841,
                        "yaw": -0.830078125
                    }
                },
                "velocity": {
                    "x": 7.428318977355957,
                    "y": -0.11789306253194809,
                    "z": 0.27080002427101135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.51894474029541,
                "transform": {
                    "location": {
                        "x": -1143.1156005859375,
                        "y": 3101.48583984375,
                        "z": 353.568359375
                    },
                    "rotation": {
                        "roll": 0.031704697757959366,
                        "pitch": 1.8322254419326782,
                        "yaw": -0.7089231014251709
                    }
                },
                "velocity": {
                    "x": 4.5155558586120605,
                    "y": -0.06489603221416473,
                    "z": 0.16249676048755646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.254338264465332,
                "transform": {
                    "location": {
                        "x": -1141.4547119140625,
                        "y": 3104.95361328125,
                        "z": 353.6242980957031
                    },
                    "rotation": {
                        "roll": 0.021738510578870773,
                        "pitch": 2.087373971939087,
                        "yaw": -0.686737060546875
                    }
                },
                "velocity": {
                    "x": 7.248879432678223,
                    "y": -0.09517674148082733,
                    "z": 0.2647835612297058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060516357421875,
                "transform": {
                    "location": {
                        "x": -1060.9888916015625,
                        "y": 3078.509521484375,
                        "z": 356.1379699707031
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -1.0820248126983643,
                        "yaw": 178.73939514160156
                    }
                },
                "velocity": {
                    "x": -8.057110786437988,
                    "y": 0.17919179797172546,
                    "z": -0.15090671181678772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031373023986816,
                "transform": {
                    "location": {
                        "x": -1060.4407958984375,
                        "y": 3081.998779296875,
                        "z": 356.13690185546875
                    },
                    "rotation": {
                        "roll": 0.00017169072816614062,
                        "pitch": -1.080686092376709,
                        "yaw": 178.71925354003906
                    }
                },
                "velocity": {
                    "x": -8.027945518493652,
                    "y": 0.17941781878471375,
                    "z": -0.1511930227279663
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869333267211914,
                "transform": {
                    "location": {
                        "x": -1098.947265625,
                        "y": 3075.95654296875,
                        "z": 355.17010498046875
                    },
                    "rotation": {
                        "roll": -0.0010070833377540112,
                        "pitch": -1.8952885866165161,
                        "yaw": 178.72218322753906
                    }
                },
                "velocity": {
                    "x": -15.856806755065918,
                    "y": 0.3536836504936218,
                    "z": -0.5218367576599121
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1305.8323974609375,
                        "y": 3080.74951171875,
                        "z": 346.27740478515625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1259.575439453125,
                        "y": 3079.544677734375,
                        "z": 348.0695495605469
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.26171875,
                        "y": 3078.621826171875,
                        "z": 350.14599609375
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1194.2862548828125,
                        "y": 3078.08642578125,
                        "z": 351.44598388671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44991111755371,
                "transform": {
                    "location": {
                        "x": -1123.46142578125,
                        "y": 3076.50390625,
                        "z": 354.30438232421875
                    },
                    "rotation": {
                        "roll": -0.0006408705376088619,
                        "pitch": -2.119899272918701,
                        "yaw": 178.72421264648438
                    }
                },
                "velocity": {
                    "x": -16.434843063354492,
                    "y": 0.36810070276260376,
                    "z": -0.5999780893325806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1027.0172119140625,
                        "y": 3051.61376953125,
                        "z": 358.4076232910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3778083324432373,
                        "yaw": 167.0977783203125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067980766296387,
                "transform": {
                    "location": {
                        "x": -1045.017333984375,
                        "y": 3056.02001953125,
                        "z": 357.3713684082031
                    },
                    "rotation": {
                        "roll": 0.019339606165885925,
                        "pitch": -2.9877567291259766,
                        "yaw": 165.03953552246094
                    }
                },
                "velocity": {
                    "x": -7.782054424285889,
                    "y": 2.087796926498413,
                    "z": -0.4159963130950928
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17955555021762848,
        "expert_target_speed": 0,
        "target_point": [
            22.392705033729367,
            1.8032013283172685
        ],
        "target_point_next": [
            35.11542983630447,
            3.5692760630701885
        ]
    },
    "230": {
        "acceleration": [
            -0.2839088439941406,
            -1.6263103485107422,
            -0.010814070701599121
        ],
        "angular_velocity": [
            -1.0818976163864136,
            0.07056421041488647,
            6.363609313964844
        ],
        "forward_vector": [
            -0.9893321394920349,
            0.14205920696258545,
            -0.03226757049560547
        ],
        "right_vector": [
            -0.14228588342666626,
            -0.9898138046264648,
            0.004828972276300192
        ],
        "location": [
            -1100.418701171875,
            3071.333740234375,
            355.13079833984375
        ],
        "rotation": [
            -0.276824951171875,
            -1.849116563796997,
            171.8286895751953
        ],
        "velocity": [
            -14.793671607971191,
            2.1187877655029297,
            -0.481067419052124
        ],
        "speed": 14.944630515330175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.65825271606445,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1139.9305419921875,
                3097.943115234375,
                353.69390869140625
            ],
            "velocity": [
                6.382139205932617,
                -0.10275883227586746,
                0.23291508853435516
            ],
            "speed_kmh": 22.993972366542916,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1171.5867919921875,
                        "y": 3098.584228515625,
                        "z": 352.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 8.651627747546797e-10,
                    "y": -1.9326970579491842e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.0177001953125,
                        "y": 3105.572998046875,
                        "z": 352.8246765136719
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.480618000030518,
                "transform": {
                    "location": {
                        "x": -1043.944091796875,
                        "y": 3074.727783203125,
                        "z": 356.4123840332031
                    },
                    "rotation": {
                        "roll": 0.002250595483928919,
                        "pitch": -0.6615857481956482,
                        "yaw": 178.69937133789062
                    }
                },
                "velocity": {
                    "x": -5.478770732879639,
                    "y": 0.12272288650274277,
                    "z": -0.07198143005371094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.811192035675049,
                "transform": {
                    "location": {
                        "x": -1156.7047119140625,
                        "y": 3094.76611328125,
                        "z": 353.0719909667969
                    },
                    "rotation": {
                        "roll": 0.012797825038433075,
                        "pitch": 2.0642812252044678,
                        "yaw": -0.858245849609375
                    }
                },
                "velocity": {
                    "x": 4.807859897613525,
                    "y": -0.05187847465276718,
                    "z": 0.17134860157966614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.472381114959717,
                "transform": {
                    "location": {
                        "x": -1156.2943115234375,
                        "y": 3098.258056640625,
                        "z": 353.12506103515625
                    },
                    "rotation": {
                        "roll": 0.009888743050396442,
                        "pitch": 2.0393030643463135,
                        "yaw": -0.8390807509422302
                    }
                },
                "velocity": {
                    "x": 5.467307090759277,
                    "y": -0.05777211859822273,
                    "z": 0.2284030318260193
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.652873992919922,
                "transform": {
                    "location": {
                        "x": -1157.8746337890625,
                        "y": 3101.781494140625,
                        "z": 353.0390930175781
                    },
                    "rotation": {
                        "roll": -0.01385497860610485,
                        "pitch": 1.675506830215454,
                        "yaw": -1.15997314453125
                    }
                },
                "velocity": {
                    "x": 2.6504199504852295,
                    "y": -0.03278823569417,
                    "z": 0.10926704108715057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.879395484924316,
                "transform": {
                    "location": {
                        "x": -1155.4688720703125,
                        "y": 3105.233642578125,
                        "z": 353.1134033203125
                    },
                    "rotation": {
                        "roll": 0.004524588584899902,
                        "pitch": 2.0744991302490234,
                        "yaw": -0.9900816679000854
                    }
                },
                "velocity": {
                    "x": 6.874847888946533,
                    "y": -0.08729683607816696,
                    "z": 0.23435667157173157
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.925532341003418,
                "transform": {
                    "location": {
                        "x": -1036.3145751953125,
                        "y": 3081.4814453125,
                        "z": 356.4915466308594
                    },
                    "rotation": {
                        "roll": 0.0026439412031322718,
                        "pitch": -0.5949094295501709,
                        "yaw": 178.99407958984375
                    }
                },
                "velocity": {
                    "x": -7.923923969268799,
                    "y": 0.13989052176475525,
                    "z": -0.07696720957756042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.90714168548584,
                "transform": {
                    "location": {
                        "x": -1036.830078125,
                        "y": 3077.990234375,
                        "z": 356.4872131347656
                    },
                    "rotation": {
                        "roll": -0.0010070796124637127,
                        "pitch": -0.5961866974830627,
                        "yaw": 179.00790405273438
                    }
                },
                "velocity": {
                    "x": -7.905513763427734,
                    "y": 0.13928866386413574,
                    "z": -0.07962973415851593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.1528801918029785,
                "transform": {
                    "location": {
                        "x": -1140.3416748046875,
                        "y": 3094.450439453125,
                        "z": 353.6776123046875
                    },
                    "rotation": {
                        "roll": 0.017819147557020187,
                        "pitch": 2.038872718811035,
                        "yaw": -0.8938292860984802
                    }
                },
                "velocity": {
                    "x": 6.147984981536865,
                    "y": -0.09786825627088547,
                    "z": 0.2250247746706009
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.387214660644531,
                "transform": {
                    "location": {
                        "x": -1139.9305419921875,
                        "y": 3097.943115234375,
                        "z": 353.69390869140625
                    },
                    "rotation": {
                        "roll": 0.013225769624114037,
                        "pitch": 2.1565160751342773,
                        "yaw": -0.8888854384422302
                    }
                },
                "velocity": {
                    "x": 6.382139205932617,
                    "y": -0.10275883227586746,
                    "z": 0.23291508853435516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.2874250411987305,
                "transform": {
                    "location": {
                        "x": -1141.9063720703125,
                        "y": 3101.46826171875,
                        "z": 353.61126708984375
                    },
                    "rotation": {
                        "roll": 0.026346145197749138,
                        "pitch": 2.16833233833313,
                        "yaw": -0.788238525390625
                    }
                },
                "velocity": {
                    "x": 5.283247947692871,
                    "y": -0.0782846063375473,
                    "z": 0.19499950110912323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.5129923820495605,
                "transform": {
                    "location": {
                        "x": -1139.6385498046875,
                        "y": 3104.9296875,
                        "z": 353.6905517578125
                    },
                    "rotation": {
                        "roll": 0.019122082740068436,
                        "pitch": 2.0932888984680176,
                        "yaw": -0.7677916884422302
                    }
                },
                "velocity": {
                    "x": 7.5072760581970215,
                    "y": -0.10485972464084625,
                    "z": 0.2736136019229889
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060765266418457,
                "transform": {
                    "location": {
                        "x": -1063.0029296875,
                        "y": 3078.5546875,
                        "z": 356.09967041015625
                    },
                    "rotation": {
                        "roll": 0.0008343113004229963,
                        "pitch": -1.1024402379989624,
                        "yaw": 178.70799255371094
                    }
                },
                "velocity": {
                    "x": -8.05727481842041,
                    "y": 0.1803748905658722,
                    "z": -0.1540304273366928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.084102630615234,
                "transform": {
                    "location": {
                        "x": -1062.4544677734375,
                        "y": 3082.043701171875,
                        "z": 356.09881591796875
                    },
                    "rotation": {
                        "roll": 1.4724415450473316e-05,
                        "pitch": -1.0887457132339478,
                        "yaw": 178.7191619873047
                    }
                },
                "velocity": {
                    "x": -8.080582618713379,
                    "y": 0.18065278232097626,
                    "z": -0.15577898919582367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869155883789062,
                "transform": {
                    "location": {
                        "x": -1102.9110107421875,
                        "y": 3076.044921875,
                        "z": 355.03851318359375
                    },
                    "rotation": {
                        "roll": 0.00035879190545529127,
                        "pitch": -1.9225752353668213,
                        "yaw": 178.7220001220703
                    }
                },
                "velocity": {
                    "x": -15.855815887451172,
                    "y": 0.3556884825229645,
                    "z": -0.5447091460227966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.0767822265625,
                        "y": 3080.924560546875,
                        "z": 346.15045166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1263.818603515625,
                        "y": 3079.6396484375,
                        "z": 347.873779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.50341796875,
                        "y": 3078.716796875,
                        "z": 349.9206848144531
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1198.528076171875,
                        "y": 3078.18115234375,
                        "z": 351.2214660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449657440185547,
                "transform": {
                    "location": {
                        "x": -1127.570068359375,
                        "y": 3076.59619140625,
                        "z": 354.1545104980469
                    },
                    "rotation": {
                        "roll": -0.0014343239599838853,
                        "pitch": -2.1197149753570557,
                        "yaw": 178.71835327148438
                    }
                },
                "velocity": {
                    "x": -16.43466567993164,
                    "y": 0.3656594753265381,
                    "z": -0.5994307398796082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1029.042236328125,
                        "y": 3052.0869140625,
                        "z": 358.2854919433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3411507606506348,
                        "yaw": 166.5248565673828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06342601776123,
                "transform": {
                    "location": {
                        "x": -1046.9625244140625,
                        "y": 3056.5439453125,
                        "z": 357.2678527832031
                    },
                    "rotation": {
                        "roll": 0.023085908964276314,
                        "pitch": -2.9313600063323975,
                        "yaw": 164.89572143554688
                    }
                },
                "velocity": {
                    "x": -7.768108367919922,
                    "y": 2.123195171356201,
                    "z": -0.40911659598350525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.176268070936203,
        "expert_target_speed": 0,
        "target_point": [
            18.702630091691248,
            1.2303186501175891
        ],
        "target_point_next": [
            31.469696424347347,
            2.640553959685276
        ]
    },
    "235": {
        "acceleration": [
            -0.12241363525390625,
            -1.6452240943908691,
            -0.09112238883972168
        ],
        "angular_velocity": [
            -0.3988379240036011,
            -0.8715150952339172,
            6.330174446105957
        ],
        "forward_vector": [
            -0.9927968978881836,
            0.11467874050140381,
            -0.034687589854002
        ],
        "right_vector": [
            -0.11499059200286865,
            -0.9933410286903381,
            0.007126527838408947
        ],
        "location": [
            -1104.12109375,
            3071.81494140625,
            355.0074768066406
        ],
        "rotation": [
            -0.4085693061351776,
            -1.9878512620925903,
            173.41091918945312
        ],
        "velocity": [
            -14.83553409576416,
            1.7082912921905518,
            -0.5103585124015808
        ],
        "speed": 14.933563909715422,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.02640914916992,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1138.3038330078125,
                3097.91552734375,
                353.7539367675781
            ],
            "velocity": [
                6.790148735046387,
                -0.1251804530620575,
                0.24774228036403656
            ],
            "speed_kmh": 24.464951140490687,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.523193359375,
                        "y": 3095.0595703125,
                        "z": 352.7261962890625
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.3482666015625,
                        "y": 3098.556396484375,
                        "z": 352.7132263183594
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1169.263671875,
                        "y": 3105.533935546875,
                        "z": 352.5879211425781
                    },
                    "rotation": {
                        "roll": -1.6689627457822098e-09,
                        "pitch": 2.3770968914031982,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.959274768829346,
                "transform": {
                    "location": {
                        "x": -1045.421875,
                        "y": 3074.761474609375,
                        "z": 356.3923645019531
                    },
                    "rotation": {
                        "roll": 0.0023573788348585367,
                        "pitch": -0.549837052822113,
                        "yaw": 178.64569091796875
                    }
                },
                "velocity": {
                    "x": -6.956814289093018,
                    "y": 0.15910576283931732,
                    "z": -0.09448353201150894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.507929801940918,
                "transform": {
                    "location": {
                        "x": -1155.510498046875,
                        "y": 3094.753173828125,
                        "z": 353.1150207519531
                    },
                    "rotation": {
                        "roll": 0.017580484971404076,
                        "pitch": 2.059718608856201,
                        "yaw": -0.7618712186813354
                    }
                },
                "velocity": {
                    "x": 4.504740238189697,
                    "y": -0.04465539753437042,
                    "z": 0.1635701209306717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.987966537475586,
                "transform": {
                    "location": {
                        "x": -1154.9742431640625,
                        "y": 3098.243408203125,
                        "z": 353.1761169433594
                    },
                    "rotation": {
                        "roll": 0.021024303510785103,
                        "pitch": 2.0609958171844482,
                        "yaw": -0.68560791015625
                    }
                },
                "velocity": {
                    "x": 4.984267711639404,
                    "y": -0.04949522390961647,
                    "z": 0.18556515872478485
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.629101276397705,
                "transform": {
                    "location": {
                        "x": -1157.211181640625,
                        "y": 3101.7724609375,
                        "z": 353.0618591308594
                    },
                    "rotation": {
                        "roll": 0.006135274656116962,
                        "pitch": 2.079369068145752,
                        "yaw": -1.0126951932907104
                    }
                },
                "velocity": {
                    "x": 2.627077341079712,
                    "y": -0.029528839513659477,
                    "z": 0.09882167726755142
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.992888927459717,
                "transform": {
                    "location": {
                        "x": -1153.735595703125,
                        "y": 3105.21142578125,
                        "z": 353.1747131347656
                    },
                    "rotation": {
                        "roll": 0.022854506969451904,
                        "pitch": 2.085160970687866,
                        "yaw": -0.611907958984375
                    }
                },
                "velocity": {
                    "x": 6.9878764152526855,
                    "y": -0.07834141701459885,
                    "z": 0.2528563141822815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077549934387207,
                "transform": {
                    "location": {
                        "x": -1038.308349609375,
                        "y": 3081.518798828125,
                        "z": 356.4715270996094
                    },
                    "rotation": {
                        "roll": 0.004656840581446886,
                        "pitch": -0.5539488196372986,
                        "yaw": 178.90892028808594
                    }
                },
                "velocity": {
                    "x": -8.075610160827637,
                    "y": 0.15768510103225708,
                    "z": -0.08043532818555832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.114052772521973,
                "transform": {
                    "location": {
                        "x": -1038.831787109375,
                        "y": 3078.028564453125,
                        "z": 356.4670104980469
                    },
                    "rotation": {
                        "roll": 0.003996115177869797,
                        "pitch": -0.548552930355072,
                        "yaw": 178.8765869140625
                    }
                },
                "velocity": {
                    "x": -8.112062454223633,
                    "y": 0.16073428094387054,
                    "z": -0.08032003045082092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.47965145111084,
                "transform": {
                    "location": {
                        "x": -1138.71337890625,
                        "y": 3094.423583984375,
                        "z": 353.7373046875
                    },
                    "rotation": {
                        "roll": 0.01899793930351734,
                        "pitch": 2.263927459716797,
                        "yaw": -0.95538330078125
                    }
                },
                "velocity": {
                    "x": 7.473544597625732,
                    "y": -0.13190452754497528,
                    "z": 0.2718753218650818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7958197593688965,
                "transform": {
                    "location": {
                        "x": -1138.3038330078125,
                        "y": 3097.91552734375,
                        "z": 353.7539367675781
                    },
                    "rotation": {
                        "roll": 0.00832003727555275,
                        "pitch": 2.0655651092529297,
                        "yaw": -0.958465576171875
                    }
                },
                "velocity": {
                    "x": 6.790148735046387,
                    "y": -0.1251804530620575,
                    "z": 0.24774228036403656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.240187644958496,
                "transform": {
                    "location": {
                        "x": -1140.595458984375,
                        "y": 3101.448974609375,
                        "z": 353.6591796875
                    },
                    "rotation": {
                        "roll": 0.022177033126354218,
                        "pitch": 2.176398754119873,
                        "yaw": -0.8278198838233948
                    }
                },
                "velocity": {
                    "x": 5.236127853393555,
                    "y": -0.07937750965356827,
                    "z": 0.19033975899219513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.423418045043945,
                "transform": {
                    "location": {
                        "x": -1137.615966796875,
                        "y": 3104.8994140625,
                        "z": 353.76409912109375
                    },
                    "rotation": {
                        "roll": 0.015907203778624535,
                        "pitch": 2.1109724044799805,
                        "yaw": -0.8923034071922302
                    }
                },
                "velocity": {
                    "x": 8.416667938232422,
                    "y": -0.14037539064884186,
                    "z": 0.30652356147766113
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4561,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059962272644043,
                "transform": {
                    "location": {
                        "x": -1065.01708984375,
                        "y": 3078.599365234375,
                        "z": 356.06097412109375
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -1.1218243837356567,
                        "yaw": 178.7440948486328
                    }
                },
                "velocity": {
                    "x": -8.056464195251465,
                    "y": 0.17901794612407684,
                    "z": -0.15597999095916748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032204627990723,
                "transform": {
                    "location": {
                        "x": -1064.4677734375,
                        "y": 3082.088623046875,
                        "z": 356.0602111816406
                    },
                    "rotation": {
                        "roll": -0.00027465898892842233,
                        "pitch": -1.1188942193984985,
                        "yaw": 178.71922302246094
                    }
                },
                "velocity": {
                    "x": -8.028692245483398,
                    "y": 0.17960225045681,
                    "z": -0.15538793802261353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.871317863464355,
                "transform": {
                    "location": {
                        "x": -1106.8746337890625,
                        "y": 3076.1337890625,
                        "z": 354.9002990722656
                    },
                    "rotation": {
                        "roll": -0.001129147713072598,
                        "pitch": -2.037752628326416,
                        "yaw": 178.71127319335938
                    }
                },
                "velocity": {
                    "x": -15.857369422912598,
                    "y": 0.3543446362018585,
                    "z": -0.5630258321762085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.320556640625,
                        "y": 3081.114990234375,
                        "z": 346.0373840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.061767578125,
                        "y": 3079.734375,
                        "z": 347.6843566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.7447509765625,
                        "y": 3078.8115234375,
                        "z": 349.6982421875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1202.76904296875,
                        "y": 3078.27587890625,
                        "z": 350.99078369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44967269897461,
                "transform": {
                    "location": {
                        "x": -1131.6785888671875,
                        "y": 3076.6875,
                        "z": 354.0046691894531
                    },
                    "rotation": {
                        "roll": 0.0011157949920743704,
                        "pitch": -2.119475841522217,
                        "yaw": 178.72491455078125
                    }
                },
                "velocity": {
                    "x": -16.43463134765625,
                    "y": 0.36805862188339233,
                    "z": -0.5992786884307861
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1031.00048828125,
                        "y": 3052.547119140625,
                        "z": 358.1676025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.3411507606506348,
                        "yaw": 166.5248565673828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066288948059082,
                "transform": {
                    "location": {
                        "x": -1048.904052734375,
                        "y": 3057.079833984375,
                        "z": 357.16644287109375
                    },
                    "rotation": {
                        "roll": 0.027398554608225822,
                        "pitch": -2.8753933906555176,
                        "yaw": 164.55577087402344
                    }
                },
                "velocity": {
                    "x": -7.762275218963623,
                    "y": 2.1565895080566406,
                    "z": -0.40152525901794434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15726177394390106,
        "expert_target_speed": 0,
        "target_point": [
            14.996316568374088,
            0.766623545048633
        ],
        "target_point_next": [
            27.797453976119254,
            1.8238025454169402
        ]
    },
    "240": {
        "acceleration": [
            -0.22176742553710938,
            -1.2754178047180176,
            0.01458287239074707
        ],
        "angular_velocity": [
            0.09352796524763107,
            0.045583583414554596,
            4.663985729217529
        ],
        "forward_vector": [
            -0.9952324032783508,
            0.0906824991106987,
            -0.035904914140701294
        ],
        "right_vector": [
            -0.0909920260310173,
            -0.9958264827728271,
            0.007079379167407751
        ],
        "location": [
            -1107.8333740234375,
            3072.200439453125,
            354.8767395019531
        ],
        "rotation": [
            -0.40588364005088806,
            -2.0576422214508057,
            174.79376220703125
        ],
        "velocity": [
            -14.876592636108398,
            1.3626677989959717,
            -0.5297834873199463
        ],
        "speed": 14.938871175264051,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.524131774902344,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1136.5281982421875,
                3097.883056640625,
                353.8189392089844
            ],
            "velocity": [
                7.117312431335449,
                -0.13273605704307556,
                0.2584269940853119
            ],
            "speed_kmh": 25.643661857092496,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1220495700836182,
                "transform": {
                    "location": {
                        "x": -1169.4454345703125,
                        "y": 3095.038330078125,
                        "z": 352.55804443359375
                    },
                    "rotation": {
                        "roll": 0.009267223998904228,
                        "pitch": 2.96242356300354,
                        "yaw": -1.170013427734375
                    }
                },
                "velocity": {
                    "x": 1.1214498281478882,
                    "y": -0.0021306751295924187,
                    "z": -0.03661943972110748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.33649584650993347,
                "transform": {
                    "location": {
                        "x": -1169.9337158203125,
                        "y": 3098.54736328125,
                        "z": 352.6226806640625
                    },
                    "rotation": {
                        "roll": 0.00019342916493769735,
                        "pitch": 2.398803234100342,
                        "yaw": -1.279693603515625
                    }
                },
                "velocity": {
                    "x": 0.013454352505505085,
                    "y": -0.00024652277352288365,
                    "z": -0.3362266719341278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.651959419250488,
                "transform": {
                    "location": {
                        "x": -1167.5577392578125,
                        "y": 3105.49658203125,
                        "z": 352.6565246582031
                    },
                    "rotation": {
                        "roll": -0.01617431640625,
                        "pitch": 2.222768783569336,
                        "yaw": -1.2366942167282104
                    }
                },
                "velocity": {
                    "x": 6.645678997039795,
                    "y": -0.1198338121175766,
                    "z": 0.26297876238822937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.24404239654541,
                "transform": {
                    "location": {
                        "x": -1047.3472900390625,
                        "y": 3074.804931640625,
                        "z": 356.36639404296875
                    },
                    "rotation": {
                        "roll": 0.00012927317584399134,
                        "pitch": -0.5564554929733276,
                        "yaw": 178.68414306640625
                    }
                },
                "velocity": {
                    "x": -8.241203308105469,
                    "y": 0.185921773314476,
                    "z": -0.11063341051340103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.280394554138184,
                "transform": {
                    "location": {
                        "x": -1154.4393310546875,
                        "y": 3094.7412109375,
                        "z": 353.15380859375
                    },
                    "rotation": {
                        "roll": 0.02268659509718418,
                        "pitch": 2.0753049850463867,
                        "yaw": -0.6518555283546448
                    }
                },
                "velocity": {
                    "x": 4.2773542404174805,
                    "y": -0.04302965849637985,
                    "z": 0.155460923910141
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.871137619018555,
                "transform": {
                    "location": {
                        "x": -1153.8104248046875,
                        "y": 3098.229248046875,
                        "z": 353.2186279296875
                    },
                    "rotation": {
                        "roll": 0.030989019200205803,
                        "pitch": 2.074977159500122,
                        "yaw": -0.6994019150733948
                    }
                },
                "velocity": {
                    "x": 4.867250919342041,
                    "y": -0.07776191830635071,
                    "z": 0.17833827435970306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.179738759994507,
                "transform": {
                    "location": {
                        "x": -1156.59375,
                        "y": 3101.764892578125,
                        "z": 353.0841979980469
                    },
                    "rotation": {
                        "roll": 0.01540366280823946,
                        "pitch": 2.11000919342041,
                        "yaw": -0.9156798720359802
                    }
                },
                "velocity": {
                    "x": 2.1781811714172363,
                    "y": -0.024059444665908813,
                    "z": 0.07879827171564102
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.673213481903076,
                "transform": {
                    "location": {
                        "x": -1152.030029296875,
                        "y": 3105.190185546875,
                        "z": 353.23675537109375
                    },
                    "rotation": {
                        "roll": 0.02419211156666279,
                        "pitch": 2.086704730987549,
                        "yaw": -0.6075744032859802
                    }
                },
                "velocity": {
                    "x": 6.668150901794434,
                    "y": -0.08894562721252441,
                    "z": 0.2441890835762024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.090295791625977,
                "transform": {
                    "location": {
                        "x": -1040.336669921875,
                        "y": 3081.559326171875,
                        "z": 356.45147705078125
                    },
                    "rotation": {
                        "roll": 0.0027114402037113905,
                        "pitch": -0.5619469285011292,
                        "yaw": 178.85003662109375
                    }
                },
                "velocity": {
                    "x": -8.088248252868652,
                    "y": 0.16355256736278534,
                    "z": -0.07987938076257706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063214302062988,
                "transform": {
                    "location": {
                        "x": -1040.8590087890625,
                        "y": 3078.0693359375,
                        "z": 356.4470520019531
                    },
                    "rotation": {
                        "roll": 0.0018952719401568174,
                        "pitch": -0.5689069032669067,
                        "yaw": 178.86093139648438
                    }
                },
                "velocity": {
                    "x": -8.061147689819336,
                    "y": 0.16273526847362518,
                    "z": -0.08272777497768402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.31849193572998,
                "transform": {
                    "location": {
                        "x": -1136.6680908203125,
                        "y": 3094.38623046875,
                        "z": 353.81182861328125
                    },
                    "rotation": {
                        "roll": 0.012636364437639713,
                        "pitch": 2.2448575496673584,
                        "yaw": -1.059722900390625
                    }
                },
                "velocity": {
                    "x": 8.311540603637695,
                    "y": -0.15429481863975525,
                    "z": 0.30296623706817627
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.123239517211914,
                "transform": {
                    "location": {
                        "x": -1136.5281982421875,
                        "y": 3097.883056640625,
                        "z": 353.8189392089844
                    },
                    "rotation": {
                        "roll": 0.006650449242442846,
                        "pitch": 2.038442611694336,
                        "yaw": -1.0292967557907104
                    }
                },
                "velocity": {
                    "x": 7.117312431335449,
                    "y": -0.13273605704307556,
                    "z": 0.2584269940853119
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.08400821685791,
                "transform": {
                    "location": {
                        "x": -1138.984130859375,
                        "y": 3101.42431640625,
                        "z": 353.71624755859375
                    },
                    "rotation": {
                        "roll": 0.027739761397242546,
                        "pitch": 2.60367488861084,
                        "yaw": -0.87335205078125
                    }
                },
                "velocity": {
                    "x": 7.078318119049072,
                    "y": -0.11794182658195496,
                    "z": 0.25822269916534424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.971360206604004,
                "transform": {
                    "location": {
                        "x": -1135.565185546875,
                        "y": 3104.864501953125,
                        "z": 353.83917236328125
                    },
                    "rotation": {
                        "roll": 0.010768348351120949,
                        "pitch": 2.083801746368408,
                        "yaw": -1.002288818359375
                    }
                },
                "velocity": {
                    "x": 7.964821815490723,
                    "y": -0.14209598302841187,
                    "z": 0.2898441553115845
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4560,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.087093353271484,
                "transform": {
                    "location": {
                        "x": -1066.4815673828125,
                        "y": 3082.1337890625,
                        "z": 356.0201110839844
                    },
                    "rotation": {
                        "roll": -0.0003356939705554396,
                        "pitch": -1.1565558910369873,
                        "yaw": 178.7190399169922
                    }
                },
                "velocity": {
                    "x": -8.083334922790527,
                    "y": 0.18077191710472107,
                    "z": -0.1676165759563446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.872899055480957,
                "transform": {
                    "location": {
                        "x": -1110.8387451171875,
                        "y": 3076.22216796875,
                        "z": 354.7585144042969
                    },
                    "rotation": {
                        "roll": -0.0006408686749637127,
                        "pitch": -2.086977958679199,
                        "yaw": 178.73060607910156
                    }
                },
                "velocity": {
                    "x": -15.858553886413574,
                    "y": 0.35209086537361145,
                    "z": -0.575538694858551
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.5643310546875,
                        "y": 3081.3212890625,
                        "z": 345.9383239746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1272.304443359375,
                        "y": 3079.8291015625,
                        "z": 347.5011901855469
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.985595703125,
                        "y": 3078.90625,
                        "z": 349.4787292480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.0093994140625,
                        "y": 3078.37060546875,
                        "z": 350.7577209472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4497013092041,
                "transform": {
                    "location": {
                        "x": -1135.787353515625,
                        "y": 3076.779296875,
                        "z": 353.8548278808594
                    },
                    "rotation": {
                        "roll": 0.00180542329326272,
                        "pitch": -2.1189842224121094,
                        "yaw": 178.7159881591797
                    }
                },
                "velocity": {
                    "x": -16.434648513793945,
                    "y": 0.3679932951927185,
                    "z": -0.5996462106704712
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.9832763671875,
                        "y": 3053.022705078125,
                        "z": 358.049560546875
                    },
                    "rotation": {
                        "roll": 5.344449149902175e-08,
                        "pitch": -3.2059335708618164,
                        "yaw": 165.9518585205078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064043998718262,
                "transform": {
                    "location": {
                        "x": -1050.8443603515625,
                        "y": 3057.620849609375,
                        "z": 357.0668640136719
                    },
                    "rotation": {
                        "roll": 0.008165525272488594,
                        "pitch": -2.8263866901397705,
                        "yaw": 164.4102325439453
                    }
                },
                "velocity": {
                    "x": -7.756714820861816,
                    "y": 2.169325113296509,
                    "z": -0.3952391445636749
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13132478296756744,
        "expert_target_speed": 0,
        "target_point": [
            11.278504008652384,
            0.45155073480220276
        ],
        "target_point_next": [
            24.10142589997431,
            1.19949494385073
        ]
    },
    "245": {
        "acceleration": [
            -0.4002571105957031,
            -1.1603617668151855,
            -0.07051229476928711
        ],
        "angular_velocity": [
            -0.0026487025897949934,
            -0.11569710075855255,
            4.473583698272705
        ],
        "forward_vector": [
            -0.9967785477638245,
            0.07126856595277786,
            -0.03678695484995842
        ],
        "right_vector": [
            -0.07156030833721161,
            -0.9974139332771301,
            0.00667410297319293
        ],
        "location": [
            -1111.5609130859375,
            3072.506591796875,
            354.7424621582031
        ],
        "rotation": [
            -0.38265979290008545,
            -2.108212947845459,
            175.91036987304688
        ],
        "velocity": [
            -14.956669807434082,
            1.0642699003219604,
            -0.5448406338691711
        ],
        "speed": 14.994487058560608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.152000427246094,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1134.4442138671875,
                3097.84423828125,
                353.89544677734375
            ],
            "velocity": [
                8.583669662475586,
                -0.16263911128044128,
                0.31249454617500305
            ],
            "speed_kmh": 30.927224576180222,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4578,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.3848876953125,
                        "y": 3081.33740234375,
                        "z": 356.5768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4577,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1026.8795166015625,
                        "y": 3077.847412109375,
                        "z": 356.5749816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.25598180294036865,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -1171.5086669921875,
                        "y": 3102.083251953125,
                        "z": 352.6893005371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.4302358627319336,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 1.1845106939745165e-07,
                    "y": -2.6460920121706977e-09,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9698363542556763,
                "transform": {
                    "location": {
                        "x": -1169.18994140625,
                        "y": 3095.03466796875,
                        "z": 352.5900573730469
                    },
                    "rotation": {
                        "roll": 0.006501093506813049,
                        "pitch": 2.5221633911132812,
                        "yaw": -1.117950439453125
                    }
                },
                "velocity": {
                    "x": 0.9624899625778198,
                    "y": -0.011476442217826843,
                    "z": 0.11859109252691269
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.11894174665212631,
                "transform": {
                    "location": {
                        "x": -1169.9307861328125,
                        "y": 3098.54736328125,
                        "z": 352.5587463378906
                    },
                    "rotation": {
                        "roll": 8.308274118462577e-05,
                        "pitch": 2.433616876602173,
                        "yaw": -1.2796632051467896
                    }
                },
                "velocity": {
                    "x": 0.004735063761472702,
                    "y": -0.00016462118946947157,
                    "z": -0.11884734034538269
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.751183032989502,
                "transform": {
                    "location": {
                        "x": -1165.88330078125,
                        "y": 3105.47265625,
                        "z": 352.7232360839844
                    },
                    "rotation": {
                        "roll": -0.0086669921875,
                        "pitch": 2.2572133541107178,
                        "yaw": -0.8566588163375854
                    }
                },
                "velocity": {
                    "x": 6.745420455932617,
                    "y": -0.08191224187612534,
                    "z": 0.26657634973526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.491575241088867,
                "transform": {
                    "location": {
                        "x": -1049.5672607421875,
                        "y": 3074.854736328125,
                        "z": 356.3356018066406
                    },
                    "rotation": {
                        "roll": 0.0009831275092437863,
                        "pitch": -0.6247231960296631,
                        "yaw": 178.73277282714844
                    }
                },
                "velocity": {
                    "x": -9.48814582824707,
                    "y": 0.21214278042316437,
                    "z": -0.14173726737499237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.412886619567871,
                "transform": {
                    "location": {
                        "x": -1153.234130859375,
                        "y": 3094.72314453125,
                        "z": 353.1971740722656
                    },
                    "rotation": {
                        "roll": 0.023509513586759567,
                        "pitch": 2.142554998397827,
                        "yaw": -0.73236083984375
                    }
                },
                "velocity": {
                    "x": 5.408594131469727,
                    "y": -0.08814368396997452,
                    "z": 0.196674183011055
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.233347415924072,
                "transform": {
                    "location": {
                        "x": -1152.5096435546875,
                        "y": 3098.209716796875,
                        "z": 353.2660827636719
                    },
                    "rotation": {
                        "roll": 0.020325427874922752,
                        "pitch": 2.1246395111083984,
                        "yaw": -0.81768798828125
                    }
                },
                "velocity": {
                    "x": 5.229213714599609,
                    "y": -0.08363884687423706,
                    "z": 0.19039498269557953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3931586742401123,
                "transform": {
                    "location": {
                        "x": -1156.064453125,
                        "y": 3101.75830078125,
                        "z": 353.1037902832031
                    },
                    "rotation": {
                        "roll": 0.016879046335816383,
                        "pitch": 2.0757627487182617,
                        "yaw": -0.8510741591453552
                    }
                },
                "velocity": {
                    "x": 2.3913965225219727,
                    "y": -0.026364123448729515,
                    "z": 0.0879545584321022
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.192350387573242,
                "transform": {
                    "location": {
                        "x": -1150.4105224609375,
                        "y": 3105.1689453125,
                        "z": 353.2960205078125
                    },
                    "rotation": {
                        "roll": 0.020488956943154335,
                        "pitch": 2.072183609008789,
                        "yaw": -0.7343445420265198
                    }
                },
                "velocity": {
                    "x": 6.187597751617432,
                    "y": -0.08821557462215424,
                    "z": 0.22595421969890594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019288063049316,
                "transform": {
                    "location": {
                        "x": -1042.344482421875,
                        "y": 3081.6005859375,
                        "z": 356.4291687011719
                    },
                    "rotation": {
                        "roll": 0.002362300409004092,
                        "pitch": -0.6886333227157593,
                        "yaw": 178.81637573242188
                    }
                },
                "velocity": {
                    "x": -8.01700496673584,
                    "y": 0.16798938810825348,
                    "z": -0.09162991493940353
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028270721435547,
                "transform": {
                    "location": {
                        "x": -1042.8643798828125,
                        "y": 3078.11083984375,
                        "z": 356.42401123046875
                    },
                    "rotation": {
                        "roll": 0.0035272492095828056,
                        "pitch": -0.7214045524597168,
                        "yaw": 178.79129028320312
                    }
                },
                "velocity": {
                    "x": -8.025959968566895,
                    "y": 0.16984595358371735,
                    "z": -0.09079708158969879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.840298175811768,
                "transform": {
                    "location": {
                        "x": -1134.660400390625,
                        "y": 3094.348876953125,
                        "z": 353.884765625
                    },
                    "rotation": {
                        "roll": 0.009032383561134338,
                        "pitch": 2.079068422317505,
                        "yaw": -1.0596619844436646
                    }
                },
                "velocity": {
                    "x": 7.833680152893066,
                    "y": -0.14716097712516785,
                    "z": 0.28647541999816895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.590895652770996,
                "transform": {
                    "location": {
                        "x": -1134.4442138671875,
                        "y": 3097.84423828125,
                        "z": 353.89544677734375
                    },
                    "rotation": {
                        "roll": 0.006230073515325785,
                        "pitch": 1.9692389965057373,
                        "yaw": -1.05841064453125
                    }
                },
                "velocity": {
                    "x": 8.583669662475586,
                    "y": -0.16263911128044128,
                    "z": 0.31249454617500305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.891389846801758,
                "transform": {
                    "location": {
                        "x": -1137.0682373046875,
                        "y": 3101.39111328125,
                        "z": 353.78619384765625
                    },
                    "rotation": {
                        "roll": 0.027272626757621765,
                        "pitch": 2.5731165409088135,
                        "yaw": -0.9879762530326843
                    }
                },
                "velocity": {
                    "x": 7.884871482849121,
                    "y": -0.14161624014377594,
                    "z": 0.2877137362957001
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.977502346038818,
                "transform": {
                    "location": {
                        "x": -1133.5941162109375,
                        "y": 3104.8291015625,
                        "z": 353.9109191894531
                    },
                    "rotation": {
                        "roll": 0.0098259961232543,
                        "pitch": 2.088336944580078,
                        "yaw": -1.0510557889938354
                    }
                },
                "velocity": {
                    "x": 7.970745086669922,
                    "y": -0.1520683467388153,
                    "z": 0.290937602519989
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8733549118042,
                "transform": {
                    "location": {
                        "x": -1114.80322265625,
                        "y": 3076.310546875,
                        "z": 354.61358642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.096949815750122,
                        "yaw": 178.7187957763672
                    }
                },
                "velocity": {
                    "x": -15.858795166015625,
                    "y": 0.3543112576007843,
                    "z": -0.580059289932251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1322.8076171875,
                        "y": 3081.541748046875,
                        "z": 345.8519592285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1276.547119140625,
                        "y": 3079.924072265625,
                        "z": 347.3243408203125
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.226318359375,
                        "y": 3079.00048828125,
                        "z": 349.2620544433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.249755859375,
                        "y": 3078.46484375,
                        "z": 350.52496337890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44970703125,
                "transform": {
                    "location": {
                        "x": -1139.89599609375,
                        "y": 3076.87109375,
                        "z": 353.705078125
                    },
                    "rotation": {
                        "roll": 0.0002564842579886317,
                        "pitch": -2.1191959381103516,
                        "yaw": 178.71832275390625
                    }
                },
                "velocity": {
                    "x": -16.43470573425293,
                    "y": 0.3661269545555115,
                    "z": -0.5993481874465942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.9371337890625,
                        "y": 3053.50146484375,
                        "z": 357.9351806640625
                    },
                    "rotation": {
                        "roll": 5.344449149902175e-08,
                        "pitch": -3.2059335708618164,
                        "yaw": 165.9518585205078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065285682678223,
                "transform": {
                    "location": {
                        "x": -1052.7825927734375,
                        "y": 3058.168701171875,
                        "z": 356.9693908691406
                    },
                    "rotation": {
                        "roll": 0.027007130905985832,
                        "pitch": -2.775167226791382,
                        "yaw": 164.1697998046875
                    }
                },
                "velocity": {
                    "x": -7.744564056396484,
                    "y": 2.2179625034332275,
                    "z": -0.38884735107421875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10636069625616074,
        "expert_target_speed": 17.77777777777778,
        "target_point": [
            7.545280243461699,
            0.27121675214804297
        ],
        "target_point_next": [
            20.380342434244103,
            0.7691373578075715
        ]
    },
    "250": {
        "acceleration": [
            -0.6558418273925781,
            -1.3531506061553955,
            0.004252195358276367
        ],
        "angular_velocity": [
            -0.2866263687610626,
            0.13798010349273682,
            5.355058670043945
        ],
        "forward_vector": [
            -0.9980685710906982,
            0.05030561983585358,
            -0.03644898533821106
        ],
        "right_vector": [
            -0.05060497298836708,
            -0.9986918568611145,
            0.007336858194321394
        ],
        "location": [
            -1115.31689453125,
            3072.73779296875,
            354.6046142578125
        ],
        "rotation": [
            -0.420654296875,
            -2.0888357162475586,
            177.11456298828125
        ],
        "velocity": [
            -15.097262382507324,
            0.7496967911720276,
            -0.5530691146850586
        ],
        "speed": 15.115865067040138,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.328960418701172,
        "front_vehicle_info": {
            "id": 4564,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                -1132.380859375,
                3097.802978515625,
                353.969482421875
            ],
            "velocity": [
                7.9588165283203125,
                -0.16885516047477722,
                0.28995320200920105
            ],
            "speed_kmh": 28.677190885968326,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 4578,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.452392578125,
                        "y": 3081.383056640625,
                        "z": 356.5598449707031
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4577,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1028.8924560546875,
                        "y": 3077.89208984375,
                        "z": 356.5565490722656
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01328220497816801,
                "transform": {
                    "location": {
                        "x": -1171.5023193359375,
                        "y": 3102.083251953125,
                        "z": 352.4294738769531
                    },
                    "rotation": {
                        "roll": -0.00012206926476210356,
                        "pitch": 2.4659030437469482,
                        "yaw": -1.279662847518921
                    }
                },
                "velocity": {
                    "x": 0.0003658708883449435,
                    "y": 6.38022247585468e-05,
                    "z": -0.01327701099216938
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9158322811126709,
                "transform": {
                    "location": {
                        "x": -1168.9564208984375,
                        "y": 3095.031494140625,
                        "z": 352.60992431640625
                    },
                    "rotation": {
                        "roll": 0.008735406212508678,
                        "pitch": 2.3842687606811523,
                        "yaw": -1.0725096464157104
                    }
                },
                "velocity": {
                    "x": 0.9145851135253906,
                    "y": -0.011011417023837566,
                    "z": 0.04649294912815094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.04995638504624367,
                "transform": {
                    "location": {
                        "x": -1169.9307861328125,
                        "y": 3098.54736328125,
                        "z": 352.5567626953125
                    },
                    "rotation": {
                        "roll": 0.0006133486749604344,
                        "pitch": 2.4324965476989746,
                        "yaw": -1.279541015625
                    }
                },
                "velocity": {
                    "x": -0.002094126306474209,
                    "y": 0.0001371386315440759,
                    "z": 0.049912285059690475
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4332075119018555,
                "transform": {
                    "location": {
                        "x": -1164.2381591796875,
                        "y": 3105.45458984375,
                        "z": 352.78851318359375
                    },
                    "rotation": {
                        "roll": 0.0096958102658391,
                        "pitch": 2.2702865600585938,
                        "yaw": -0.6564330458641052
                    }
                },
                "velocity": {
                    "x": 6.4279046058654785,
                    "y": -0.06507521122694016,
                    "z": 0.2529136836528778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.774134635925293,
                "transform": {
                    "location": {
                        "x": -1052.1038818359375,
                        "y": 3074.910888671875,
                        "z": 356.2965087890625
                    },
                    "rotation": {
                        "roll": -0.002258300082758069,
                        "pitch": -0.7890575528144836,
                        "yaw": 178.73277282714844
                    }
                },
                "velocity": {
                    "x": -10.770001411437988,
                    "y": 0.2379399687051773,
                    "z": -0.1801072210073471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.876211166381836,
                "transform": {
                    "location": {
                        "x": -1151.793701171875,
                        "y": 3094.69970703125,
                        "z": 353.2494201660156
                    },
                    "rotation": {
                        "roll": 0.01980655826628208,
                        "pitch": 2.1885085105895996,
                        "yaw": -0.7911376357078552
                    }
                },
                "velocity": {
                    "x": 6.8707098960876465,
                    "y": -0.11325660347938538,
                    "z": 0.2505955398082733
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.775137424468994,
                "transform": {
                    "location": {
                        "x": -1151.112548828125,
                        "y": 3098.1884765625,
                        "z": 353.31683349609375
                    },
                    "rotation": {
                        "roll": 0.01415641326457262,
                        "pitch": 2.138094902038574,
                        "yaw": -0.9509276747703552
                    }
                },
                "velocity": {
                    "x": 5.770545482635498,
                    "y": -0.0939355194568634,
                    "z": 0.2102321982383728
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.1381402015686035,
                "transform": {
                    "location": {
                        "x": -1155.260009765625,
                        "y": 3101.7490234375,
                        "z": 353.1302185058594
                    },
                    "rotation": {
                        "roll": 0.0158684104681015,
                        "pitch": 2.4505350589752197,
                        "yaw": -0.7709046006202698
                    }
                },
                "velocity": {
                    "x": 4.135161876678467,
                    "y": -0.0446440763771534,
                    "z": 0.15049010515213013
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.479219436645508,
                "transform": {
                    "location": {
                        "x": -1148.848388671875,
                        "y": 3105.146728515625,
                        "z": 353.35272216796875
                    },
                    "rotation": {
                        "roll": 0.017565637826919556,
                        "pitch": 2.0945935249328613,
                        "yaw": -0.8403014540672302
                    }
                },
                "velocity": {
                    "x": 6.474097728729248,
                    "y": -0.10404390096664429,
                    "z": 0.2356172353029251
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.4102783203125,
                        "y": 3081.688720703125,
                        "z": 356.40478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.8902587890625,
                        "y": 3078.17431640625,
                        "z": 356.3994445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4565,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078463554382324,
                "transform": {
                    "location": {
                        "x": -1132.680419921875,
                        "y": 3094.309326171875,
                        "z": 353.95703125
                    },
                    "rotation": {
                        "roll": 0.010207840241491795,
                        "pitch": 2.124823808670044,
                        "yaw": -1.1703184843063354
                    }
                },
                "velocity": {
                    "x": 8.071382522583008,
                    "y": -0.16686999797821045,
                    "z": 0.2941255271434784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4564,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965886116027832,
                "transform": {
                    "location": {
                        "x": -1132.380859375,
                        "y": 3097.802978515625,
                        "z": 353.969482421875
                    },
                    "rotation": {
                        "roll": 0.0019206700380891562,
                        "pitch": 2.1192095279693604,
                        "yaw": -1.147979736328125
                    }
                },
                "velocity": {
                    "x": 7.9588165283203125,
                    "y": -0.16885516047477722,
                    "z": 0.28995320200920105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.54636287689209,
                "transform": {
                    "location": {
                        "x": -1134.946533203125,
                        "y": 3101.35302734375,
                        "z": 353.8638610839844
                    },
                    "rotation": {
                        "roll": 0.02034701406955719,
                        "pitch": 2.482835054397583,
                        "yaw": -1.0404051542282104
                    }
                },
                "velocity": {
                    "x": 8.539237022399902,
                    "y": -0.15643499791622162,
                    "z": 0.31188902258872986
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4562,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.166365623474121,
                "transform": {
                    "location": {
                        "x": -1131.5611572265625,
                        "y": 3104.7890625,
                        "z": 353.98504638671875
                    },
                    "rotation": {
                        "roll": 0.005964324809610844,
                        "pitch": 2.0935757160186768,
                        "yaw": -1.1561888456344604
                    }
                },
                "velocity": {
                    "x": 8.159172058105469,
                    "y": -0.17037174105644226,
                    "z": 0.2973259389400482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8732328414917,
                "transform": {
                    "location": {
                        "x": -1118.767822265625,
                        "y": 3076.39892578125,
                        "z": 354.4687805175781
                    },
                    "rotation": {
                        "roll": -0.0003967293887399137,
                        "pitch": -2.0941154956817627,
                        "yaw": 178.72427368164062
                    }
                },
                "velocity": {
                    "x": -15.858731269836426,
                    "y": 0.35334768891334534,
                    "z": -0.5790694952011108
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.0501708984375,
                        "y": 3081.776123046875,
                        "z": 345.7784729003906
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1280.7894287109375,
                        "y": 3080.018798828125,
                        "z": 347.1551818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.4664306640625,
                        "y": 3079.095458984375,
                        "z": 349.04876708984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1215.4891357421875,
                        "y": 3078.5595703125,
                        "z": 350.29443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449718475341797,
                "transform": {
                    "location": {
                        "x": -1144.004638671875,
                        "y": 3076.963134765625,
                        "z": 353.55517578125
                    },
                    "rotation": {
                        "roll": -0.0008544918382540345,
                        "pitch": -2.119994878768921,
                        "yaw": 178.71934509277344
                    }
                },
                "velocity": {
                    "x": -16.434717178344727,
                    "y": 0.3647269308567047,
                    "z": -0.6002693176269531
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.9168701171875,
                        "y": 3053.989013671875,
                        "z": 357.8196105957031
                    },
                    "rotation": {
                        "roll": 5.344449149902175e-08,
                        "pitch": -3.2059335708618164,
                        "yaw": 165.9518585205078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062841415405273,
                "transform": {
                    "location": {
                        "x": -1054.718017578125,
                        "y": 3058.726806640625,
                        "z": 356.8736877441406
                    },
                    "rotation": {
                        "roll": 0.019088376313447952,
                        "pitch": -2.7165846824645996,
                        "yaw": 163.9054412841797
                    }
                },
                "velocity": {
                    "x": -7.735794544219971,
                    "y": 2.241220712661743,
                    "z": -0.3792402446269989
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.062229253351688385,
        "expert_target_speed": 0,
        "target_point": [
            16.629147431210654,
            0.38249197397427026
        ],
        "target_point_next": [
            22.724934164726356,
            -2.9479345860494637
        ]
    },
    "255": {
        "acceleration": [
            -0.6522941589355469,
            -1.0310107469558716,
            -0.025430917739868164
        ],
        "angular_velocity": [
            0.05765620619058609,
            0.06445497274398804,
            4.340396404266357
        ],
        "forward_vector": [
            -0.9989747405052185,
            0.02741277404129505,
            -0.03602726012468338
        ],
        "right_vector": [
            -0.027723800390958786,
            -0.9995822906494141,
            0.00816198717802763
        ],
        "location": [
            -1119.1131591796875,
            3072.88671875,
            354.4656066894531
        ],
        "rotation": [
            -0.46795639395713806,
            -2.0646567344665527,
            178.4281463623047
        ],
        "velocity": [
            -15.264863967895508,
            0.43514230847358704,
            -0.5576692223548889
        ],
        "speed": 15.271064821648107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.38951873779297,
        "front_vehicle_info": {
            "id": 4570,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1149.3074951171875,
                3098.158447265625,
                353.3811950683594
            ],
            "velocity": [
                8.151122093200684,
                -0.13584282994270325,
                0.29763248562812805
            ],
            "speed_kmh": 29.367667145175012,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4578,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.5343017578125,
                        "y": 3081.4296875,
                        "z": 356.5408020019531
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4577,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1030.9735107421875,
                        "y": 3077.93896484375,
                        "z": 356.53753662109375
                    },
                    "rotation": {
                        "roll": 1.2506727875560841e-09,
                        "pitch": -0.38189634680747986,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6516052484512329,
                "transform": {
                    "location": {
                        "x": -1171.475341796875,
                        "y": 3102.0830078125,
                        "z": 352.4608459472656
                    },
                    "rotation": {
                        "roll": -0.004974362440407276,
                        "pitch": 2.5852811336517334,
                        "yaw": -1.2632752656936646
                    }
                },
                "velocity": {
                    "x": 0.63304203748703,
                    "y": -0.006225403398275375,
                    "z": 0.15429963171482086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.193066120147705,
                "transform": {
                    "location": {
                        "x": -1168.637939453125,
                        "y": 3095.027099609375,
                        "z": 352.6242980957031
                    },
                    "rotation": {
                        "roll": 0.0122508704662323,
                        "pitch": 2.2419958114624023,
                        "yaw": -1.0170594453811646
                    }
                },
                "velocity": {
                    "x": 2.1911659240722656,
                    "y": -0.026945898309350014,
                    "z": 0.08720702677965164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3965526521205902,
                "transform": {
                    "location": {
                        "x": -1169.8985595703125,
                        "y": 3098.547119140625,
                        "z": 352.5683898925781
                    },
                    "rotation": {
                        "roll": -0.003082276787608862,
                        "pitch": 2.4815168380737305,
                        "yaw": -1.2677308320999146
                    }
                },
                "velocity": {
                    "x": 0.39458492398262024,
                    "y": -0.001386364921927452,
                    "z": 0.03943123668432236
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.642187118530273,
                "transform": {
                    "location": {
                        "x": -1162.6812744140625,
                        "y": 3105.433349609375,
                        "z": 352.8487854003906
                    },
                    "rotation": {
                        "roll": 0.02805880643427372,
                        "pitch": 2.068857431411743,
                        "yaw": -0.7701110243797302
                    }
                },
                "velocity": {
                    "x": 5.637370586395264,
                    "y": -0.08307700604200363,
                    "z": 0.21777282655239105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.740134239196777,
                "transform": {
                    "location": {
                        "x": -1054.8714599609375,
                        "y": 3074.972412109375,
                        "z": 356.2490234375
                    },
                    "rotation": {
                        "roll": -0.0008544924785383046,
                        "pitch": -0.7929985523223877,
                        "yaw": 178.72862243652344
                    }
                },
                "velocity": {
                    "x": -11.735527038574219,
                    "y": 0.26050662994384766,
                    "z": -0.20071956515312195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.305737495422363,
                "transform": {
                    "location": {
                        "x": -1149.8609619140625,
                        "y": 3094.668701171875,
                        "z": 353.31976318359375
                    },
                    "rotation": {
                        "roll": 0.015172149054706097,
                        "pitch": 2.201711416244507,
                        "yaw": -0.9093018770217896
                    }
                },
                "velocity": {
                    "x": 8.29902458190918,
                    "y": -0.13851749897003174,
                    "z": 0.3037673234939575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.157685279846191,
                "transform": {
                    "location": {
                        "x": -1149.3074951171875,
                        "y": 3098.158447265625,
                        "z": 353.3811950683594
                    },
                    "rotation": {
                        "roll": 0.012391116470098495,
                        "pitch": 2.296015739440918,
                        "yaw": -0.9339293837547302
                    }
                },
                "velocity": {
                    "x": 8.151122093200684,
                    "y": -0.13584282994270325,
                    "z": 0.29763248562812805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.097194671630859,
                "transform": {
                    "location": {
                        "x": -1154.018798828125,
                        "y": 3101.73486328125,
                        "z": 353.17523193359375
                    },
                    "rotation": {
                        "roll": 0.023217974230647087,
                        "pitch": 2.4962358474731445,
                        "yaw": -0.699127197265625
                    }
                },
                "velocity": {
                    "x": 5.093356132507324,
                    "y": -0.06607188284397125,
                    "z": 0.186415895819664
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5495758056640625,
                "transform": {
                    "location": {
                        "x": -1147.0975341796875,
                        "y": 3105.117431640625,
                        "z": 353.41632080078125
                    },
                    "rotation": {
                        "roll": 0.013025451451539993,
                        "pitch": 2.12180495262146,
                        "yaw": -0.9920044541358948
                    }
                },
                "velocity": {
                    "x": 7.543252944946289,
                    "y": -0.13881154358386993,
                    "z": 0.2759799361228943
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.4913330078125,
                        "y": 3081.7783203125,
                        "z": 356.3795471191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.97021484375,
                        "y": 3078.281494140625,
                        "z": 356.3735046386719
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.097502708435059,
                "transform": {
                    "location": {
                        "x": -1132.8890380859375,
                        "y": 3101.313720703125,
                        "z": 353.9402770996094
                    },
                    "rotation": {
                        "roll": 0.025843489915132523,
                        "pitch": 2.112515926361084,
                        "yaw": -1.11669921875
                    }
                },
                "velocity": {
                    "x": 8.090431213378906,
                    "y": -0.16469815373420715,
                    "z": 0.2955568730831146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873197555541992,
                "transform": {
                    "location": {
                        "x": -1122.732421875,
                        "y": 3076.48779296875,
                        "z": 354.32415771484375
                    },
                    "rotation": {
                        "roll": -0.00012206765677547082,
                        "pitch": -2.0927698612213135,
                        "yaw": 178.71804809570312
                    }
                },
                "velocity": {
                    "x": -15.858649253845215,
                    "y": 0.3546746075153351,
                    "z": -0.579534113407135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4545,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1331.2921142578125,
                        "y": 3082.025146484375,
                        "z": 345.71783447265625
                    },
                    "rotation": {
                        "roll": 1.6676037217777662e-09,
                        "pitch": -0.551086962223053,
                        "yaw": 176.33619689941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1285.031005859375,
                        "y": 3080.113037109375,
                        "z": 346.9915466308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.705810546875,
                        "y": 3079.190185546875,
                        "z": 348.8387451171875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1219.7274169921875,
                        "y": 3078.654541015625,
                        "z": 350.0672912597656
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449695587158203,
                "transform": {
                    "location": {
                        "x": -1148.11328125,
                        "y": 3077.0546875,
                        "z": 353.40533447265625
                    },
                    "rotation": {
                        "roll": 0.0027431261260062456,
                        "pitch": -2.119018316268921,
                        "yaw": 178.71566772460938
                    }
                },
                "velocity": {
                    "x": -16.434656143188477,
                    "y": 0.3679434061050415,
                    "z": -0.5993189215660095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1038.8663330078125,
                        "y": 3054.486083984375,
                        "z": 357.7097473144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.070709466934204,
                        "yaw": 165.37890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.062810897827148,
                "transform": {
                    "location": {
                        "x": -1056.652099609375,
                        "y": 3059.289306640625,
                        "z": 356.77960205078125
                    },
                    "rotation": {
                        "roll": 0.02297976240515709,
                        "pitch": -2.6638145446777344,
                        "yaw": 163.75990295410156
                    }
                },
                "velocity": {
                    "x": -7.7261786460876465,
                    "y": 2.2756078243255615,
                    "z": -0.3697220981121063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.005896742921322584,
        "expert_target_speed": 0,
        "target_point": [
            12.834624466397175,
            0.045917945930219195
        ],
        "target_point_next": [
            18.852461475076943,
            -3.4233751678296582
        ]
    },
    "260": {
        "acceleration": [
            -0.3844451904296875,
            -0.35529792308807373,
            -0.005646944046020508
        ],
        "angular_velocity": [
            0.6503304243087769,
            -0.05039653927087784,
            1.2377872467041016
        ],
        "forward_vector": [
            -0.9992287158966064,
            0.01585385575890541,
            -0.035925641655921936
        ],
        "right_vector": [
            -0.01609179936349392,
            -0.9998503923416138,
            0.006343768909573555
        ],
        "location": [
            -1122.948974609375,
            3072.974365234375,
            354.32562255859375
        ],
        "rotation": [
            -0.3637084364891052,
            -2.058830738067627,
            179.0910186767578
        ],
        "velocity": [
            -15.40401840209961,
            0.26765525341033936,
            -0.5614627599716187
        ],
        "speed": 15.40634357227248,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.97757339477539,
        "front_vehicle_info": {
            "id": 4570,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1147.2459716796875,
                3098.12060546875,
                353.4577331542969
            ],
            "velocity": [
                8.107820510864258,
                -0.15743155777454376,
                0.2957558035850525
            ],
            "speed_kmh": 29.213064967024398,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4578,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1032.6168212890625,
                        "y": 3081.47607421875,
                        "z": 356.5238342285156
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4577,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1033.0560302734375,
                        "y": 3077.9853515625,
                        "z": 356.52105712890625
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.645204782485962,
                "transform": {
                    "location": {
                        "x": -1171.1705322265625,
                        "y": 3102.079345703125,
                        "z": 352.49310302734375
                    },
                    "rotation": {
                        "roll": -0.005920410621911287,
                        "pitch": 2.849377155303955,
                        "yaw": -1.187134027481079
                    }
                },
                "velocity": {
                    "x": 1.6410959959030151,
                    "y": -0.017565865069627762,
                    "z": 0.11486537754535675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3319194316864014,
                "transform": {
                    "location": {
                        "x": -1167.933837890625,
                        "y": 3095.017822265625,
                        "z": 352.6531066894531
                    },
                    "rotation": {
                        "roll": 0.0161571241915226,
                        "pitch": 2.1913704872131348,
                        "yaw": -0.9298096299171448
                    }
                },
                "velocity": {
                    "x": 3.3289036750793457,
                    "y": -0.040887463837862015,
                    "z": 0.1357046514749527
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2240245342254639,
                "transform": {
                    "location": {
                        "x": -1169.6966552734375,
                        "y": 3098.545166015625,
                        "z": 352.5766296386719
                    },
                    "rotation": {
                        "roll": -0.004913331940770149,
                        "pitch": 2.600724220275879,
                        "yaw": -1.187744140625
                    }
                },
                "velocity": {
                    "x": 1.2232457399368286,
                    "y": -0.007481050211936235,
                    "z": 0.04301345720887184
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.389718532562256,
                "transform": {
                    "location": {
                        "x": -1161.3341064453125,
                        "y": 3105.412841796875,
                        "z": 352.9009704589844
                    },
                    "rotation": {
                        "roll": 0.021275466307997704,
                        "pitch": 2.0845532417297363,
                        "yaw": -0.8482970595359802
                    }
                },
                "velocity": {
                    "x": 5.385105609893799,
                    "y": -0.08358744531869888,
                    "z": 0.2066805213689804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.851752281188965,
                "transform": {
                    "location": {
                        "x": -1057.956298828125,
                        "y": 3075.040771484375,
                        "z": 356.19549560546875
                    },
                    "rotation": {
                        "roll": -0.0010375971905887127,
                        "pitch": -0.8426745533943176,
                        "yaw": 178.7352294921875
                    }
                },
                "velocity": {
                    "x": -12.8465576171875,
                    "y": 0.28417572379112244,
                    "z": -0.2296876162290573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.061810493469238,
                "transform": {
                    "location": {
                        "x": -1147.794677734375,
                        "y": 3094.631591796875,
                        "z": 353.39581298828125
                    },
                    "rotation": {
                        "roll": 0.012012803927063942,
                        "pitch": 2.107618570327759,
                        "yaw": -1.0507811307907104
                    }
                },
                "velocity": {
                    "x": 8.054954528808594,
                    "y": -0.1570352017879486,
                    "z": 0.2929726839065552
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.114740371704102,
                "transform": {
                    "location": {
                        "x": -1147.2459716796875,
                        "y": 3098.12060546875,
                        "z": 353.4577331542969
                    },
                    "rotation": {
                        "roll": 0.01249678898602724,
                        "pitch": 2.145963430404663,
                        "yaw": -1.062774658203125
                    }
                },
                "velocity": {
                    "x": 8.107820510864258,
                    "y": -0.15743155777454376,
                    "z": 0.2957558035850525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.602792739868164,
                "transform": {
                    "location": {
                        "x": -1152.5230712890625,
                        "y": 3101.713134765625,
                        "z": 353.2308654785156
                    },
                    "rotation": {
                        "roll": 0.03320518136024475,
                        "pitch": 2.3557934761047363,
                        "yaw": -0.8024291396141052
                    }
                },
                "velocity": {
                    "x": 6.5976152420043945,
                    "y": -0.10329200327396393,
                    "z": 0.24015352129936218
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.56496524810791,
                "transform": {
                    "location": {
                        "x": -1145.1328125,
                        "y": 3105.08154296875,
                        "z": 353.4879150390625
                    },
                    "rotation": {
                        "roll": 0.007395037449896336,
                        "pitch": 2.124967336654663,
                        "yaw": -1.1094969511032104
                    }
                },
                "velocity": {
                    "x": 8.557686805725098,
                    "y": -0.1657562255859375,
                    "z": 0.3117048144340515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1048.5738525390625,
                        "y": 3081.828369140625,
                        "z": 356.34912109375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1049.0526123046875,
                        "y": 3078.3349609375,
                        "z": 356.34320068359375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4563,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.263704299926758,
                "transform": {
                    "location": {
                        "x": -1130.9923095703125,
                        "y": 3101.2744140625,
                        "z": 354.01025390625
                    },
                    "rotation": {
                        "roll": 0.016570594161748886,
                        "pitch": 1.8903913497924805,
                        "yaw": -1.1919554471969604
                    }
                },
                "velocity": {
                    "x": 7.257264137268066,
                    "y": -0.1539314091205597,
                    "z": 0.26424434781074524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873191833496094,
                "transform": {
                    "location": {
                        "x": -1126.697021484375,
                        "y": 3076.576171875,
                        "z": 354.1795959472656
                    },
                    "rotation": {
                        "roll": 0.0005154677201062441,
                        "pitch": -2.0926811695098877,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -15.858649253845215,
                    "y": 0.35492822527885437,
                    "z": -0.5792239904403687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.276123046875,
                        "y": 3080.21533203125,
                        "z": 346.8360900878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1247.9476318359375,
                        "y": 3079.284912109375,
                        "z": 348.6311950683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1223.967529296875,
                        "y": 3078.749267578125,
                        "z": 349.8431701660156
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4497013092041,
                "transform": {
                    "location": {
                        "x": -1152.2218017578125,
                        "y": 3077.146484375,
                        "z": 353.2555847167969
                    },
                    "rotation": {
                        "roll": 0.0011451182654127479,
                        "pitch": -2.1192572116851807,
                        "yaw": 178.71389770507812
                    }
                },
                "velocity": {
                    "x": -16.434675216674805,
                    "y": 0.36647799611091614,
                    "z": -0.5998247861862183
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1040.8150634765625,
                        "y": 3054.983642578125,
                        "z": 357.59991455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.070709466934204,
                        "yaw": 165.37890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06167221069336,
                "transform": {
                    "location": {
                        "x": -1058.58251953125,
                        "y": 3059.86376953125,
                        "z": 356.6876525878906
                    },
                    "rotation": {
                        "roll": 0.028208410367369652,
                        "pitch": -2.6029984951019287,
                        "yaw": 163.41497802734375
                    }
                },
                "velocity": {
                    "x": -7.714827060699463,
                    "y": 2.3107035160064697,
                    "z": -0.3642119765281677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.016585158184170723,
        "expert_target_speed": 0,
        "target_point": [
            8.997573640244708,
            -0.07578063239395169
        ],
        "target_point_next": [
            14.974872495885654,
            -3.6144605222075237
        ]
    },
    "265": {
        "acceleration": [
            2.689208984375,
            0.577392578125,
            0.09877800941467285
        ],
        "angular_velocity": [
            1.1762065887451172,
            -0.9113738536834717,
            -3.145301580429077
        ],
        "forward_vector": [
            -0.9990309476852417,
            0.02233586087822914,
            -0.03792377561330795
        ],
        "right_vector": [
            -0.022395381703972816,
            -0.9997485280036926,
            0.0011453996412456036
        ],
        "location": [
            -1126.77392578125,
            3073.050537109375,
            354.18658447265625
        ],
        "rotation": [
            -0.0656738206744194,
            -2.173393487930298,
            178.71922302246094
        ],
        "velocity": [
            -15.067130088806152,
            0.35541021823883057,
            -0.5495758652687073
        ],
        "speed": 15.071321293643642,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.13645362854004,
        "front_vehicle_info": {
            "id": 4570,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1145.2789306640625,
                3098.082763671875,
                353.52996826171875
            ],
            "velocity": [
                7.790569305419922,
                -0.15344195067882538,
                0.28393495082855225
            ],
            "speed_kmh": 28.07010600871347,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 4578,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1034.6993408203125,
                        "y": 3081.522705078125,
                        "z": 356.5072937011719
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4577,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1035.1385498046875,
                        "y": 3078.03173828125,
                        "z": 356.5045166015625
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5463955402374268,
                "transform": {
                    "location": {
                        "x": -1170.6533203125,
                        "y": 3102.07373046875,
                        "z": 352.5212097167969
                    },
                    "rotation": {
                        "roll": -0.0008850107551552355,
                        "pitch": 2.8590078353881836,
                        "yaw": -1.01690673828125
                    }
                },
                "velocity": {
                    "x": 2.5434463024139404,
                    "y": -0.02446160465478897,
                    "z": 0.1200544536113739
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.426276683807373,
                "transform": {
                    "location": {
                        "x": -1166.9581298828125,
                        "y": 3095.005126953125,
                        "z": 352.6929931640625
                    },
                    "rotation": {
                        "roll": 0.017942355945706367,
                        "pitch": 2.1627519130706787,
                        "yaw": -0.843963623046875
                    }
                },
                "velocity": {
                    "x": 4.42230224609375,
                    "y": -0.054462604224681854,
                    "z": 0.17944999039173126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.240018367767334,
                "transform": {
                    "location": {
                        "x": -1169.2794189453125,
                        "y": 3098.541259765625,
                        "z": 352.5916442871094
                    },
                    "rotation": {
                        "roll": 0.0068331616930663586,
                        "pitch": 2.6431941986083984,
                        "yaw": -1.0431212186813354
                    }
                },
                "velocity": {
                    "x": 2.238112688064575,
                    "y": -0.030473416671156883,
                    "z": 0.08720796555280685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.465158939361572,
                "transform": {
                    "location": {
                        "x": -1159.9254150390625,
                        "y": 3105.390625,
                        "z": 352.9540100097656
                    },
                    "rotation": {
                        "roll": 0.01707274653017521,
                        "pitch": 2.3161511421203613,
                        "yaw": -0.8900145888328552
                    }
                },
                "velocity": {
                    "x": 6.459814071655273,
                    "y": -0.10252293199300766,
                    "z": 0.24202466011047363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.810111999511719,
                "transform": {
                    "location": {
                        "x": -1061.2928466796875,
                        "y": 3075.114990234375,
                        "z": 356.13427734375
                    },
                    "rotation": {
                        "roll": 0.00011741744674509391,
                        "pitch": -0.9232434630393982,
                        "yaw": 178.72532653808594
                    }
                },
                "velocity": {
                    "x": -13.804205894470215,
                    "y": 0.3082382082939148,
                    "z": -0.26091107726097107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.864583492279053,
                "transform": {
                    "location": {
                        "x": -1145.82958984375,
                        "y": 3094.59375,
                        "z": 353.4675598144531
                    },
                    "rotation": {
                        "roll": 0.006297390442341566,
                        "pitch": 2.0872714519500732,
                        "yaw": -1.1217650175094604
                    }
                },
                "velocity": {
                    "x": 7.8578972816467285,
                    "y": -0.1537179797887802,
                    "z": 0.28547945618629456
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.7972517013549805,
                "transform": {
                    "location": {
                        "x": -1145.2789306640625,
                        "y": 3098.082763671875,
                        "z": 353.52996826171875
                    },
                    "rotation": {
                        "roll": 0.006271124351769686,
                        "pitch": 2.081861972808838,
                        "yaw": -1.1188048124313354
                    }
                },
                "velocity": {
                    "x": 7.790569305419922,
                    "y": -0.15344195067882538,
                    "z": 0.28393495082855225
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.844902038574219,
                "transform": {
                    "location": {
                        "x": -1150.71533203125,
                        "y": 3101.684814453125,
                        "z": 353.296875
                    },
                    "rotation": {
                        "roll": 0.0196840763092041,
                        "pitch": 2.342242479324341,
                        "yaw": -0.8929137587547302
                    }
                },
                "velocity": {
                    "x": 7.838658332824707,
                    "y": -0.12946821749210358,
                    "z": 0.2848915755748749
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.337550163269043,
                "transform": {
                    "location": {
                        "x": -1142.9915771484375,
                        "y": 3105.03955078125,
                        "z": 353.5662536621094
                    },
                    "rotation": {
                        "roll": 0.005267856176942587,
                        "pitch": 2.096068859100342,
                        "yaw": -1.176971435546875
                    }
                },
                "velocity": {
                    "x": 8.330291748046875,
                    "y": -0.16976352035999298,
                    "z": 0.3035876154899597
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.6563720703125,
                        "y": 3081.87841796875,
                        "z": 356.3187561035156
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.1351318359375,
                        "y": 3078.388427734375,
                        "z": 356.31292724609375
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.87320327758789,
                "transform": {
                    "location": {
                        "x": -1130.66162109375,
                        "y": 3076.6650390625,
                        "z": 354.0350036621094
                    },
                    "rotation": {
                        "roll": 0.0003429222560953349,
                        "pitch": -2.0933778285980225,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -15.85866928100586,
                    "y": 0.35499629378318787,
                    "z": -0.5789312720298767
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1293.521728515625,
                        "y": 3080.331787109375,
                        "z": 346.6877136230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1252.1907958984375,
                        "y": 3079.3798828125,
                        "z": 348.42486572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1228.210205078125,
                        "y": 3078.84423828125,
                        "z": 349.621826171875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.449695587158203,
                "transform": {
                    "location": {
                        "x": -1156.33056640625,
                        "y": 3077.238037109375,
                        "z": 353.10577392578125
                    },
                    "rotation": {
                        "roll": -0.0010070843854919076,
                        "pitch": -2.1191070079803467,
                        "yaw": 178.72335815429688
                    }
                },
                "velocity": {
                    "x": -16.434669494628906,
                    "y": 0.3665759563446045,
                    "z": -0.5998082756996155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.787841796875,
                        "y": 3055.4990234375,
                        "z": 357.4909362792969
                    },
                    "rotation": {
                        "roll": -2.671548138266644e-08,
                        "pitch": -2.9355127811431885,
                        "yaw": 164.8059844970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06337833404541,
                "transform": {
                    "location": {
                        "x": -1060.511474609375,
                        "y": 3060.443359375,
                        "z": 356.5975036621094
                    },
                    "rotation": {
                        "roll": 0.00981038436293602,
                        "pitch": -2.5520591735839844,
                        "yaw": 163.2637481689453
                    }
                },
                "velocity": {
                    "x": -7.712869644165039,
                    "y": 2.324293375015259,
                    "z": -0.35689225792884827
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.055306755006313324,
        "expert_target_speed": 0,
        "target_point": [
            11.172314113426205,
            -3.5265506123599657
        ],
        "target_point_next": [
            62.1722152886578,
            -3.525528024230539
        ]
    },
    "270": {
        "acceleration": [
            3.3264732360839844,
            1.5839505195617676,
            0.13240575790405273
        ],
        "angular_velocity": [
            1.5916814804077148,
            -0.5879859924316406,
            -6.616537570953369
        ],
        "forward_vector": [
            -0.9982196688652039,
            0.04314366355538368,
            -0.04118362069129944
        ],
        "right_vector": [
            -0.042970795184373856,
            -0.9990634918212891,
            -0.00507400231435895
        ],
        "location": [
            -1130.437255859375,
            3073.169921875,
            354.05364990234375
        ],
        "rotation": [
            0.29096701741218567,
            -2.3603150844573975,
            177.52517700195312
        ],
        "velocity": [
            -14.268122673034668,
            0.6412989497184753,
            -0.5203267335891724
        ],
        "speed": 14.28252740083757,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4578,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1036.7818603515625,
                        "y": 3081.569580078125,
                        "z": 356.49041748046875
                    },
                    "rotation": {
                        "roll": 4.168983769314849e-10,
                        "pitch": -0.5130564570426941,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4577,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1037.2210693359375,
                        "y": 3078.078369140625,
                        "z": 356.4866027832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8977088928222656,
                "transform": {
                    "location": {
                        "x": -1169.8448486328125,
                        "y": 3102.065185546875,
                        "z": 352.5564880371094
                    },
                    "rotation": {
                        "roll": 0.004283126909285784,
                        "pitch": 2.991807222366333,
                        "yaw": -0.8168638944625854
                    }
                },
                "velocity": {
                    "x": 3.8939573764801025,
                    "y": -0.03480885922908783,
                    "z": 0.16738519072532654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.169647216796875,
                "transform": {
                    "location": {
                        "x": -1165.726318359375,
                        "y": 3094.989501953125,
                        "z": 352.74237060546875
                    },
                    "rotation": {
                        "roll": 0.020344208925962448,
                        "pitch": 2.1835498809814453,
                        "yaw": -0.7796326279640198
                    }
                },
                "velocity": {
                    "x": 5.165136814117432,
                    "y": -0.06292226165533066,
                    "z": 0.2065313309431076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.05844259262085,
                "transform": {
                    "location": {
                        "x": -1168.4920654296875,
                        "y": 3098.530029296875,
                        "z": 352.62261962890625
                    },
                    "rotation": {
                        "roll": 0.012952104210853577,
                        "pitch": 2.7606804370880127,
                        "yaw": -0.9730526804924011
                    }
                },
                "velocity": {
                    "x": 4.054636001586914,
                    "y": -0.05511752888560295,
                    "z": 0.16687192022800446
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.218245506286621,
                "transform": {
                    "location": {
                        "x": -1158.0301513671875,
                        "y": 3105.3583984375,
                        "z": 353.02484130859375
                    },
                    "rotation": {
                        "roll": 0.02345101162791252,
                        "pitch": 2.484713315963745,
                        "yaw": -1.000701904296875
                    }
                },
                "velocity": {
                    "x": 8.21129035949707,
                    "y": -0.1500680148601532,
                    "z": 0.30289551615715027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 14.740947723388672,
                "transform": {
                    "location": {
                        "x": -1064.86474609375,
                        "y": 3075.19482421875,
                        "z": 356.0658874511719
                    },
                    "rotation": {
                        "roll": 0.0009108253289014101,
                        "pitch": -0.9704810380935669,
                        "yaw": 178.7205047607422
                    }
                },
                "velocity": {
                    "x": -14.734512329101562,
                    "y": 0.32928958535194397,
                    "z": -0.2850707471370697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.171090126037598,
                "transform": {
                    "location": {
                        "x": -1143.8125,
                        "y": 3094.553466796875,
                        "z": 353.54095458984375
                    },
                    "rotation": {
                        "roll": 0.006580435670912266,
                        "pitch": 2.1068332195281982,
                        "yaw": -1.150726318359375
                    }
                },
                "velocity": {
                    "x": 8.163862228393555,
                    "y": -0.17045997083187103,
                    "z": 0.2983381748199463
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.178316116333008,
                "transform": {
                    "location": {
                        "x": -1143.27587890625,
                        "y": 3098.042724609375,
                        "z": 353.6026611328125
                    },
                    "rotation": {
                        "roll": 0.008576090447604656,
                        "pitch": 2.1225905418395996,
                        "yaw": -1.1544798612594604
                    }
                },
                "velocity": {
                    "x": 8.171107292175293,
                    "y": -0.17077812552452087,
                    "z": 0.29780668020248413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.505331993103027,
                "transform": {
                    "location": {
                        "x": -1148.611328125,
                        "y": 3101.64990234375,
                        "z": 353.37359619140625
                    },
                    "rotation": {
                        "roll": 0.01796983927488327,
                        "pitch": 2.3253514766693115,
                        "yaw": -0.9559937715530396
                    }
                },
                "velocity": {
                    "x": 8.498330116271973,
                    "y": -0.15183231234550476,
                    "z": 0.3098410964012146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.999447822570801,
                "transform": {
                    "location": {
                        "x": -1140.9561767578125,
                        "y": 3104.997802734375,
                        "z": 353.6406555175781
                    },
                    "rotation": {
                        "roll": 0.0028075166046619415,
                        "pitch": 2.079143524169922,
                        "yaw": -1.2243040800094604
                    }
                },
                "velocity": {
                    "x": 7.99237060546875,
                    "y": -0.16829605400562286,
                    "z": 0.29130685329437256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4567,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.7388916015625,
                        "y": 3081.92529296875,
                        "z": 356.2848815917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4566,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.2176513671875,
                        "y": 3078.434814453125,
                        "z": 356.2781066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.873530387878418,
                "transform": {
                    "location": {
                        "x": -1134.6263427734375,
                        "y": 3076.753662109375,
                        "z": 353.8904724121094
                    },
                    "rotation": {
                        "roll": -0.0007934562163427472,
                        "pitch": -2.0923123359680176,
                        "yaw": 178.7212677001953
                    }
                },
                "velocity": {
                    "x": -15.859045028686523,
                    "y": 0.35214605927467346,
                    "z": -0.5793660879135132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.767333984375,
                        "y": 3080.463134765625,
                        "z": 346.5443420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1256.43408203125,
                        "y": 3079.474853515625,
                        "z": 348.21942138671875
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1232.45263671875,
                        "y": 3078.93896484375,
                        "z": 349.4037170410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.451313018798828,
                "transform": {
                    "location": {
                        "x": -1160.4385986328125,
                        "y": 3077.330322265625,
                        "z": 352.9540100097656
                    },
                    "rotation": {
                        "roll": -0.0001220668273163028,
                        "pitch": -2.187129020690918,
                        "yaw": 178.7174072265625
                    }
                },
                "velocity": {
                    "x": -16.435693740844727,
                    "y": 0.3656805455684662,
                    "z": -0.6164146065711975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4539,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1044.7313232421875,
                        "y": 3056.016845703125,
                        "z": 357.3860168457031
                    },
                    "rotation": {
                        "roll": -2.671548138266644e-08,
                        "pitch": -2.9355127811431885,
                        "yaw": 164.8059844970703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4538,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.061375617980957,
                "transform": {
                    "location": {
                        "x": -1062.437744140625,
                        "y": 3061.03076171875,
                        "z": 356.5094909667969
                    },
                    "rotation": {
                        "roll": 0.03415314108133316,
                        "pitch": -2.504978656768799,
                        "yaw": 162.97903442382812
                    }
                },
                "velocity": {
                    "x": -7.693409442901611,
                    "y": 2.3819572925567627,
                    "z": -0.3514311611652374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9983566403388977,
        "expert_target_speed": 0,
        "target_point": [
            7.578308308151701,
            -3.331879330785017
        ],
        "target_point_next": [
            58.56711362494753,
            -2.268087389205948
        ]
    },
    "275": {
        "acceleration": [
            2.371501922607422,
            1.979832649230957,
            0.08219599723815918
        ],
        "angular_velocity": [
            1.273327350616455,
            0.014300269074738026,
            -9.110177993774414
        ],
        "forward_vector": [
            -0.99588942527771,
            0.08016280829906464,
            -0.04216815158724785
        ],
        "right_vector": [
            -0.07972873747348785,
            -0.9967458248138428,
            -0.011879604309797287
        ],
        "location": [
            -1133.900390625,
            3073.385498046875,
            353.9275207519531
        ],
        "rotation": [
            0.6812732219696045,
            -2.416773557662964,
            175.39797973632812
        ],
        "velocity": [
            -13.522836685180664,
            1.1144367456436157,
            -0.49385198950767517
        ],
        "speed": 13.568680159621595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.826416015625,
                        "y": 3106.440185546875,
                        "z": 350.79833984375
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.904541015625,
                        "y": 3102.941162109375,
                        "z": 350.79833984375
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.982666015625,
                        "y": 3099.4423828125,
                        "z": 350.79833984375
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.0609130859375,
                        "y": 3095.943115234375,
                        "z": 350.79833984375
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.1545729637146,
                "transform": {
                    "location": {
                        "x": -1168.70751953125,
                        "y": 3102.052490234375,
                        "z": 352.6037902832031
                    },
                    "rotation": {
                        "roll": 0.03837710991501808,
                        "pitch": 2.9830918312072754,
                        "yaw": -0.7325744032859802
                    }
                },
                "velocity": {
                    "x": 5.149569511413574,
                    "y": -0.07309859246015549,
                    "z": 0.21497805416584015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.742839813232422,
                "transform": {
                    "location": {
                        "x": -1164.376953125,
                        "y": 3094.972412109375,
                        "z": 352.7958068847656
                    },
                    "rotation": {
                        "roll": 0.022070499137043953,
                        "pitch": 2.222468376159668,
                        "yaw": -0.7012024521827698
                    }
                },
                "velocity": {
                    "x": 5.737926959991455,
                    "y": -0.07115470618009567,
                    "z": 0.22658994793891907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.3454766273498535,
                "transform": {
                    "location": {
                        "x": -1167.2628173828125,
                        "y": 3098.512451171875,
                        "z": 352.6739807128906
                    },
                    "rotation": {
                        "roll": 0.012900173664093018,
                        "pitch": 2.691934585571289,
                        "yaw": -0.8689880967140198
                    }
                },
                "velocity": {
                    "x": 5.340493202209473,
                    "y": -0.07081133872270584,
                    "z": 0.2196348011493683
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.534125804901123,
                "transform": {
                    "location": {
                        "x": -1156.0611572265625,
                        "y": 3105.3212890625,
                        "z": 353.09759521484375
                    },
                    "rotation": {
                        "roll": 0.014647663570940495,
                        "pitch": 2.0921688079833984,
                        "yaw": -1.071929931640625
                    }
                },
                "velocity": {
                    "x": 7.527643203735352,
                    "y": -0.1435704380273819,
                    "z": 0.2775370180606842
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 15.659300804138184,
                "transform": {
                    "location": {
                        "x": -1068.6671142578125,
                        "y": 3075.280029296875,
                        "z": 355.989013671875
                    },
                    "rotation": {
                        "roll": 0.00014383011148311198,
                        "pitch": -1.0708643198013306,
                        "yaw": 178.71722412109375
                    }
                },
                "velocity": {
                    "x": -15.651957511901855,
                    "y": 0.35075071454048157,
                    "z": -0.32692816853523254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.936583042144775,
                "transform": {
                    "location": {
                        "x": -1141.802734375,
                        "y": 3094.51123046875,
                        "z": 353.6144104003906
                    },
                    "rotation": {
                        "roll": 0.0037822958547621965,
                        "pitch": 2.087442398071289,
                        "yaw": -1.208526611328125
                    }
                },
                "velocity": {
                    "x": 7.929511547088623,
                    "y": -0.16985492408275604,
                    "z": 0.2887057363986969
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.939493179321289,
                "transform": {
                    "location": {
                        "x": -1141.2589111328125,
                        "y": 3098.00048828125,
                        "z": 353.6764831542969
                    },
                    "rotation": {
                        "roll": 0.003954458516091108,
                        "pitch": 2.088726282119751,
                        "yaw": -1.2046509981155396
                    }
                },
                "velocity": {
                    "x": 7.932423114776611,
                    "y": -0.16945208609104156,
                    "z": 0.2889697253704071
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.99203634262085,
                "transform": {
                    "location": {
                        "x": -1146.5582275390625,
                        "y": 3101.612548828125,
                        "z": 353.4512023925781
                    },
                    "rotation": {
                        "roll": 0.018232764676213264,
                        "pitch": 1.993773102760315,
                        "yaw": -1.078125
                    }
                },
                "velocity": {
                    "x": 7.985219955444336,
                    "y": -0.1552879810333252,
                    "z": 0.2911963164806366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.850284576416016,
                "transform": {
                    "location": {
                        "x": -1138.98388671875,
                        "y": 3104.955810546875,
                        "z": 353.7124938964844
                    },
                    "rotation": {
                        "roll": 0.0016693344805389643,
                        "pitch": 2.0856664180755615,
                        "yaw": -1.243316650390625
                    }
                },
                "velocity": {
                    "x": 7.8432440757751465,
                    "y": -0.16856609284877777,
                    "z": 0.28647980093955994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.875054359436035,
                "transform": {
                    "location": {
                        "x": -1138.5911865234375,
                        "y": 3076.842041015625,
                        "z": 353.7458801269531
                    },
                    "rotation": {
                        "roll": 0.0003854155947919935,
                        "pitch": -2.092346429824829,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -15.860445976257324,
                    "y": 0.3576606214046478,
                    "z": -0.5793911814689636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1302.0125732421875,
                        "y": 3080.609375,
                        "z": 346.4031982421875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.677490234375,
                        "y": 3079.569580078125,
                        "z": 348.01763916015625
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1236.6956787109375,
                        "y": 3079.033935546875,
                        "z": 349.1883239746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45417594909668,
                "transform": {
                    "location": {
                        "x": -1164.546875,
                        "y": 3077.421875,
                        "z": 352.79730224609375
                    },
                    "rotation": {
                        "roll": 0.00119106937199831,
                        "pitch": -2.2752928733825684,
                        "yaw": 178.72300720214844
                    }
                },
                "velocity": {
                    "x": -16.437484741210938,
                    "y": 0.3679313659667969,
                    "z": -0.6431155800819397
                },
                "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": -0.9999459981918335,
        "expert_target_speed": 0,
        "target_point": [
            55.1416749368966,
            -0.15560959046889522
        ],
        "target_point_next": [
            106.05599873619698,
            2.7998188416778964
        ]
    },
    "280": {
        "acceleration": [
            1.1257171630859375,
            1.8172979354858398,
            0.02766430377960205
        ],
        "angular_velocity": [
            0.5683826804161072,
            0.3689112067222595,
            -8.550100326538086
        ],
        "forward_vector": [
            -0.9920189380645752,
            0.11940226703882217,
            -0.04051577299833298
        ],
        "right_vector": [
            -0.11884476244449615,
            -0.9927853345870972,
            -0.01590917259454727
        ],
        "location": [
            -1137.2283935546875,
            3073.72314453125,
            353.80560302734375
        ],
        "rotation": [
            0.912316083908081,
            -2.3220183849334717,
            173.13673400878906
        ],
        "velocity": [
            -13.149711608886719,
            1.6128060817718506,
            -0.48120445013046265
        ],
        "speed": 13.248247388024215,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.76708984375,
                        "y": 3106.393798828125,
                        "z": 350.73663330078125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.84521484375,
                        "y": 3102.89501953125,
                        "z": 350.73663330078125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1207.92333984375,
                        "y": 3099.395751953125,
                        "z": 350.73663330078125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.001708984375,
                        "y": 3095.896484375,
                        "z": 350.73663330078125
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.317358493804932,
                "transform": {
                    "location": {
                        "x": -1167.375,
                        "y": 3102.033447265625,
                        "z": 352.65972900390625
                    },
                    "rotation": {
                        "roll": 0.031900808215141296,
                        "pitch": 2.6428868770599365,
                        "yaw": -0.8033141493797302
                    }
                },
                "velocity": {
                    "x": 5.312306880950928,
                    "y": -0.07834821939468384,
                    "z": 0.2180842161178589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9189372062683105,
                "transform": {
                    "location": {
                        "x": -1162.8682861328125,
                        "y": 3094.94873046875,
                        "z": 352.85467529296875
                    },
                    "rotation": {
                        "roll": 0.01193571649491787,
                        "pitch": 2.0907208919525146,
                        "yaw": -0.85003662109375
                    }
                },
                "velocity": {
                    "x": 6.912892818450928,
                    "y": -0.11976604908704758,
                    "z": 0.2631736099720001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.559680938720703,
                "transform": {
                    "location": {
                        "x": -1165.7806396484375,
                        "y": 3098.492431640625,
                        "z": 352.735107421875
                    },
                    "rotation": {
                        "roll": 0.017733758315443993,
                        "pitch": 2.537339925765991,
                        "yaw": -0.7910766005516052
                    }
                },
                "velocity": {
                    "x": 6.55399227142334,
                    "y": -0.08365558087825775,
                    "z": 0.25999218225479126
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.386600017547607,
                "transform": {
                    "location": {
                        "x": -1154.2279052734375,
                        "y": 3105.28564453125,
                        "z": 353.16455078125
                    },
                    "rotation": {
                        "roll": 0.009786980226635933,
                        "pitch": 2.0737545490264893,
                        "yaw": -1.1301268339157104
                    }
                },
                "velocity": {
                    "x": 7.380302429199219,
                    "y": -0.14498603343963623,
                    "z": 0.26827648282051086
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.415624618530273,
                "transform": {
                    "location": {
                        "x": -1072.6884765625,
                        "y": 3075.369873046875,
                        "z": 355.9015808105469
                    },
                    "rotation": {
                        "roll": 3.790859045693651e-05,
                        "pitch": -1.1927149295806885,
                        "yaw": 178.72401428222656
                    }
                },
                "velocity": {
                    "x": -16.40750503540039,
                    "y": 0.36613574624061584,
                    "z": -0.363955020904541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067899703979492,
                "transform": {
                    "location": {
                        "x": -1139.8074951171875,
                        "y": 3094.468994140625,
                        "z": 353.6871337890625
                    },
                    "rotation": {
                        "roll": 0.0025238993111997843,
                        "pitch": 2.097025156021118,
                        "yaw": -1.216217041015625
                    }
                },
                "velocity": {
                    "x": 8.060744285583496,
                    "y": -0.17098096013069153,
                    "z": 0.2935476005077362
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006471633911133,
                "transform": {
                    "location": {
                        "x": -1139.27685546875,
                        "y": 3097.958251953125,
                        "z": 353.7486572265625
                    },
                    "rotation": {
                        "roll": 0.002098234137520194,
                        "pitch": 2.0978174209594727,
                        "yaw": -1.222808837890625
                    }
                },
                "velocity": {
                    "x": 7.999320030212402,
                    "y": -0.17081651091575623,
                    "z": 0.2920617163181305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.910660743713379,
                "transform": {
                    "location": {
                        "x": -1144.5858154296875,
                        "y": 3101.57373046875,
                        "z": 353.52288818359375
                    },
                    "rotation": {
                        "roll": 0.009560312144458294,
                        "pitch": 2.023634672164917,
                        "yaw": -1.155242919921875
                    }
                },
                "velocity": {
                    "x": 7.903774261474609,
                    "y": -0.1601630300283432,
                    "z": 0.28853780031204224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.975265979766846,
                "transform": {
                    "location": {
                        "x": -1137.0079345703125,
                        "y": 3104.9130859375,
                        "z": 353.7845153808594
                    },
                    "rotation": {
                        "roll": 0.0018316457280889153,
                        "pitch": 2.0929200649261475,
                        "yaw": -1.2538450956344604
                    }
                },
                "velocity": {
                    "x": 7.96808385848999,
                    "y": -0.17478948831558228,
                    "z": 0.2897540032863617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.877973556518555,
                "transform": {
                    "location": {
                        "x": -1142.556640625,
                        "y": 3076.93115234375,
                        "z": 353.60125732421875
                    },
                    "rotation": {
                        "roll": 0.00233677146025002,
                        "pitch": -2.0929884910583496,
                        "yaw": 178.71463012695312
                    }
                },
                "velocity": {
                    "x": -15.863447189331055,
                    "y": 0.35371601581573486,
                    "z": -0.579632580280304
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1306.2572021484375,
                        "y": 3080.769287109375,
                        "z": 346.2657775878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.9212646484375,
                        "y": 3079.66455078125,
                        "z": 347.82373046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.9385986328125,
                        "y": 3079.128662109375,
                        "z": 348.97576904296875
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45730972290039,
                "transform": {
                    "location": {
                        "x": -1168.65576171875,
                        "y": 3077.513671875,
                        "z": 352.6330871582031
                    },
                    "rotation": {
                        "roll": 0.001021631876938045,
                        "pitch": -2.358546257019043,
                        "yaw": 178.7125244140625
                    }
                },
                "velocity": {
                    "x": -16.43928337097168,
                    "y": 0.368925541639328,
                    "z": -0.6759610772132874
                },
                "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": -0.9999589920043945,
        "expert_target_speed": 0,
        "target_point": [
            51.76037313835055,
            1.9576934086841744
        ],
        "target_point_next": [
            102.51844270875787,
            6.919678761668933
        ]
    },
    "285": {
        "acceleration": [
            0.6450653076171875,
            0.6839394569396973,
            0.01999497413635254
        ],
        "angular_velocity": [
            -0.7193599939346313,
            0.4028259217739105,
            -3.722539186477661
        ],
        "forward_vector": [
            -0.9887053966522217,
            0.14471587538719177,
            -0.03897227719426155
        ],
        "right_vector": [
            -0.14425593614578247,
            -0.9894358515739441,
            -0.01438081357628107
        ],
        "location": [
            -1140.4871826171875,
            3074.16064453125,
            353.6861572265625
        ],
        "rotation": [
            0.8246148228645325,
            -2.2335126399993896,
            171.6728057861328
        ],
        "velocity": [
            -12.93654727935791,
            1.8857841491699219,
            -0.47346168756484985
        ],
        "speed": 13.073271869288234,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.6856689453125,
                        "y": 3106.347412109375,
                        "z": 350.8186950683594
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.7637939453125,
                        "y": 3102.848388671875,
                        "z": 350.8186950683594
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.8419189453125,
                        "y": 3099.349365234375,
                        "z": 350.8186950683594
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1205.92041015625,
                        "y": 3095.849853515625,
                        "z": 350.8186950683594
                    },
                    "rotation": {
                        "roll": -3.340113741145956e-09,
                        "pitch": 3.154447555541992,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.029435634613037,
                "transform": {
                    "location": {
                        "x": -1165.8065185546875,
                        "y": 3102.01025390625,
                        "z": 352.7221374511719
                    },
                    "rotation": {
                        "roll": 0.025591185316443443,
                        "pitch": 2.8660359382629395,
                        "yaw": -0.845062255859375
                    }
                },
                "velocity": {
                    "x": 7.02309513092041,
                    "y": -0.10522434860467911,
                    "z": 0.2793281674385071
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.963368892669678,
                "transform": {
                    "location": {
                        "x": -1160.99462890625,
                        "y": 3094.916748046875,
                        "z": 352.9267883300781
                    },
                    "rotation": {
                        "roll": 0.010627235285937786,
                        "pitch": 2.007699728012085,
                        "yaw": -0.9580994844436646
                    }
                },
                "velocity": {
                    "x": 7.956448078155518,
                    "y": -0.13891741633415222,
                    "z": 0.30146050453186035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.76265811920166,
                "transform": {
                    "location": {
                        "x": -1163.9783935546875,
                        "y": 3098.468994140625,
                        "z": 352.80615234375
                    },
                    "rotation": {
                        "roll": 0.025774309411644936,
                        "pitch": 2.5296082496643066,
                        "yaw": -0.7999266386032104
                    }
                },
                "velocity": {
                    "x": 7.755975246429443,
                    "y": -0.11699508130550385,
                    "z": 0.300033301115036
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029494285583496,
                "transform": {
                    "location": {
                        "x": -1152.2847900390625,
                        "y": 3105.245849609375,
                        "z": 353.2353820800781
                    },
                    "rotation": {
                        "roll": 0.008134125731885433,
                        "pitch": 2.2019436359405518,
                        "yaw": -1.16265869140625
                    }
                },
                "velocity": {
                    "x": 8.022467613220215,
                    "y": -0.1666959524154663,
                    "z": 0.29157719016075134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.459732055664062,
                "transform": {
                    "location": {
                        "x": -1076.8060302734375,
                        "y": 3075.462158203125,
                        "z": 355.8056640625
                    },
                    "rotation": {
                        "roll": 0.00027028072508983314,
                        "pitch": -1.3168262243270874,
                        "yaw": 178.71580505371094
                    }
                },
                "velocity": {
                    "x": -16.450881958007812,
                    "y": 0.3684217035770416,
                    "z": -0.39435258507728577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.344867706298828,
                "transform": {
                    "location": {
                        "x": -1137.7742919921875,
                        "y": 3094.42529296875,
                        "z": 353.7611389160156
                    },
                    "rotation": {
                        "roll": 0.0015927177155390382,
                        "pitch": 2.112058401107788,
                        "yaw": -1.2367857694625854
                    }
                },
                "velocity": {
                    "x": 8.337284088134766,
                    "y": -0.18241333961486816,
                    "z": 0.30535194277763367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.425572395324707,
                "transform": {
                    "location": {
                        "x": -1137.240478515625,
                        "y": 3097.914306640625,
                        "z": 353.8226623535156
                    },
                    "rotation": {
                        "roll": 0.0016877991147339344,
                        "pitch": 2.134413480758667,
                        "yaw": -1.2415162324905396
                    }
                },
                "velocity": {
                    "x": 8.417954444885254,
                    "y": -0.18527908623218536,
                    "z": 0.306584894657135
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.430672645568848,
                "transform": {
                    "location": {
                        "x": -1142.556884765625,
                        "y": 3101.53173828125,
                        "z": 353.5953063964844
                    },
                    "rotation": {
                        "roll": 0.00846871454268694,
                        "pitch": 2.215583562850952,
                        "yaw": -1.203125
                    }
                },
                "velocity": {
                    "x": 8.423171997070312,
                    "y": -0.17967471480369568,
                    "z": 0.30682268738746643
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.119094848632812,
                "transform": {
                    "location": {
                        "x": -1135.0037841796875,
                        "y": 3104.868896484375,
                        "z": 353.8575439453125
                    },
                    "rotation": {
                        "roll": 0.00020790784037671983,
                        "pitch": 2.0954267978668213,
                        "yaw": -1.271759033203125
                    }
                },
                "velocity": {
                    "x": 8.111695289611816,
                    "y": -0.18056388199329376,
                    "z": 0.2958211600780487
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.881196022033691,
                "transform": {
                    "location": {
                        "x": -1146.52294921875,
                        "y": 3077.01953125,
                        "z": 353.4566345214844
                    },
                    "rotation": {
                        "roll": -0.00024414018844254315,
                        "pitch": -2.092039108276367,
                        "yaw": 178.7255859375
                    }
                },
                "velocity": {
                    "x": -15.866686820983887,
                    "y": 0.35341089963912964,
                    "z": -0.5794272422790527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1310.50146484375,
                        "y": 3080.944091796875,
                        "z": 346.13885498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1269.1649169921875,
                        "y": 3079.759033203125,
                        "z": 347.6358642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1245.18115234375,
                        "y": 3079.223388671875,
                        "z": 348.76611328125
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.460580825805664,
                "transform": {
                    "location": {
                        "x": -1172.7647705078125,
                        "y": 3077.605224609375,
                        "z": 352.46124267578125
                    },
                    "rotation": {
                        "roll": -0.0022277827374637127,
                        "pitch": -2.4751579761505127,
                        "yaw": 178.7267303466797
                    }
                },
                "velocity": {
                    "x": -16.441579818725586,
                    "y": 0.36614906787872314,
                    "z": -0.7007946372032166
                },
                "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": -0.9616860747337341,
        "expert_target_speed": 0,
        "target_point": [
            48.40567263228663,
            3.2403156698541355
        ],
        "target_point_next": [
            99.02041137092557,
            9.497403457065436
        ]
    },
    "290": {
        "acceleration": [
            0.0470733642578125,
            0.16301393508911133,
            0.002905130386352539
        ],
        "angular_velocity": [
            -0.8731483817100525,
            0.36517611145973206,
            0.11799407005310059
        ],
        "forward_vector": [
            -0.9876025319099426,
            0.15234307944774628,
            -0.037852536886930466
        ],
        "right_vector": [
            -0.15204916894435883,
            -0.9883166551589966,
            -0.010542149655520916
        ],
        "location": [
            -1143.7103271484375,
            3074.642822265625,
            353.56805419921875
        ],
        "rotation": [
            0.6044650673866272,
            -2.16930890083313,
            171.23092651367188
        ],
        "velocity": [
            -12.867207527160645,
            1.9779151678085327,
            -0.4707094430923462
        ],
        "speed": 13.018340061546501,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.361272811889648,
                "transform": {
                    "location": {
                        "x": -1203.7486572265625,
                        "y": 3106.307373046875,
                        "z": 350.91082763671875
                    },
                    "rotation": {
                        "roll": -0.008392334915697575,
                        "pitch": 2.9793009757995605,
                        "yaw": -1.16461181640625
                    }
                },
                "velocity": {
                    "x": 6.3441033363342285,
                    "y": -0.09721198678016663,
                    "z": 0.4568309783935547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.613563060760498,
                "transform": {
                    "location": {
                        "x": -1203.8984375,
                        "y": 3102.811767578125,
                        "z": 350.8952941894531
                    },
                    "rotation": {
                        "roll": 0.0003474536060821265,
                        "pitch": 3.0577731132507324,
                        "yaw": -1.09527587890625
                    }
                },
                "velocity": {
                    "x": 6.605611801147461,
                    "y": -0.0932081937789917,
                    "z": 0.3105238080024719
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.497496604919434,
                "transform": {
                    "location": {
                        "x": -1204.0609130859375,
                        "y": 3099.318603515625,
                        "z": 350.8967590332031
                    },
                    "rotation": {
                        "roll": -0.0357971116900444,
                        "pitch": 2.707726001739502,
                        "yaw": -0.9562375545501709
                    }
                },
                "velocity": {
                    "x": 6.48895263671875,
                    "y": -0.08687684684991837,
                    "z": 0.32157081365585327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.7931952476501465,
                "transform": {
                    "location": {
                        "x": -1204.2039794921875,
                        "y": 3095.821533203125,
                        "z": 350.892578125
                    },
                    "rotation": {
                        "roll": -0.0371093712747097,
                        "pitch": 2.857675790786743,
                        "yaw": -0.9284362196922302
                    }
                },
                "velocity": {
                    "x": 6.784384727478027,
                    "y": -0.061001669615507126,
                    "z": 0.34044554829597473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9637274742126465,
                "transform": {
                    "location": {
                        "x": -1163.896240234375,
                        "y": 3101.98095703125,
                        "z": 352.7980041503906
                    },
                    "rotation": {
                        "roll": 0.029719876125454903,
                        "pitch": 2.831256628036499,
                        "yaw": -0.8561095595359802
                    }
                },
                "velocity": {
                    "x": 7.956559658050537,
                    "y": -0.13346119225025177,
                    "z": 0.31031662225723267
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.868435859680176,
                "transform": {
                    "location": {
                        "x": -1158.8848876953125,
                        "y": 3094.87939453125,
                        "z": 353.0056457519531
                    },
                    "rotation": {
                        "roll": 0.006162524223327637,
                        "pitch": 2.048469305038452,
                        "yaw": -1.012847900390625
                    }
                },
                "velocity": {
                    "x": 8.860568046569824,
                    "y": -0.1719924360513687,
                    "z": 0.33153602480888367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.352614402770996,
                "transform": {
                    "location": {
                        "x": -1161.8126220703125,
                        "y": 3098.434326171875,
                        "z": 352.8889465332031
                    },
                    "rotation": {
                        "roll": 0.03314383327960968,
                        "pitch": 2.557461738586426,
                        "yaw": -0.9091796875
                    }
                },
                "velocity": {
                    "x": 9.344396591186523,
                    "y": -0.1601557731628418,
                    "z": 0.3577622175216675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.897223949432373,
                "transform": {
                    "location": {
                        "x": -1150.30224609375,
                        "y": 3105.204345703125,
                        "z": 353.3075256347656
                    },
                    "rotation": {
                        "roll": 0.005855698604136705,
                        "pitch": 2.111143112182617,
                        "yaw": -1.21484375
                    }
                },
                "velocity": {
                    "x": 7.890237808227539,
                    "y": -0.16703984141349792,
                    "z": 0.2870410680770874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.34663200378418,
                "transform": {
                    "location": {
                        "x": -1080.900390625,
                        "y": 3075.5537109375,
                        "z": 355.7038879394531
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -1.4857778549194336,
                        "yaw": 178.71949768066406
                    }
                },
                "velocity": {
                    "x": -16.337135314941406,
                    "y": 0.36549293994903564,
                    "z": -0.42052778601646423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.419146537780762,
                "transform": {
                    "location": {
                        "x": -1135.55517578125,
                        "y": 3094.376708984375,
                        "z": 353.84173583984375
                    },
                    "rotation": {
                        "roll": 0.0003122094494756311,
                        "pitch": 2.1522130966186523,
                        "yaw": -1.2526243925094604
                    }
                },
                "velocity": {
                    "x": 9.410590171813965,
                    "y": -0.20741036534309387,
                    "z": 0.34364721179008484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.657266616821289,
                "transform": {
                    "location": {
                        "x": -1134.983154296875,
                        "y": 3097.864990234375,
                        "z": 353.9043273925781
                    },
                    "rotation": {
                        "roll": 0.0017022076062858105,
                        "pitch": 2.206519842147827,
                        "yaw": -1.25164794921875
                    }
                },
                "velocity": {
                    "x": 9.648552894592285,
                    "y": -0.21090258657932281,
                    "z": 0.35178038477897644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.551494598388672,
                "transform": {
                    "location": {
                        "x": -1140.3096923828125,
                        "y": 3101.483642578125,
                        "z": 353.6759948730469
                    },
                    "rotation": {
                        "roll": 0.005263049621134996,
                        "pitch": 2.36759614944458,
                        "yaw": -1.2401124238967896
                    }
                },
                "velocity": {
                    "x": 9.542893409729004,
                    "y": -0.2078399658203125,
                    "z": 0.3479057252407074
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.613253593444824,
                "transform": {
                    "location": {
                        "x": -1132.915283203125,
                        "y": 3104.822509765625,
                        "z": 353.93359375
                    },
                    "rotation": {
                        "roll": -0.0007324232719838619,
                        "pitch": 2.104811429977417,
                        "yaw": -1.2832945585250854
                    }
                },
                "velocity": {
                    "x": 8.6054048538208,
                    "y": -0.19199031591415405,
                    "z": 0.3135087192058563
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.884294509887695,
                "transform": {
                    "location": {
                        "x": -1150.4901123046875,
                        "y": 3077.108154296875,
                        "z": 353.3119812011719
                    },
                    "rotation": {
                        "roll": -3.051775274798274e-05,
                        "pitch": -2.093050003051758,
                        "yaw": 178.72117614746094
                    }
                },
                "velocity": {
                    "x": -15.869755744934082,
                    "y": 0.35422128438949585,
                    "z": -0.5798202157020569
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.7457275390625,
                        "y": 3081.13427734375,
                        "z": 346.0264892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1273.40869140625,
                        "y": 3079.853759765625,
                        "z": 347.4549865722656
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1249.423583984375,
                        "y": 3079.317626953125,
                        "z": 348.5593566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.464412689208984,
                "transform": {
                    "location": {
                        "x": -1176.874267578125,
                        "y": 3077.697509765625,
                        "z": 352.2821350097656
                    },
                    "rotation": {
                        "roll": -0.0021972618997097015,
                        "pitch": -2.6027185916900635,
                        "yaw": 178.71969604492188
                    }
                },
                "velocity": {
                    "x": -16.443992614746094,
                    "y": 0.3659045398235321,
                    "z": -0.7335460782051086
                },
                "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": -0.7065747976303101,
        "expert_target_speed": 0,
        "target_point": [
            45.12026331864813,
            3.598726933526536
        ],
        "target_point_next": [
            95.68523713710721,
            10.24600817446216
        ]
    },
    "295": {
        "acceleration": [
            -0.4338645935058594,
            -0.11888742446899414,
            -0.010214447975158691
        ],
        "angular_velocity": [
            -0.656217098236084,
            0.3287581205368042,
            -0.0015379664255306125
        ],
        "forward_vector": [
            -0.9877144694328308,
            0.1518654227256775,
            -0.03683639317750931
        ],
        "right_vector": [
            -0.15170729160308838,
            -0.9884001612663269,
            -0.007066935300827026
        ],
        "location": [
            -1146.933837890625,
            3075.13671875,
            353.44989013671875
        ],
        "rotation": [
            0.40518394112586975,
            -2.1110475063323975,
            171.25897216796875
        ],
        "velocity": [
            -12.93210506439209,
            1.9765124320983887,
            -0.47184279561042786
        ],
        "speed": 13.082275902560495,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 6,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1041.30810546875,
                        "y": 3074.6689453125,
                        "z": 356.4871520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.445066452026367,
                "transform": {
                    "location": {
                        "x": -1202.14892578125,
                        "y": 3106.283935546875,
                        "z": 351.0190124511719
                    },
                    "rotation": {
                        "roll": 0.01384553499519825,
                        "pitch": 3.090489625930786,
                        "yaw": -0.8763732314109802
                    }
                },
                "velocity": {
                    "x": 6.43245267868042,
                    "y": -0.07843101024627686,
                    "z": 0.3953239321708679
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.395938873291016,
                "transform": {
                    "location": {
                        "x": -1202.275390625,
                        "y": 3102.78857421875,
                        "z": 350.9784240722656
                    },
                    "rotation": {
                        "roll": 0.021107573062181473,
                        "pitch": 3.1256651878356934,
                        "yaw": -0.829345703125
                    }
                },
                "velocity": {
                    "x": 6.386301517486572,
                    "y": -0.07841500639915466,
                    "z": 0.3421027958393097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.576014518737793,
                "transform": {
                    "location": {
                        "x": -1202.426025390625,
                        "y": 3099.296142578125,
                        "z": 350.9814453125
                    },
                    "rotation": {
                        "roll": 0.006816057953983545,
                        "pitch": 2.981466293334961,
                        "yaw": -0.798828125
                    }
                },
                "velocity": {
                    "x": 6.565981388092041,
                    "y": -0.08513196557760239,
                    "z": 0.3529963493347168
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.413256645202637,
                "transform": {
                    "location": {
                        "x": -1202.5552978515625,
                        "y": 3095.799560546875,
                        "z": 350.9822998046875
                    },
                    "rotation": {
                        "roll": 0.0328202061355114,
                        "pitch": 3.13573956489563,
                        "yaw": -0.7217406630516052
                    }
                },
                "velocity": {
                    "x": 6.40196418762207,
                    "y": -0.07952861487865448,
                    "z": 0.37200790643692017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.42166805267334,
                "transform": {
                    "location": {
                        "x": -1161.7337646484375,
                        "y": 3101.9423828125,
                        "z": 352.881591796875
                    },
                    "rotation": {
                        "roll": 0.03471233695745468,
                        "pitch": 2.7936360836029053,
                        "yaw": -1.0054014921188354
                    }
                },
                "velocity": {
                    "x": 9.413060188293457,
                    "y": -0.17489802837371826,
                    "z": 0.36267614364624023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.631471633911133,
                "transform": {
                    "location": {
                        "x": -1156.571044921875,
                        "y": 3094.833984375,
                        "z": 353.09112548828125
                    },
                    "rotation": {
                        "roll": 0.0030519054271280766,
                        "pitch": 2.009065866470337,
                        "yaw": -1.1224669218063354
                    }
                },
                "velocity": {
                    "x": 9.623037338256836,
                    "y": -0.19476206600666046,
                    "z": 0.35279959440231323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.064521789550781,
                "transform": {
                    "location": {
                        "x": -1159.4212646484375,
                        "y": 3098.39306640625,
                        "z": 352.981201171875
                    },
                    "rotation": {
                        "roll": 0.015921052545309067,
                        "pitch": 2.338547468185425,
                        "yaw": -1.0109862089157104
                    }
                },
                "velocity": {
                    "x": 10.05584716796875,
                    "y": -0.18053273856639862,
                    "z": 0.3767410218715668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.680108070373535,
                "transform": {
                    "location": {
                        "x": -1148.2449951171875,
                        "y": 3105.16015625,
                        "z": 353.3825988769531
                    },
                    "rotation": {
                        "roll": 0.006018581334501505,
                        "pitch": 2.229783535003662,
                        "yaw": -1.2179871797561646
                    }
                },
                "velocity": {
                    "x": 8.672346115112305,
                    "y": -0.1869734674692154,
                    "z": 0.3157939314842224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.344749450683594,
                "transform": {
                    "location": {
                        "x": -1084.9820556640625,
                        "y": 3075.64453125,
                        "z": 355.5964660644531
                    },
                    "rotation": {
                        "roll": -0.0006103525520302355,
                        "pitch": -1.5887155532836914,
                        "yaw": 178.72743225097656
                    }
                },
                "velocity": {
                    "x": -16.33482551574707,
                    "y": 0.36326780915260315,
                    "z": -0.43855780363082886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.530843734741211,
                "transform": {
                    "location": {
                        "x": -1133.0592041015625,
                        "y": 3094.322021484375,
                        "z": 353.9326477050781
                    },
                    "rotation": {
                        "roll": 0.00027347836294211447,
                        "pitch": 2.1681478023529053,
                        "yaw": -1.2555845975875854
                    }
                },
                "velocity": {
                    "x": 10.521316528320312,
                    "y": -0.23058241605758667,
                    "z": 0.3839176893234253
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.683974266052246,
                "transform": {
                    "location": {
                        "x": -1132.4932861328125,
                        "y": 3097.810546875,
                        "z": 353.9949951171875
                    },
                    "rotation": {
                        "roll": 0.00163092534057796,
                        "pitch": 2.220726490020752,
                        "yaw": -1.2572628259658813
                    }
                },
                "velocity": {
                    "x": 10.674238204956055,
                    "y": -0.23732131719589233,
                    "z": 0.3893909454345703
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.213459968566895,
                "transform": {
                    "location": {
                        "x": -1137.869873046875,
                        "y": 3101.4306640625,
                        "z": 353.765625
                    },
                    "rotation": {
                        "roll": 0.003202805994078517,
                        "pitch": 2.288980722427368,
                        "yaw": -1.2581785917282104
                    }
                },
                "velocity": {
                    "x": 10.204221725463867,
                    "y": -0.22407382726669312,
                    "z": 0.37203726172447205
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.137664794921875,
                "transform": {
                    "location": {
                        "x": -1130.6964111328125,
                        "y": 3104.773681640625,
                        "z": 354.0144348144531
                    },
                    "rotation": {
                        "roll": -0.002075193915516138,
                        "pitch": 2.109339952468872,
                        "yaw": -1.2592161893844604
                    }
                },
                "velocity": {
                    "x": 9.12979507446289,
                    "y": -0.18016470968723297,
                    "z": 0.3335975706577301
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.887272834777832,
                "transform": {
                    "location": {
                        "x": -1154.4578857421875,
                        "y": 3077.196533203125,
                        "z": 353.1673278808594
                    },
                    "rotation": {
                        "roll": 0.0006184508674778044,
                        "pitch": -2.091765880584717,
                        "yaw": 178.72508239746094
                    }
                },
                "velocity": {
                    "x": -15.872763633728027,
                    "y": 0.3533269762992859,
                    "z": -0.5796217918395996
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.989501953125,
                        "y": 3081.342041015625,
                        "z": 345.9283142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1277.6519775390625,
                        "y": 3079.94873046875,
                        "z": 347.28033447265625
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1253.66552734375,
                        "y": 3079.412353515625,
                        "z": 348.35321044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.783540964126587,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.46781349182129,
                "transform": {
                    "location": {
                        "x": -1180.984619140625,
                        "y": 3077.7890625,
                        "z": 352.0956115722656
                    },
                    "rotation": {
                        "roll": 9.655294707044959e-05,
                        "pitch": -2.691920757293701,
                        "yaw": 178.72283935546875
                    }
                },
                "velocity": {
                    "x": -16.44613265991211,
                    "y": 0.36822566390037537,
                    "z": -0.7602918148040771
                },
                "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": -0.6200003027915955,
        "expert_target_speed": 20.0,
        "target_point": [
            41.86089278647442,
            3.5749196160047276
        ],
        "target_point_next": [
            92.42911579342346,
            10.197437798465003
        ]
    },
    "300": {
        "acceleration": [
            -0.6455230712890625,
            -0.34780263900756836,
            -0.04293680191040039
        ],
        "angular_velocity": [
            -0.5363209247589111,
            0.20045910775661469,
            2.5319437980651855
        ],
        "forward_vector": [
            -0.9886471629142761,
            0.14584659039974213,
            -0.03613162040710449
        ],
        "right_vector": [
            -0.14578533172607422,
            -0.9893067479133606,
            -0.004338642116636038
        ],
        "location": [
            -1150.18505859375,
            3075.6240234375,
            353.3309326171875
        ],
        "rotation": [
            0.24874907732009888,
            -2.0706400871276855,
            171.60816955566406
        ],
        "velocity": [
            -13.076090812683105,
            1.9138319492340088,
            -0.47768187522888184
        ],
        "speed": 13.215404029822333,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.41258430480957,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1158.42626953125,
                3077.284912109375,
                353.02197265625
            ],
            "velocity": [
                -15.876133918762207,
                0.35701143741607666,
                -0.5918235778808594
            ],
            "speed_kmh": 57.20821840559697,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1045.3941650390625,
                        "y": 3074.760009765625,
                        "z": 356.4065856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.0837578773498535,
                "transform": {
                    "location": {
                        "x": -1200.5870361328125,
                        "y": 3106.264404296875,
                        "z": 351.10888671875
                    },
                    "rotation": {
                        "roll": 0.02720453217625618,
                        "pitch": 3.0924293994903564,
                        "yaw": -0.73492431640625
                    }
                },
                "velocity": {
                    "x": 6.07401704788208,
                    "y": -0.07002630829811096,
                    "z": 0.33693113923072815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.9744744300842285,
                "transform": {
                    "location": {
                        "x": -1200.6937255859375,
                        "y": 3102.76904296875,
                        "z": 351.0635070800781
                    },
                    "rotation": {
                        "roll": 0.029011864215135574,
                        "pitch": 3.095714807510376,
                        "yaw": -0.7261046171188354
                    }
                },
                "velocity": {
                    "x": 5.965322971343994,
                    "y": -0.07075981795787811,
                    "z": 0.32289084792137146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.606694221496582,
                "transform": {
                    "location": {
                        "x": -1200.8624267578125,
                        "y": 3099.27587890625,
                        "z": 351.0658874511719
                    },
                    "rotation": {
                        "roll": 0.020556466653943062,
                        "pitch": 2.9089295864105225,
                        "yaw": -0.7523499131202698
                    }
                },
                "velocity": {
                    "x": 5.598071575164795,
                    "y": -0.07106281816959381,
                    "z": 0.30259615182876587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.206634521484375,
                "transform": {
                    "location": {
                        "x": -1201.013916015625,
                        "y": 3095.780517578125,
                        "z": 351.0710754394531
                    },
                    "rotation": {
                        "roll": 0.03316589072346687,
                        "pitch": 2.9758176803588867,
                        "yaw": -0.7861021757125854
                    }
                },
                "velocity": {
                    "x": 5.1982526779174805,
                    "y": -0.06766659766435623,
                    "z": 0.2874574661254883
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.384456634521484,
                "transform": {
                    "location": {
                        "x": -1159.2520751953125,
                        "y": 3101.895751953125,
                        "z": 352.9756164550781
                    },
                    "rotation": {
                        "roll": 0.02299220860004425,
                        "pitch": 2.696626901626587,
                        "yaw": -1.0818787813186646
                    }
                },
                "velocity": {
                    "x": 10.375250816345215,
                    "y": -0.19909866154193878,
                    "z": 0.3891914188861847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.467024803161621,
                "transform": {
                    "location": {
                        "x": -1154.0557861328125,
                        "y": 3094.783447265625,
                        "z": 353.18316650390625
                    },
                    "rotation": {
                        "roll": 0.004150155931711197,
                        "pitch": 1.9917787313461304,
                        "yaw": -1.154724359512329
                    }
                },
                "velocity": {
                    "x": 10.457995414733887,
                    "y": -0.2107551544904709,
                    "z": 0.38017332553863525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.926841735839844,
                "transform": {
                    "location": {
                        "x": -1156.7908935546875,
                        "y": 3098.343994140625,
                        "z": 353.07843017578125
                    },
                    "rotation": {
                        "roll": 0.01980212703347206,
                        "pitch": 2.329101324081421,
                        "yaw": -1.1121522188186646
                    }
                },
                "velocity": {
                    "x": 10.917336463928223,
                    "y": -0.2168872207403183,
                    "z": 0.4007348418235779
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.2672758102417,
                "transform": {
                    "location": {
                        "x": -1145.9803466796875,
                        "y": 3105.111083984375,
                        "z": 353.46514892578125
                    },
                    "rotation": {
                        "roll": 0.0030781864188611507,
                        "pitch": 2.232037305831909,
                        "yaw": -1.2583616971969604
                    }
                },
                "velocity": {
                    "x": 9.25888442993164,
                    "y": -0.20314234495162964,
                    "z": 0.33790892362594604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.363059997558594,
                "transform": {
                    "location": {
                        "x": -1089.068115234375,
                        "y": 3075.73583984375,
                        "z": 355.4822692871094
                    },
                    "rotation": {
                        "roll": 0.00017782414215616882,
                        "pitch": -1.6170949935913086,
                        "yaw": 178.71823120117188
                    }
                },
                "velocity": {
                    "x": -16.35233497619629,
                    "y": 0.36536723375320435,
                    "z": -0.4662371575832367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.648456573486328,
                "transform": {
                    "location": {
                        "x": -1130.28173828125,
                        "y": 3094.260498046875,
                        "z": 354.033935546875
                    },
                    "rotation": {
                        "roll": 0.0008464387501589954,
                        "pitch": 2.1710574626922607,
                        "yaw": -1.27313232421875
                    }
                },
                "velocity": {
                    "x": 11.637802124023438,
                    "y": -0.26133671402931213,
                    "z": 0.42404836416244507
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.87748908996582,
                "transform": {
                    "location": {
                        "x": -1129.656982421875,
                        "y": 3097.747802734375,
                        "z": 354.0982666015625
                    },
                    "rotation": {
                        "roll": 0.0015993256820365787,
                        "pitch": 2.2318801879882812,
                        "yaw": -1.2767945528030396
                    }
                },
                "velocity": {
                    "x": 11.866618156433105,
                    "y": -0.26612231135368347,
                    "z": 0.432778924703598
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.124585151672363,
                "transform": {
                    "location": {
                        "x": -1135.1961669921875,
                        "y": 3101.37158203125,
                        "z": 353.8628845214844
                    },
                    "rotation": {
                        "roll": 0.002438222523778677,
                        "pitch": 2.3156867027282715,
                        "yaw": -1.2739256620407104
                    }
                },
                "velocity": {
                    "x": 11.114471435546875,
                    "y": -0.24627685546875,
                    "z": 0.40529119968414307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.728455543518066,
                "transform": {
                    "location": {
                        "x": -1128.3370361328125,
                        "y": 3104.731201171875,
                        "z": 354.10076904296875
                    },
                    "rotation": {
                        "roll": 0.002825953299179673,
                        "pitch": 2.121579647064209,
                        "yaw": -0.9177855849266052
                    }
                },
                "velocity": {
                    "x": 9.720966339111328,
                    "y": -0.14009790122509003,
                    "z": 0.35501188039779663
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.8911714553833,
                "transform": {
                    "location": {
                        "x": -1158.42626953125,
                        "y": 3077.284912109375,
                        "z": 353.02197265625
                    },
                    "rotation": {
                        "roll": 0.0003962688206229359,
                        "pitch": -2.1202340126037598,
                        "yaw": 178.71853637695312
                    }
                },
                "velocity": {
                    "x": -15.876133918762207,
                    "y": 0.35701143741607666,
                    "z": -0.5918235778808594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1323.2327880859375,
                        "y": 3081.56298828125,
                        "z": 345.84307861328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1281.89501953125,
                        "y": 3080.04345703125,
                        "z": 347.1121520996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1257.9068603515625,
                        "y": 3079.507080078125,
                        "z": 348.1492004394531
                    },
                    "rotation": {
                        "roll": 6.677452368819559e-09,
                        "pitch": -2.687856912612915,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.471044540405273,
                "transform": {
                    "location": {
                        "x": -1185.095703125,
                        "y": 3077.880859375,
                        "z": 351.9019775390625
                    },
                    "rotation": {
                        "roll": 4.9242833483731374e-05,
                        "pitch": -2.7684326171875,
                        "yaw": 178.71763610839844
                    }
                },
                "velocity": {
                    "x": -16.447906494140625,
                    "y": 0.36788585782051086,
                    "z": -0.79140305519104
                },
                "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": -0.4477040767669678,
        "expert_target_speed": 20.0,
        "target_point": [
            38.59437385381471,
            3.3273339309284653
        ],
        "target_point_next": [
            89.20201814529052,
            9.641545237576413
        ]
    },
    "305": {
        "acceleration": [
            -0.689239501953125,
            -0.4852914810180664,
            -0.02350330352783203
        ],
        "angular_velocity": [
            -0.3599778711795807,
            0.08196437358856201,
            1.743141531944275
        ],
        "forward_vector": [
            -0.9899773001670837,
            0.1366150826215744,
            -0.035795312374830246
        ],
        "right_vector": [
            -0.1366199404001236,
            -0.9906208515167236,
            -0.0023213690146803856
        ],
        "location": [
            -1153.4759521484375,
            3076.090576171875,
            353.2105407714844
        ],
        "rotation": [
            0.1330900639295578,
            -2.051358461380005,
            172.14291381835938
        ],
        "velocity": [
            -13.244876861572266,
            1.8108478784561157,
            -0.4842909276485443
        ],
        "speed": 13.368093847558125,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.017887115478516,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1162.3956298828125,
                3077.374267578125,
                352.87322998046875
            ],
            "velocity": [
                -15.87989616394043,
                0.3534998297691345,
                -0.5986219644546509
            ],
            "speed_kmh": 57.222383617104036,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1049.4832763671875,
                        "y": 3074.85107421875,
                        "z": 356.3398742675781
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.1046953201293945,
                "transform": {
                    "location": {
                        "x": -1199.236328125,
                        "y": 3106.2490234375,
                        "z": 351.18365478515625
                    },
                    "rotation": {
                        "roll": 0.027487684041261673,
                        "pitch": 3.0019431114196777,
                        "yaw": -0.7537230849266052
                    }
                },
                "velocity": {
                    "x": 5.096802711486816,
                    "y": -0.057346418499946594,
                    "z": 0.277904748916626
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.175565242767334,
                "transform": {
                    "location": {
                        "x": -1199.357666015625,
                        "y": 3102.752685546875,
                        "z": 351.1360778808594
                    },
                    "rotation": {
                        "roll": 0.03097483702003956,
                        "pitch": 3.0409982204437256,
                        "yaw": -0.6979674696922302
                    }
                },
                "velocity": {
                    "x": 5.167664051055908,
                    "y": -0.060674700886011124,
                    "z": 0.27936580777168274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3296895027160645,
                "transform": {
                    "location": {
                        "x": -1199.5635986328125,
                        "y": 3099.25927734375,
                        "z": 351.136474609375
                    },
                    "rotation": {
                        "roll": 0.03197702020406723,
                        "pitch": 2.8552510738372803,
                        "yaw": -0.6490477323532104
                    }
                },
                "velocity": {
                    "x": 5.321528911590576,
                    "y": -0.06620606034994125,
                    "z": 0.28729134798049927
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.060797691345215,
                "transform": {
                    "location": {
                        "x": -1199.7957763671875,
                        "y": 3095.76513671875,
                        "z": 351.1374206542969
                    },
                    "rotation": {
                        "roll": 0.025225434452295303,
                        "pitch": 2.8925576210021973,
                        "yaw": -0.8565978407859802
                    }
                },
                "velocity": {
                    "x": 5.05299186706543,
                    "y": -0.06784575432538986,
                    "z": 0.272659033536911
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.12537956237793,
                "transform": {
                    "location": {
                        "x": -1156.555419921875,
                        "y": 3101.841552734375,
                        "z": 353.0759582519531
                    },
                    "rotation": {
                        "roll": 0.02261972986161709,
                        "pitch": 2.551553726196289,
                        "yaw": -1.186767578125
                    }
                },
                "velocity": {
                    "x": 11.115439414978027,
                    "y": -0.23131227493286133,
                    "z": 0.40935537219047546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.207704544067383,
                "transform": {
                    "location": {
                        "x": -1151.344970703125,
                        "y": 3094.7265625,
                        "z": 353.28179931640625
                    },
                    "rotation": {
                        "roll": 0.0009872294031083584,
                        "pitch": 1.9987796545028687,
                        "yaw": -1.20947265625
                    }
                },
                "velocity": {
                    "x": 11.197758674621582,
                    "y": -0.238455131649971,
                    "z": 0.40741026401519775
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.732638359069824,
                "transform": {
                    "location": {
                        "x": -1153.9569091796875,
                        "y": 3098.286865234375,
                        "z": 353.1822509765625
                    },
                    "rotation": {
                        "roll": 0.012629769742488861,
                        "pitch": 2.2792272567749023,
                        "yaw": -1.202789306640625
                    }
                },
                "velocity": {
                    "x": 11.722339630126953,
                    "y": -0.24489085376262665,
                    "z": 0.42612648010253906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.649068832397461,
                "transform": {
                    "location": {
                        "x": -1143.6270751953125,
                        "y": 3105.0595703125,
                        "z": 353.55096435546875
                    },
                    "rotation": {
                        "roll": 0.0028829968068748713,
                        "pitch": 2.198917865753174,
                        "yaw": -1.246978759765625
                    }
                },
                "velocity": {
                    "x": 9.64033317565918,
                    "y": -0.2124280333518982,
                    "z": 0.351254403591156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.365924835205078,
                "transform": {
                    "location": {
                        "x": -1093.155517578125,
                        "y": 3075.826904296875,
                        "z": 355.3615417480469
                    },
                    "rotation": {
                        "roll": -0.0004272438236512244,
                        "pitch": -1.7616559267044067,
                        "yaw": 178.72384643554688
                    }
                },
                "velocity": {
                    "x": -16.354257583618164,
                    "y": 0.3644450008869171,
                    "z": -0.4989270567893982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.517576217651367,
                "transform": {
                    "location": {
                        "x": -1127.3123779296875,
                        "y": 3094.1943359375,
                        "z": 354.1422119140625
                    },
                    "rotation": {
                        "roll": -0.0006408714689314365,
                        "pitch": 2.165968894958496,
                        "yaw": -1.283203125
                    }
                },
                "velocity": {
                    "x": 12.506134986877441,
                    "y": -0.27995678782463074,
                    "z": 0.45599082112312317
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.797510147094727,
                "transform": {
                    "location": {
                        "x": -1126.569580078125,
                        "y": 3097.678955078125,
                        "z": 354.2110900878906
                    },
                    "rotation": {
                        "roll": 0.0015392956556752324,
                        "pitch": 2.2076330184936523,
                        "yaw": -1.2705079317092896
                    }
                },
                "velocity": {
                    "x": 12.785884857177734,
                    "y": -0.28331390023231506,
                    "z": 0.4660128653049469
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.894440650939941,
                "transform": {
                    "location": {
                        "x": -1132.3173828125,
                        "y": 3101.307861328125,
                        "z": 353.9680480957031
                    },
                    "rotation": {
                        "roll": 0.0016572352033108473,
                        "pitch": 2.2938642501831055,
                        "yaw": -1.277313232421875
                    }
                },
                "velocity": {
                    "x": 11.883618354797363,
                    "y": -0.2637886106967926,
                    "z": 0.4333113729953766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.272120475769043,
                "transform": {
                    "location": {
                        "x": -1125.83642578125,
                        "y": 3104.696533203125,
                        "z": 354.1922607421875
                    },
                    "rotation": {
                        "roll": 0.005199803505092859,
                        "pitch": 2.11643648147583,
                        "yaw": -0.5956724882125854
                    }
                },
                "velocity": {
                    "x": 10.264617919921875,
                    "y": -0.11626892536878586,
                    "z": 0.3749047815799713
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.895106315612793,
                "transform": {
                    "location": {
                        "x": -1162.3956298828125,
                        "y": 3077.374267578125,
                        "z": 352.87322998046875
                    },
                    "rotation": {
                        "roll": -0.0006713852635584772,
                        "pitch": -2.1651902198791504,
                        "yaw": 178.71331787109375
                    }
                },
                "velocity": {
                    "x": -15.87989616394043,
                    "y": 0.3534998297691345,
                    "z": -0.5986219644546509
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4544,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1327.475341796875,
                        "y": 3081.799560546875,
                        "z": 345.77081298828125
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.137939453125,
                        "y": 3080.139892578125,
                        "z": 346.9505310058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.1480712890625,
                        "y": 3079.60205078125,
                        "z": 347.95050048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.5830066204071045,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.474075317382812,
                "transform": {
                    "location": {
                        "x": -1189.2069091796875,
                        "y": 3077.97265625,
                        "z": 351.701171875
                    },
                    "rotation": {
                        "roll": 0.0012450465001165867,
                        "pitch": -2.8825035095214844,
                        "yaw": 178.71705627441406
                    }
                },
                "velocity": {
                    "x": -16.449758529663086,
                    "y": 0.36834174394607544,
                    "z": -0.8154478073120117
                },
                "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": -0.2894216775894165,
        "expert_target_speed": 12.920716141040774,
        "target_point": [
            35.299968886657524,
            2.979287936377304
        ],
        "target_point_next": [
            85.9643395671285,
            8.820903184695023
        ]
    },
    "310": {
        "acceleration": [
            -1.2339591979980469,
            -0.695350170135498,
            -0.07143557071685791
        ],
        "angular_velocity": [
            -0.34944942593574524,
            0.1368570327758789,
            4.219695568084717
        ],
        "forward_vector": [
            -0.9918414354324341,
            0.12243114411830902,
            -0.03551367670297623
        ],
        "right_vector": [
            -0.12250784784555435,
            -0.9924675226211548,
            -1.627695564820897e-05
        ],
        "location": [
            -1156.81298828125,
            3076.523681640625,
            353.0884704589844
        ],
        "rotation": [
            0.0009331895271316171,
            -2.0352118015289307,
            172.96310424804688
        ],
        "velocity": [
            -13.471503257751465,
            1.639398455619812,
            -0.4929247200489044
        ],
        "speed": 13.570888965719856,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.605477333068848,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1166.365234375,
                3077.463134765625,
                352.7180480957031
            ],
            "velocity": [
                -15.884723663330078,
                0.3572346866130829,
                -0.6373973488807678
            ],
            "speed_kmh": 57.24547194924693,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1053.5726318359375,
                        "y": 3074.942626953125,
                        "z": 356.2737731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.510095119476318,
                "transform": {
                    "location": {
                        "x": -1197.931640625,
                        "y": 3106.228759765625,
                        "z": 351.2531433105469
                    },
                    "rotation": {
                        "roll": 0.029416248202323914,
                        "pitch": 3.1182339191436768,
                        "yaw": -0.8213499784469604
                    }
                },
                "velocity": {
                    "x": 5.501285076141357,
                    "y": -0.09320914000272751,
                    "z": 0.2971954047679901
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.508378982543945,
                "transform": {
                    "location": {
                        "x": -1198.00732421875,
                        "y": 3102.732666015625,
                        "z": 351.20831298828125
                    },
                    "rotation": {
                        "roll": 0.02864205650985241,
                        "pitch": 3.106513261795044,
                        "yaw": -0.7950437068939209
                    }
                },
                "velocity": {
                    "x": 5.4995903968811035,
                    "y": -0.09431219846010208,
                    "z": 0.2963937520980835
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.874625205993652,
                "transform": {
                    "location": {
                        "x": -1198.19775390625,
                        "y": 3099.2392578125,
                        "z": 351.2088317871094
                    },
                    "rotation": {
                        "roll": 0.04542618244886398,
                        "pitch": 3.1642284393310547,
                        "yaw": -0.806304931640625
                    }
                },
                "velocity": {
                    "x": 5.8653435707092285,
                    "y": -0.0970594584941864,
                    "z": 0.315507173538208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.063558101654053,
                "transform": {
                    "location": {
                        "x": -1198.489990234375,
                        "y": 3095.74560546875,
                        "z": 351.20428466796875
                    },
                    "rotation": {
                        "roll": 0.03625344857573509,
                        "pitch": 3.2917070388793945,
                        "yaw": -0.8840638399124146
                    }
                },
                "velocity": {
                    "x": 6.053890228271484,
                    "y": -0.10390278697013855,
                    "z": 0.32612693309783936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.834192276000977,
                "transform": {
                    "location": {
                        "x": -1153.6849365234375,
                        "y": 3101.78125,
                        "z": 353.1810607910156
                    },
                    "rotation": {
                        "roll": 0.017017217352986336,
                        "pitch": 2.4748165607452393,
                        "yaw": -1.209381103515625
                    }
                },
                "velocity": {
                    "x": 11.823699951171875,
                    "y": -0.2526305019855499,
                    "z": 0.42940908670425415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.974066734313965,
                "transform": {
                    "location": {
                        "x": -1148.445068359375,
                        "y": 3094.664306640625,
                        "z": 353.3874816894531
                    },
                    "rotation": {
                        "roll": 5.274270279187476e-06,
                        "pitch": 2.001805305480957,
                        "yaw": -1.2369080781936646
                    }
                },
                "velocity": {
                    "x": 11.963287353515625,
                    "y": -0.26135897636413574,
                    "z": 0.4355723559856415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.484692573547363,
                "transform": {
                    "location": {
                        "x": -1150.92919921875,
                        "y": 3098.22216796875,
                        "z": 353.2923278808594
                    },
                    "rotation": {
                        "roll": 0.008294673636555672,
                        "pitch": 2.2801220417022705,
                        "yaw": -1.2565613985061646
                    }
                },
                "velocity": {
                    "x": 12.473471641540527,
                    "y": -0.27211424708366394,
                    "z": 0.4538787007331848
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.319531440734863,
                "transform": {
                    "location": {
                        "x": -1141.125,
                        "y": 3105.004638671875,
                        "z": 353.6421813964844
                    },
                    "rotation": {
                        "roll": 0.00314390379935503,
                        "pitch": 2.235978364944458,
                        "yaw": -1.26983642578125
                    }
                },
                "velocity": {
                    "x": 10.310158729553223,
                    "y": -0.22836057841777802,
                    "z": 0.3757827579975128
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.36566925048828,
                "transform": {
                    "location": {
                        "x": -1097.2432861328125,
                        "y": 3075.91845703125,
                        "z": 355.2347106933594
                    },
                    "rotation": {
                        "roll": 0.00011503851419547573,
                        "pitch": -1.838618516921997,
                        "yaw": 178.71861267089844
                    }
                },
                "velocity": {
                    "x": -16.353374481201172,
                    "y": 0.3657485544681549,
                    "z": -0.5181873440742493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.472567558288574,
                "transform": {
                    "location": {
                        "x": -1124.0538330078125,
                        "y": 3094.12158203125,
                        "z": 354.26104736328125
                    },
                    "rotation": {
                        "roll": 0.0006770201725885272,
                        "pitch": 2.164322853088379,
                        "yaw": -1.2830504179000854
                    }
                },
                "velocity": {
                    "x": 13.460166931152344,
                    "y": -0.30432024598121643,
                    "z": 0.4913184344768524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.690285682678223,
                "transform": {
                    "location": {
                        "x": -1123.2572021484375,
                        "y": 3097.60546875,
                        "z": 354.3319091796875
                    },
                    "rotation": {
                        "roll": 0.0003262083337176591,
                        "pitch": 2.1990201473236084,
                        "yaw": -1.2684019804000854
                    }
                },
                "velocity": {
                    "x": 13.677818298339844,
                    "y": -0.3029618263244629,
                    "z": 0.499417781829834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.706124305725098,
                "transform": {
                    "location": {
                        "x": -1129.2413330078125,
                        "y": 3101.2392578125,
                        "z": 354.08026123046875
                    },
                    "rotation": {
                        "roll": 0.00030525875627063215,
                        "pitch": 2.2869725227355957,
                        "yaw": -1.277984619140625
                    }
                },
                "velocity": {
                    "x": 12.694498062133789,
                    "y": -0.2843053638935089,
                    "z": 0.463141530752182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.850186347961426,
                "transform": {
                    "location": {
                        "x": -1123.195068359375,
                        "y": 3104.69677734375,
                        "z": 354.2898254394531
                    },
                    "rotation": {
                        "roll": -0.026153564453125,
                        "pitch": 2.1584558486938477,
                        "yaw": 0.5636671185493469
                    }
                },
                "velocity": {
                    "x": 10.841756820678711,
                    "y": 0.15193910896778107,
                    "z": 0.3996955156326294
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.901519775390625,
                "transform": {
                    "location": {
                        "x": -1166.365234375,
                        "y": 3077.463134765625,
                        "z": 352.7180480957031
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": -2.3069167137145996,
                        "yaw": 178.7198028564453
                    }
                },
                "velocity": {
                    "x": -15.884723663330078,
                    "y": 0.3572346866130829,
                    "z": -0.6373973488807678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1290.380859375,
                        "y": 3080.243408203125,
                        "z": 346.79608154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1266.3895263671875,
                        "y": 3079.69677734375,
                        "z": 347.7579650878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47796630859375,
                "transform": {
                    "location": {
                        "x": -1193.318359375,
                        "y": 3078.064697265625,
                        "z": 351.4931945800781
                    },
                    "rotation": {
                        "roll": -0.001342768780887127,
                        "pitch": -3.0112595558166504,
                        "yaw": 178.72230529785156
                    }
                },
                "velocity": {
                    "x": -16.45195960998535,
                    "y": 0.3672650158405304,
                    "z": -0.8494234085083008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.39360180497169495,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.139734148979187,
        "expert_target_speed": 13.288571755409832,
        "target_point": [
            31.974039425585467,
            2.494721006771844
        ],
        "target_point_next": [
            82.71683722633121,
            7.61051972351011
        ]
    },
    "315": {
        "acceleration": [
            -1.6604042053222656,
            -0.7631111145019531,
            -0.14437198638916016
        ],
        "angular_velocity": [
            -0.3816249966621399,
            0.08184072375297546,
            3.696692943572998
        ],
        "forward_vector": [
            -0.9937468767166138,
            0.10575058311223984,
            -0.0358320027589798
        ],
        "right_vector": [
            -0.10587949305772781,
            -0.9943774938583374,
            0.0017139731207862496
        ],
        "location": [
            -1160.2294921875,
            3076.912841796875,
            352.96160888671875
        ],
        "rotation": [
            -0.09826657921075821,
            -2.053462028503418,
            173.92567443847656
        ],
        "velocity": [
            -13.862359046936035,
            1.4558751583099365,
            -0.5202862620353699
        ],
        "speed": 13.938600030948349,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.135212898254395,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1170.33642578125,
                3077.551513671875,
                352.5559997558594
            ],
            "velocity": [
                -15.889601707458496,
                0.35295575857162476,
                -0.6662992835044861
            ],
            "speed_kmh": 57.26693422054219,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.656005859375,
                        "y": 3107.061767578125,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.734130859375,
                        "y": 3103.56298828125,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.812255859375,
                        "y": 3100.06396484375,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1237.890380859375,
                        "y": 3096.564697265625,
                        "z": 349.4148254394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1057.6619873046875,
                        "y": 3075.033935546875,
                        "z": 356.2020568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.05724573135376,
                "transform": {
                    "location": {
                        "x": -1196.512451171875,
                        "y": 3106.205322265625,
                        "z": 351.3291015625
                    },
                    "rotation": {
                        "roll": 0.024072127416729927,
                        "pitch": 3.1150851249694824,
                        "yaw": -0.8733214735984802
                    }
                },
                "velocity": {
                    "x": 6.048091411590576,
                    "y": -0.10274218022823334,
                    "z": 0.3166426718235016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.466633319854736,
                "transform": {
                    "location": {
                        "x": -1196.411865234375,
                        "y": 3102.70654296875,
                        "z": 351.2931823730469
                    },
                    "rotation": {
                        "roll": 0.01913112960755825,
                        "pitch": 3.1839334964752197,
                        "yaw": -0.9565123319625854
                    }
                },
                "velocity": {
                    "x": 7.455231666564941,
                    "y": -0.12984834611415863,
                    "z": 0.3915010094642639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.334475040435791,
                "transform": {
                    "location": {
                        "x": -1196.5386962890625,
                        "y": 3099.211181640625,
                        "z": 351.2961730957031
                    },
                    "rotation": {
                        "roll": 0.03494368866086006,
                        "pitch": 3.5660483837127686,
                        "yaw": -0.9436949491500854
                    }
                },
                "velocity": {
                    "x": 7.3231706619262695,
                    "y": -0.12842723727226257,
                    "z": 0.386259526014328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.125022888183594,
                "transform": {
                    "location": {
                        "x": -1196.85595703125,
                        "y": 3095.718017578125,
                        "z": 351.2904357910156
                    },
                    "rotation": {
                        "roll": 0.02281551994383335,
                        "pitch": 3.4665257930755615,
                        "yaw": -1.0165101289749146
                    }
                },
                "velocity": {
                    "x": 7.113929271697998,
                    "y": -0.12738864123821259,
                    "z": 0.37647712230682373
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.598633766174316,
                "transform": {
                    "location": {
                        "x": -1150.6326904296875,
                        "y": 3101.71484375,
                        "z": 353.29205322265625
                    },
                    "rotation": {
                        "roll": 0.013523087836802006,
                        "pitch": 2.4736006259918213,
                        "yaw": -1.255431890487671
                    }
                },
                "velocity": {
                    "x": 12.58727741241455,
                    "y": -0.2765396237373352,
                    "z": 0.45774978399276733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.681513786315918,
                "transform": {
                    "location": {
                        "x": -1145.3624267578125,
                        "y": 3094.596923828125,
                        "z": 353.4998779296875
                    },
                    "rotation": {
                        "roll": 0.000862270244397223,
                        "pitch": 2.004223346710205,
                        "yaw": -1.253875494003296
                    }
                },
                "velocity": {
                    "x": 12.670069694519043,
                    "y": -0.2771468460559845,
                    "z": 0.4618660509586334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.3062105178833,
                "transform": {
                    "location": {
                        "x": -1147.7044677734375,
                        "y": 3098.151123046875,
                        "z": 353.4097595214844
                    },
                    "rotation": {
                        "roll": 0.004251416306942701,
                        "pitch": 2.2924230098724365,
                        "yaw": -1.2817076444625854
                    }
                },
                "velocity": {
                    "x": 13.294084548950195,
                    "y": -0.2957150340080261,
                    "z": 0.4848865270614624
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.745869636535645,
                "transform": {
                    "location": {
                        "x": -1138.4920654296875,
                        "y": 3104.946533203125,
                        "z": 353.73822021484375
                    },
                    "rotation": {
                        "roll": 0.0013445564545691013,
                        "pitch": 2.208425521850586,
                        "yaw": -1.2564696073532104
                    }
                },
                "velocity": {
                    "x": 10.736124992370605,
                    "y": -0.23696045577526093,
                    "z": 0.3913845121860504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.367271423339844,
                "transform": {
                    "location": {
                        "x": -1101.3311767578125,
                        "y": 3076.010009765625,
                        "z": 355.1013488769531
                    },
                    "rotation": {
                        "roll": -0.0006408682675100863,
                        "pitch": -1.8973103761672974,
                        "yaw": 178.71861267089844
                    }
                },
                "velocity": {
                    "x": -16.354246139526367,
                    "y": 0.3658204674720764,
                    "z": -0.5407518148422241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.260733604431152,
                "transform": {
                    "location": {
                        "x": -1120.5855712890625,
                        "y": 3094.0439453125,
                        "z": 354.3875732421875
                    },
                    "rotation": {
                        "roll": -0.00021362077677622437,
                        "pitch": 2.152315378189087,
                        "yaw": -1.2838133573532104
                    }
                },
                "velocity": {
                    "x": 14.24769401550293,
                    "y": -0.31924423575401306,
                    "z": 0.519449770450592
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 14.58881664276123,
                "transform": {
                    "location": {
                        "x": -1119.72119140625,
                        "y": 3097.527099609375,
                        "z": 354.4608459472656
                    },
                    "rotation": {
                        "roll": 0.001300584408454597,
                        "pitch": 2.198753833770752,
                        "yaw": -1.274749994277954
                    }
                },
                "velocity": {
                    "x": 14.575493812561035,
                    "y": -0.3241390585899353,
                    "z": 0.5324100255966187
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.49968147277832,
                "transform": {
                    "location": {
                        "x": -1125.965087890625,
                        "y": 3101.166259765625,
                        "z": 354.19970703125
                    },
                    "rotation": {
                        "roll": 0.00018228829139843583,
                        "pitch": 2.293515920639038,
                        "yaw": -1.2770081758499146
                    }
                },
                "velocity": {
                    "x": 13.487391471862793,
                    "y": -0.3006380796432495,
                    "z": 0.49123281240463257
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.396568298339844,
                "transform": {
                    "location": {
                        "x": -1120.414306640625,
                        "y": 3104.746826171875,
                        "z": 354.3924255371094
                    },
                    "rotation": {
                        "roll": 0.03694596886634827,
                        "pitch": 2.101956367492676,
                        "yaw": 1.9752705097198486
                    }
                },
                "velocity": {
                    "x": 11.382393836975098,
                    "y": 0.41174018383026123,
                    "z": 0.39159515500068665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.907482147216797,
                "transform": {
                    "location": {
                        "x": -1170.33642578125,
                        "y": 3077.551513671875,
                        "z": 352.5559997558594
                    },
                    "rotation": {
                        "roll": -0.001525877509266138,
                        "pitch": -2.408536195755005,
                        "yaw": 178.72840881347656
                    }
                },
                "velocity": {
                    "x": -15.889601707458496,
                    "y": 0.35295575857162476,
                    "z": -0.6662992835044861
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1294.626220703125,
                        "y": 3080.362548828125,
                        "z": 346.64935302734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.633056640625,
                        "y": 3079.791748046875,
                        "z": 347.57171630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.478149652481079,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4813232421875,
                "transform": {
                    "location": {
                        "x": -1197.4307861328125,
                        "y": 3078.156494140625,
                        "z": 351.27777099609375
                    },
                    "rotation": {
                        "roll": -0.00045776620390824974,
                        "pitch": -3.1015000343322754,
                        "yaw": 178.72003173828125
                    }
                },
                "velocity": {
                    "x": -16.45391082763672,
                    "y": 0.3675898611545563,
                    "z": -0.8761937618255615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3989146053791046,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01318590622395277,
        "expert_target_speed": 13.706542035266992,
        "target_point": [
            28.57293534001698,
            1.9826645753015402
        ],
        "target_point_next": [
            79.3945155815589,
            6.245281953164842
        ]
    },
    "320": {
        "acceleration": [
            -1.6476249694824219,
            -0.8368420600891113,
            -0.1696455478668213
        ],
        "angular_velocity": [
            -0.3809349536895752,
            -0.5625450611114502,
            4.056056976318359
        ],
        "forward_vector": [
            -0.9954191446304321,
            0.08846493810415268,
            -0.03625896945595741
        ],
        "right_vector": [
            -0.0886320024728775,
            -0.9960598349571228,
            0.0030233573634177446
        ],
        "location": [
            -1163.748779296875,
            3077.25439453125,
            352.8274841308594
        ],
        "rotation": [
            -0.1733398586511612,
            -2.077941417694092,
            174.92135620117188
        ],
        "velocity": [
            -14.278495788574219,
            1.2539726495742798,
            -0.5573659539222717
        ],
        "speed": 14.333453505356342,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.576395034790039,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1174.3089599609375,
                3077.64013671875,
                352.3871154785156
            ],
            "velocity": [
                -15.893571853637695,
                0.3533574938774109,
                -0.6960036158561707
            ],
            "speed_kmh": 57.28582039464802,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.5745849609375,
                        "y": 3107.014892578125,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.6527099609375,
                        "y": 3103.51611328125,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.7308349609375,
                        "y": 3100.01708984375,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1235.8089599609375,
                        "y": 3096.517822265625,
                        "z": 349.3330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.9053027629852295,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1061.751953125,
                        "y": 3075.12548828125,
                        "z": 356.12603759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.2173490524292,
                "transform": {
                    "location": {
                        "x": -1194.669921875,
                        "y": 3106.17431640625,
                        "z": 351.42486572265625
                    },
                    "rotation": {
                        "roll": 0.02074062079191208,
                        "pitch": 3.170997142791748,
                        "yaw": -0.9414063096046448
                    }
                },
                "velocity": {
                    "x": 8.20490550994873,
                    "y": -0.14061881601810455,
                    "z": 0.42962682247161865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.377015113830566,
                "transform": {
                    "location": {
                        "x": -1194.3895263671875,
                        "y": 3102.67138671875,
                        "z": 351.3997497558594
                    },
                    "rotation": {
                        "roll": 0.015287638641893864,
                        "pitch": 3.0431222915649414,
                        "yaw": -0.9977109432220459
                    }
                },
                "velocity": {
                    "x": 8.364333152770996,
                    "y": -0.14553645253181458,
                    "z": 0.4371940493583679
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.383953094482422,
                "transform": {
                    "location": {
                        "x": -1194.541259765625,
                        "y": 3099.17626953125,
                        "z": 351.401123046875
                    },
                    "rotation": {
                        "roll": 0.02661055698990822,
                        "pitch": 3.531296491622925,
                        "yaw": -1.0097047090530396
                    }
                },
                "velocity": {
                    "x": 8.371084213256836,
                    "y": -0.15049421787261963,
                    "z": 0.43927374482154846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.314027786254883,
                "transform": {
                    "location": {
                        "x": -1194.96337890625,
                        "y": 3095.684326171875,
                        "z": 351.3908996582031
                    },
                    "rotation": {
                        "roll": 0.014230981469154358,
                        "pitch": 3.3077237606048584,
                        "yaw": -1.0786436796188354
                    }
                },
                "velocity": {
                    "x": 8.301299095153809,
                    "y": -0.15287095308303833,
                    "z": 0.43373215198516846
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.382282257080078,
                "transform": {
                    "location": {
                        "x": -1147.3829345703125,
                        "y": 3101.643310546875,
                        "z": 353.4103698730469
                    },
                    "rotation": {
                        "roll": 0.008269197307527065,
                        "pitch": 2.4851436614990234,
                        "yaw": -1.2690123319625854
                    }
                },
                "velocity": {
                    "x": 13.370100021362305,
                    "y": -0.2974589169025421,
                    "z": 0.48725974559783936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.385160446166992,
                "transform": {
                    "location": {
                        "x": -1142.102294921875,
                        "y": 3094.52490234375,
                        "z": 353.61871337890625
                    },
                    "rotation": {
                        "roll": 0.00035725333145819604,
                        "pitch": 2.0072762966156006,
                        "yaw": -1.2659605741500854
                    }
                },
                "velocity": {
                    "x": 13.372997283935547,
                    "y": -0.29556041955947876,
                    "z": 0.48797324299812317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.110556602478027,
                "transform": {
                    "location": {
                        "x": -1144.27685546875,
                        "y": 3098.07470703125,
                        "z": 353.5347595214844
                    },
                    "rotation": {
                        "roll": 0.0014009518781676888,
                        "pitch": 2.298058032989502,
                        "yaw": -1.283202886581421
                    }
                },
                "velocity": {
                    "x": 14.097639083862305,
                    "y": -0.31629738211631775,
                    "z": 0.5141512751579285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.470097541809082,
                "transform": {
                    "location": {
                        "x": -1135.7569580078125,
                        "y": 3104.885498046875,
                        "z": 353.8380126953125
                    },
                    "rotation": {
                        "roll": 0.00018041630391962826,
                        "pitch": 2.257363796234131,
                        "yaw": -1.280334234237671
                    }
                },
                "velocity": {
                    "x": 11.4596529006958,
                    "y": -0.25462207198143005,
                    "z": 0.4179314970970154
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37042236328125,
                "transform": {
                    "location": {
                        "x": -1105.4188232421875,
                        "y": 3076.10107421875,
                        "z": 354.9619445800781
                    },
                    "rotation": {
                        "roll": -6.103519990574569e-05,
                        "pitch": -2.041625499725342,
                        "yaw": 178.72048950195312
                    }
                },
                "velocity": {
                    "x": -16.35617446899414,
                    "y": 0.36659327149391174,
                    "z": -0.5761007070541382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.022977828979492,
                "transform": {
                    "location": {
                        "x": -1116.9244384765625,
                        "y": 3093.9619140625,
                        "z": 354.5210876464844
                    },
                    "rotation": {
                        "roll": -0.0012512212852016091,
                        "pitch": 2.148825168609619,
                        "yaw": -1.283843755722046
                    }
                },
                "velocity": {
                    "x": 15.009233474731445,
                    "y": -0.33640941977500916,
                    "z": 0.5473567247390747
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.15185546875,
                "transform": {
                    "location": {
                        "x": -1116.0233154296875,
                        "y": 3097.4443359375,
                        "z": 354.5959777832031
                    },
                    "rotation": {
                        "roll": 0.00017005116387736052,
                        "pitch": 2.1693224906921387,
                        "yaw": -1.2857664823532104
                    }
                },
                "velocity": {
                    "x": 15.13798999786377,
                    "y": -0.339434951543808,
                    "z": 0.5520651936531067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.340242385864258,
                "transform": {
                    "location": {
                        "x": -1122.484130859375,
                        "y": 3101.08837890625,
                        "z": 354.3265686035156
                    },
                    "rotation": {
                        "roll": 0.0002681573387235403,
                        "pitch": 2.2990143299102783,
                        "yaw": -1.28057861328125
                    }
                },
                "velocity": {
                    "x": 14.327149391174316,
                    "y": -0.3201392590999603,
                    "z": 0.5223539471626282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.96113109588623,
                "transform": {
                    "location": {
                        "x": -1117.4971923828125,
                        "y": 3104.885986328125,
                        "z": 354.5010986328125
                    },
                    "rotation": {
                        "roll": 0.008376767858862877,
                        "pitch": 2.2006731033325195,
                        "yaw": 4.144926071166992
                    }
                },
                "velocity": {
                    "x": 11.926193237304688,
                    "y": 0.8099313378334045,
                    "z": 0.42257383465766907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.912727355957031,
                "transform": {
                    "location": {
                        "x": -1174.3089599609375,
                        "y": 3077.64013671875,
                        "z": 352.3871154785156
                    },
                    "rotation": {
                        "roll": 0.00014680318417958915,
                        "pitch": -2.465452194213867,
                        "yaw": 178.7156524658203
                    }
                },
                "velocity": {
                    "x": -15.893571853637695,
                    "y": 0.3533574938774109,
                    "z": -0.6960036158561707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.871826171875,
                        "y": 3080.498291015625,
                        "z": 346.50750732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1274.8780517578125,
                        "y": 3079.88671875,
                        "z": 347.3931884765625
                    },
                    "rotation": {
                        "roll": -1.6689581938678089e-09,
                        "pitch": -2.3733267784118652,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.484041213989258,
                "transform": {
                    "location": {
                        "x": -1201.5438232421875,
                        "y": 3078.248779296875,
                        "z": 351.0554504394531
                    },
                    "rotation": {
                        "roll": 0.0006698828074149787,
                        "pitch": -3.1642420291900635,
                        "yaw": 178.71722412109375
                    }
                },
                "velocity": {
                    "x": -16.45528221130371,
                    "y": 0.3683817684650421,
                    "z": -0.9008825421333313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.40430793166160583,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06889176368713379,
        "expert_target_speed": 14.098443226043303,
        "target_point": [
            25.067367679718384,
            1.514528812301947
        ],
        "target_point_next": [
            75.95534572683883,
            4.8933770529502745
        ]
    },
    "325": {
        "acceleration": [
            -1.5537452697753906,
            -0.9262800216674805,
            -0.08109211921691895
        ],
        "angular_velocity": [
            -0.3876810371875763,
            0.02297271601855755,
            4.109707832336426
        ],
        "forward_vector": [
            -0.9967775940895081,
            0.07072772830724716,
            -0.03784133866429329
        ],
        "right_vector": [
            -0.07093566656112671,
            -0.9974721074104309,
            0.004179221112281084
        ],
        "location": [
            -1167.369384765625,
            3077.542724609375,
            352.6842041015625
        ],
        "rotation": [
            -0.2396240532398224,
            -2.1686668395996094,
            175.94129943847656
        ],
        "velocity": [
            -14.67547607421875,
            1.031701922416687,
            -0.5905100703239441
        ],
        "speed": 14.711696260516163,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.924683570861816,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1178.2822265625,
                3077.729248046875,
                352.21112060546875
            ],
            "velocity": [
                -15.897527694702148,
                0.35592395067214966,
                -0.7130378484725952
            ],
            "speed_kmh": 57.30296442244907,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.49365234375,
                        "y": 3106.96875,
                        "z": 349.3256530761719
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.57177734375,
                        "y": 3103.4697265625,
                        "z": 349.3256530761719
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.64990234375,
                        "y": 3099.970458984375,
                        "z": 349.3256530761719
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1233.72802734375,
                        "y": 3096.471435546875,
                        "z": 349.3255920410156
                    },
                    "rotation": {
                        "roll": 3.339488463538487e-09,
                        "pitch": 2.9532439708709717,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1065.8424072265625,
                        "y": 3075.217041015625,
                        "z": 356.04736328125
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.098623275756836,
                "transform": {
                    "location": {
                        "x": -1192.599365234375,
                        "y": 3106.137451171875,
                        "z": 351.53363037109375
                    },
                    "rotation": {
                        "roll": 0.019045548513531685,
                        "pitch": 2.9975991249084473,
                        "yaw": -1.027191162109375
                    }
                },
                "velocity": {
                    "x": 8.086414337158203,
                    "y": -0.15750616788864136,
                    "z": 0.415677011013031
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.832296371459961,
                "transform": {
                    "location": {
                        "x": -1192.3690185546875,
                        "y": 3102.6337890625,
                        "z": 351.5047302246094
                    },
                    "rotation": {
                        "roll": 0.01209406740963459,
                        "pitch": 2.9477591514587402,
                        "yaw": -1.0922545194625854
                    }
                },
                "velocity": {
                    "x": 7.8203444480896,
                    "y": -0.15683163702487946,
                    "z": 0.4030855596065521
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.892931938171387,
                "transform": {
                    "location": {
                        "x": -1192.5067138671875,
                        "y": 3099.137451171875,
                        "z": 351.5081481933594
                    },
                    "rotation": {
                        "roll": 0.02783498540520668,
                        "pitch": 3.0731000900268555,
                        "yaw": -1.1031492948532104
                    }
                },
                "velocity": {
                    "x": 7.880993366241455,
                    "y": -0.15737883746623993,
                    "z": 0.404407799243927
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.290514945983887,
                "transform": {
                    "location": {
                        "x": -1192.8631591796875,
                        "y": 3095.64453125,
                        "z": 351.50225830078125
                    },
                    "rotation": {
                        "roll": 0.017471719533205032,
                        "pitch": 3.0259921550750732,
                        "yaw": -1.10003662109375
                    }
                },
                "velocity": {
                    "x": 8.277946472167969,
                    "y": -0.16356518864631653,
                    "z": 0.42600128054618835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.145956039428711,
                "transform": {
                    "location": {
                        "x": -1143.941650390625,
                        "y": 3101.567138671875,
                        "z": 353.535888671875
                    },
                    "rotation": {
                        "roll": 0.004071925766766071,
                        "pitch": 2.482835054397583,
                        "yaw": -1.266082763671875
                    }
                },
                "velocity": {
                    "x": 14.133096694946289,
                    "y": -0.3140755891799927,
                    "z": 0.5147974491119385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.055262565612793,
                "transform": {
                    "location": {
                        "x": -1138.6717529296875,
                        "y": 3094.448974609375,
                        "z": 353.7438659667969
                    },
                    "rotation": {
                        "roll": 0.00024024823505897075,
                        "pitch": 2.009578227996826,
                        "yaw": -1.27471923828125
                    }
                },
                "velocity": {
                    "x": 14.042464256286621,
                    "y": -0.3123258948326111,
                    "z": 0.5119218826293945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.88574504852295,
                "transform": {
                    "location": {
                        "x": -1140.65283203125,
                        "y": 3097.99365234375,
                        "z": 353.6669921875
                    },
                    "rotation": {
                        "roll": -0.0006408703047782183,
                        "pitch": 2.2861461639404297,
                        "yaw": -1.280547857284546
                    }
                },
                "velocity": {
                    "x": 14.87214469909668,
                    "y": -0.33253616094589233,
                    "z": 0.5423464775085449
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.869158744812012,
                "transform": {
                    "location": {
                        "x": -1132.8150634765625,
                        "y": 3104.8203125,
                        "z": 353.9452209472656
                    },
                    "rotation": {
                        "roll": 2.3810025595594198e-05,
                        "pitch": 2.2128992080688477,
                        "yaw": -1.2691650390625
                    }
                },
                "velocity": {
                    "x": 11.85832405090332,
                    "y": -0.26385319232940674,
                    "z": 0.4329511225223541
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37172508239746,
                "transform": {
                    "location": {
                        "x": -1109.5078125,
                        "y": 3076.1923828125,
                        "z": 354.8163146972656
                    },
                    "rotation": {
                        "roll": -0.0014648440992459655,
                        "pitch": -2.062833070755005,
                        "yaw": 178.72181701660156
                    }
                },
                "velocity": {
                    "x": -16.357133865356445,
                    "y": 0.363716185092926,
                    "z": -0.5876043438911438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.7734375,
                "transform": {
                    "location": {
                        "x": -1113.074462890625,
                        "y": 3093.87548828125,
                        "z": 354.6615295410156
                    },
                    "rotation": {
                        "roll": -0.0014038109220564365,
                        "pitch": 2.1473772525787354,
                        "yaw": -1.2811583280563354
                    }
                },
                "velocity": {
                    "x": 15.759066581726074,
                    "y": -0.3506380617618561,
                    "z": 0.5746422410011292
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 15.985031127929688,
                "transform": {
                    "location": {
                        "x": -1112.1243896484375,
                        "y": 3097.356689453125,
                        "z": 354.7380065917969
                    },
                    "rotation": {
                        "roll": -0.00018310779705643654,
                        "pitch": 2.187490940093994,
                        "yaw": -1.2883299589157104
                    }
                },
                "velocity": {
                    "x": 15.970407485961914,
                    "y": -0.3589237630367279,
                    "z": 0.5817979574203491
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.162832260131836,
                "transform": {
                    "location": {
                        "x": -1118.7955322265625,
                        "y": 3101.006103515625,
                        "z": 354.46099853515625
                    },
                    "rotation": {
                        "roll": -0.0007934589521028101,
                        "pitch": 2.301664352416992,
                        "yaw": -1.279937744140625
                    }
                },
                "velocity": {
                    "x": 15.148996353149414,
                    "y": -0.3382675051689148,
                    "z": 0.5522357225418091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.493398666381836,
                "transform": {
                    "location": {
                        "x": -1114.4503173828125,
                        "y": 3105.127197265625,
                        "z": 354.61236572265625
                    },
                    "rotation": {
                        "roll": 0.16817116737365723,
                        "pitch": 1.989313006401062,
                        "yaw": 6.303384780883789
                    }
                },
                "velocity": {
                    "x": 12.414223670959473,
                    "y": 1.322607398033142,
                    "z": 0.4719880521297455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.917490005493164,
                "transform": {
                    "location": {
                        "x": -1178.2822265625,
                        "y": 3077.729248046875,
                        "z": 352.21112060546875
                    },
                    "rotation": {
                        "roll": 3.3384213171672172e-09,
                        "pitch": -2.5739428997039795,
                        "yaw": 178.7171173095703
                    }
                },
                "velocity": {
                    "x": -15.897527694702148,
                    "y": 0.35592395067214966,
                    "z": -0.7130378484725952
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1303.1168212890625,
                        "y": 3080.64892578125,
                        "z": 346.36669921875
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1279.1231689453125,
                        "y": 3079.9814453125,
                        "z": 347.2207336425781
                    },
                    "rotation": {
                        "roll": -1.6688344040005632e-09,
                        "pitch": -2.268462896347046,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.485626220703125,
                "transform": {
                    "location": {
                        "x": -1205.657470703125,
                        "y": 3078.340576171875,
                        "z": 350.82916259765625
                    },
                    "rotation": {
                        "roll": -0.0011291478294879198,
                        "pitch": -3.214348316192627,
                        "yaw": 178.72415161132812
                    }
                },
                "velocity": {
                    "x": -16.456371307373047,
                    "y": 0.36693957448005676,
                    "z": -0.9105283617973328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.40916648507118225,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12061944603919983,
        "expert_target_speed": 14.444352165902686,
        "target_point": [
            21.458422414036857,
            1.0994278899141925
        ],
        "target_point_next": [
            72.3984824999558,
            3.5719172428769337
        ]
    },
    "330": {
        "acceleration": [
            -1.0612678527832031,
            -0.9116196632385254,
            -0.17732739448547363
        ],
        "angular_velocity": [
            -0.09852255880832672,
            -0.4920075237751007,
            3.7267942428588867
        ],
        "forward_vector": [
            -0.9977531433105469,
            0.053581878542900085,
            -0.04022049531340599
        ],
        "right_vector": [
            -0.053822003304958344,
            -0.9985384345054626,
            0.004910599905997515
        ],
        "location": [
            -1171.0845947265625,
            3077.774658203125,
            352.53125
        ],
        "rotation": [
            -0.2815856337547302,
            -2.305086374282837,
            176.926025390625
        ],
        "velocity": [
            -15.019670486450195,
            0.8058204650878906,
            -0.6319359540939331
        ],
        "speed": 15.041271493577181,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.183011054992676,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1182.2562255859375,
                3077.818115234375,
                352.02874755859375
            ],
            "velocity": [
                -15.900349617004395,
                0.35110798478126526,
                -0.7483397722244263
            ],
            "speed_kmh": 57.318558224918384,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004324913024902,
                "transform": {
                    "location": {
                        "x": -1231.4462890625,
                        "y": 3106.9267578125,
                        "z": 349.42724609375
                    },
                    "rotation": {
                        "roll": 0.027516430243849754,
                        "pitch": 2.9725937843322754,
                        "yaw": -1.1199339628219604
                    }
                },
                "velocity": {
                    "x": 7.993533134460449,
                    "y": -0.09322705864906311,
                    "z": 0.40491124987602234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.937588214874268,
                "transform": {
                    "location": {
                        "x": -1231.531494140625,
                        "y": 3103.4306640625,
                        "z": 349.42529296875
                    },
                    "rotation": {
                        "roll": -0.0523071251809597,
                        "pitch": 2.8753318786621094,
                        "yaw": -1.0227357149124146
                    }
                },
                "velocity": {
                    "x": 7.927692890167236,
                    "y": -0.10796885192394257,
                    "z": 0.38122573494911194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.101242065429688,
                "transform": {
                    "location": {
                        "x": -1231.62548828125,
                        "y": 3099.935546875,
                        "z": 349.4450378417969
                    },
                    "rotation": {
                        "roll": -0.0018005338497459888,
                        "pitch": 2.9192705154418945,
                        "yaw": -0.9293820858001709
                    }
                },
                "velocity": {
                    "x": 8.085897445678711,
                    "y": -0.09266921132802963,
                    "z": 0.4896898567676544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.909642696380615,
                "transform": {
                    "location": {
                        "x": -1231.7109375,
                        "y": 3096.436279296875,
                        "z": 349.427490234375
                    },
                    "rotation": {
                        "roll": -0.0262145958840847,
                        "pitch": 2.892864942550659,
                        "yaw": -0.9606932401657104
                    }
                },
                "velocity": {
                    "x": 7.8989763259887695,
                    "y": -0.1058611273765564,
                    "z": 0.39675331115722656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1069.9329833984375,
                        "y": 3075.308349609375,
                        "z": 355.96234130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.790780067443848,
                "transform": {
                    "location": {
                        "x": -1190.639892578125,
                        "y": 3106.099365234375,
                        "z": 351.63409423828125
                    },
                    "rotation": {
                        "roll": 0.011448821984231472,
                        "pitch": 2.907297134399414,
                        "yaw": -1.1442567110061646
                    }
                },
                "velocity": {
                    "x": 7.779495716094971,
                    "y": -0.15771910548210144,
                    "z": 0.3883606493473053
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070470809936523,
                "transform": {
                    "location": {
                        "x": -1190.3992919921875,
                        "y": 3102.59423828125,
                        "z": 351.6051025390625
                    },
                    "rotation": {
                        "roll": 0.007634812965989113,
                        "pitch": 2.9221391677856445,
                        "yaw": -1.154968023300171
                    }
                },
                "velocity": {
                    "x": 8.058798789978027,
                    "y": -0.1646718680858612,
                    "z": 0.40142783522605896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.945202350616455,
                "transform": {
                    "location": {
                        "x": -1190.5560302734375,
                        "y": 3099.098388671875,
                        "z": 351.60772705078125
                    },
                    "rotation": {
                        "roll": 0.018141763284802437,
                        "pitch": 2.9685776233673096,
                        "yaw": -1.1604613065719604
                    }
                },
                "velocity": {
                    "x": 7.933572769165039,
                    "y": -0.16293580830097198,
                    "z": 0.39764204621315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.860369682312012,
                "transform": {
                    "location": {
                        "x": -1190.8572998046875,
                        "y": 3095.604736328125,
                        "z": 351.60595703125
                    },
                    "rotation": {
                        "roll": 0.01139224786311388,
                        "pitch": 2.8081705570220947,
                        "yaw": -1.158081293106079
                    }
                },
                "velocity": {
                    "x": 7.848923683166504,
                    "y": -0.16078759729862213,
                    "z": 0.39237409830093384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.931208610534668,
                "transform": {
                    "location": {
                        "x": -1140.3065185546875,
                        "y": 3101.486083984375,
                        "z": 353.66839599609375
                    },
                    "rotation": {
                        "roll": 0.002858518622815609,
                        "pitch": 2.4886271953582764,
                        "yaw": -1.279876708984375
                    }
                },
                "velocity": {
                    "x": 14.917570114135742,
                    "y": -0.33292755484580994,
                    "z": 0.5442672371864319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 14.707331657409668,
                "transform": {
                    "location": {
                        "x": -1135.0760498046875,
                        "y": 3094.368896484375,
                        "z": 353.8749084472656
                    },
                    "rotation": {
                        "roll": 1.3972467058920301e-05,
                        "pitch": 2.0104591846466064,
                        "yaw": -1.2751466035842896
                    }
                },
                "velocity": {
                    "x": 14.693952560424805,
                    "y": -0.32707464694976807,
                    "z": 0.5351365804672241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.633865356445312,
                "transform": {
                    "location": {
                        "x": -1136.8353271484375,
                        "y": 3097.908447265625,
                        "z": 353.8062438964844
                    },
                    "rotation": {
                        "roll": -0.0011596697149798274,
                        "pitch": 2.285067081451416,
                        "yaw": -1.2830501794815063
                    }
                },
                "velocity": {
                    "x": 15.619599342346191,
                    "y": -0.3485668897628784,
                    "z": 0.5695421695709229
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.08188247680664,
                "transform": {
                    "location": {
                        "x": -1129.8353271484375,
                        "y": 3104.758056640625,
                        "z": 354.0539245605469
                    },
                    "rotation": {
                        "roll": -0.031951904296875,
                        "pitch": 2.171036958694458,
                        "yaw": -1.108123779296875
                    }
                },
                "velocity": {
                    "x": 12.07199478149414,
                    "y": -0.20896558463573456,
                    "z": 0.44175827503204346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372499465942383,
                "transform": {
                    "location": {
                        "x": -1113.5968017578125,
                        "y": 3076.28369140625,
                        "z": 354.6676940917969
                    },
                    "rotation": {
                        "roll": 0.00010181788093177602,
                        "pitch": -2.1056175231933594,
                        "yaw": 178.72157287597656
                    }
                },
                "velocity": {
                    "x": -16.357446670532227,
                    "y": 0.36476150155067444,
                    "z": -0.5996898412704468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.225767135620117,
                "transform": {
                    "location": {
                        "x": -1109.0521240234375,
                        "y": 3093.785888671875,
                        "z": 354.80792236328125
                    },
                    "rotation": {
                        "roll": -3.0521499866154045e-05,
                        "pitch": 2.1140527725219727,
                        "yaw": -1.27392578125
                    }
                },
                "velocity": {
                    "x": 16.211423873901367,
                    "y": -0.35890597105026245,
                    "z": 0.5800119042396545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 16.684682846069336,
                "transform": {
                    "location": {
                        "x": -1108.04052734375,
                        "y": 3097.265625,
                        "z": 354.8859558105469
                    },
                    "rotation": {
                        "roll": 6.338825187413022e-05,
                        "pitch": 2.1330270767211914,
                        "yaw": -1.2819517850875854
                    }
                },
                "velocity": {
                    "x": 16.669952392578125,
                    "y": -0.37342119216918945,
                    "z": 0.593207597732544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.005693435668945,
                "transform": {
                    "location": {
                        "x": -1114.8985595703125,
                        "y": 3100.9189453125,
                        "z": 354.6031188964844
                    },
                    "rotation": {
                        "roll": 0.0007368568913079798,
                        "pitch": 2.300550937652588,
                        "yaw": -1.2818297147750854
                    }
                },
                "velocity": {
                    "x": 15.991080284118652,
                    "y": -0.35747668147087097,
                    "z": 0.5829346179962158
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.054227828979492,
                "transform": {
                    "location": {
                        "x": -1111.2764892578125,
                        "y": 3105.496826171875,
                        "z": 354.7267150878906
                    },
                    "rotation": {
                        "roll": 0.28768646717071533,
                        "pitch": 2.12994647026062,
                        "yaw": 8.58875846862793
                    }
                },
                "velocity": {
                    "x": 12.924494743347168,
                    "y": 1.77739679813385,
                    "z": 0.4595397710800171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.921821594238281,
                "transform": {
                    "location": {
                        "x": -1182.2562255859375,
                        "y": 3077.818115234375,
                        "z": 352.02874755859375
                    },
                    "rotation": {
                        "roll": -0.000854490150231868,
                        "pitch": -2.706721782684326,
                        "yaw": 178.72608947753906
                    }
                },
                "velocity": {
                    "x": -15.900349617004395,
                    "y": 0.35110798478126526,
                    "z": -0.7483397722244263
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1307.361328125,
                        "y": 3080.81298828125,
                        "z": 346.23193359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1283.3682861328125,
                        "y": 3080.076416015625,
                        "z": 347.0552673339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.1635990142822266,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.485042572021484,
                "transform": {
                    "location": {
                        "x": -1209.77197265625,
                        "y": 3078.432373046875,
                        "z": 350.60223388671875
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -3.1811468601226807,
                        "yaw": 178.72113037109375
                    }
                },
                "velocity": {
                    "x": -16.45636558532715,
                    "y": 0.36578369140625,
                    "z": -0.9004786610603333
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4131613075733185,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1487019956111908,
        "expert_target_speed": 14.729598457303293,
        "target_point": [
            17.751846080337128,
            0.7628567896165047
        ],
        "target_point_next": [
            68.72687469400044,
            2.3595355280463117
        ]
    },
    "335": {
        "acceleration": [
            1.0476493835449219,
            -0.9073793888092041,
            -0.021027326583862305
        ],
        "angular_velocity": [
            -0.08370152115821838,
            -1.3192952871322632,
            3.3925974369049072
        ],
        "forward_vector": [
            -0.9983444213867188,
            0.03796419873833656,
            -0.04321015626192093
        ],
        "right_vector": [
            -0.03823227062821388,
            -0.9992542862892151,
            0.005394223146140575
        ],
        "location": [
            -1174.8414306640625,
            3077.948974609375,
            352.37066650390625
        ],
        "rotation": [
            -0.3093566596508026,
            -2.4765307903289795,
            177.82225036621094
        ],
        "velocity": [
            -14.957572937011719,
            0.5712761282920837,
            -0.6551622748374939
        ],
        "speed": 14.968478365578171,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.401740074157715,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1186.230712890625,
                3077.9072265625,
                351.8394470214844
            ],
            "velocity": [
                -15.900928497314453,
                0.3569863438606262,
                -0.7762427926063538
            ],
            "speed_kmh": 57.32591882233814,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.795623779296875,
                "transform": {
                    "location": {
                        "x": -1229.47509765625,
                        "y": 3106.904541015625,
                        "z": 349.5281677246094
                    },
                    "rotation": {
                        "roll": 0.03893379867076874,
                        "pitch": 2.93041729927063,
                        "yaw": -0.6958616971969604
                    }
                },
                "velocity": {
                    "x": 7.785104274749756,
                    "y": -0.06709744036197662,
                    "z": 0.3992500305175781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9955668449401855,
                "transform": {
                    "location": {
                        "x": -1229.5421142578125,
                        "y": 3103.40673828125,
                        "z": 349.5228576660156
                    },
                    "rotation": {
                        "roll": -0.02355956844985485,
                        "pitch": 2.9029600620269775,
                        "yaw": -0.6487426161766052
                    }
                },
                "velocity": {
                    "x": 7.985300064086914,
                    "y": -0.07685640454292297,
                    "z": 0.3976985216140747
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.7751240730285645,
                "transform": {
                    "location": {
                        "x": -1229.6456298828125,
                        "y": 3099.912109375,
                        "z": 349.5560607910156
                    },
                    "rotation": {
                        "roll": 0.02442863956093788,
                        "pitch": 2.9170849323272705,
                        "yaw": -0.636016845703125
                    }
                },
                "velocity": {
                    "x": 7.763804912567139,
                    "y": -0.07472027838230133,
                    "z": 0.4126772880554199
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.001851081848145,
                "transform": {
                    "location": {
                        "x": -1229.7239990234375,
                        "y": 3096.41064453125,
                        "z": 349.5279235839844
                    },
                    "rotation": {
                        "roll": 0.01160004734992981,
                        "pitch": 2.917665481567383,
                        "yaw": -0.6529235243797302
                    }
                },
                "velocity": {
                    "x": 7.99105167388916,
                    "y": -0.0812542513012886,
                    "z": 0.4075712561607361
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1074.0235595703125,
                        "y": 3075.3994140625,
                        "z": 355.87164306640625
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.172225952148438,
                "transform": {
                    "location": {
                        "x": -1188.6383056640625,
                        "y": 3106.05859375,
                        "z": 351.7344055175781
                    },
                    "rotation": {
                        "roll": 0.00871889665722847,
                        "pitch": 2.8546500205993652,
                        "yaw": -1.1513975858688354
                    }
                },
                "velocity": {
                    "x": 8.160323143005371,
                    "y": -0.1701505482196808,
                    "z": 0.4067549705505371
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03981876373291,
                "transform": {
                    "location": {
                        "x": -1188.3758544921875,
                        "y": 3102.552734375,
                        "z": 351.7064514160156
                    },
                    "rotation": {
                        "roll": 0.005407471675425768,
                        "pitch": 2.8203489780426025,
                        "yaw": -1.1860655546188354
                    }
                },
                "velocity": {
                    "x": 8.028263092041016,
                    "y": -0.17042548954486847,
                    "z": 0.39577049016952515
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13357162475586,
                "transform": {
                    "location": {
                        "x": -1188.529541015625,
                        "y": 3099.056396484375,
                        "z": 351.7091979980469
                    },
                    "rotation": {
                        "roll": 0.014468002133071423,
                        "pitch": 2.936462163925171,
                        "yaw": -1.188689947128296
                    }
                },
                "velocity": {
                    "x": 8.121809959411621,
                    "y": -0.17195695638656616,
                    "z": 0.4020203948020935
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.021502494812012,
                "transform": {
                    "location": {
                        "x": -1188.8848876953125,
                        "y": 3095.56396484375,
                        "z": 351.7038879394531
                    },
                    "rotation": {
                        "roll": 0.007257578428834677,
                        "pitch": 2.8410990238189697,
                        "yaw": -1.1939390897750854
                    }
                },
                "velocity": {
                    "x": 8.009767532348633,
                    "y": -0.16970111429691315,
                    "z": 0.39914557337760925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.419898986816406,
                "transform": {
                    "location": {
                        "x": -1136.521728515625,
                        "y": 3101.40185546875,
                        "z": 353.8067626953125
                    },
                    "rotation": {
                        "roll": 0.001093517174012959,
                        "pitch": 2.393141031265259,
                        "yaw": -1.2801207304000854
                    }
                },
                "velocity": {
                    "x": 15.405839920043945,
                    "y": -0.3426845073699951,
                    "z": 0.562091588973999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.342540740966797,
                "transform": {
                    "location": {
                        "x": -1131.3197021484375,
                        "y": 3094.28466796875,
                        "z": 354.0118713378906
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": 2.012515068054199,
                        "yaw": -1.2914122343063354
                    }
                },
                "velocity": {
                    "x": 15.328466415405273,
                    "y": -0.3453078866004944,
                    "z": 0.5589656233787537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.296829223632812,
                "transform": {
                    "location": {
                        "x": -1132.8436279296875,
                        "y": 3097.8193359375,
                        "z": 353.9519958496094
                    },
                    "rotation": {
                        "roll": -0.0012512197718024254,
                        "pitch": 2.2620561122894287,
                        "yaw": -1.2763670682907104
                    }
                },
                "velocity": {
                    "x": 16.281980514526367,
                    "y": -0.36312925815582275,
                    "z": 0.5932046175003052
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.658220291137695,
                "transform": {
                    "location": {
                        "x": -1126.7413330078125,
                        "y": 3104.713623046875,
                        "z": 354.1671447753906
                    },
                    "rotation": {
                        "roll": -0.0317993126809597,
                        "pitch": 2.224660873413086,
                        "yaw": -0.7045897841453552
                    }
                },
                "velocity": {
                    "x": 12.648744583129883,
                    "y": -0.1569792628288269,
                    "z": 0.46383947134017944
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372440338134766,
                "transform": {
                    "location": {
                        "x": -1117.686279296875,
                        "y": 3076.375,
                        "z": 354.5181579589844
                    },
                    "rotation": {
                        "roll": 0.00017689329979475588,
                        "pitch": -2.1001532077789307,
                        "yaw": 178.7194366455078
                    }
                },
                "velocity": {
                    "x": -16.357425689697266,
                    "y": 0.3654622435569763,
                    "z": -0.5981942415237427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.4991455078125,
                        "y": 3093.6552734375,
                        "z": 354.97210693359375
                    },
                    "rotation": {
                        "roll": -1.668467364268622e-09,
                        "pitch": 1.9241734743118286,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4570,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1103.010986328125,
                        "y": 3097.091796875,
                        "z": 355.0422668457031
                    },
                    "rotation": {
                        "roll": -1.668467364268622e-09,
                        "pitch": 1.9241734743118286,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 16.833763122558594,
                "transform": {
                    "location": {
                        "x": -1110.793701171875,
                        "y": 3100.8271484375,
                        "z": 354.7527770996094
                    },
                    "rotation": {
                        "roll": 0.0006196407484821975,
                        "pitch": 2.3013501167297363,
                        "yaw": -1.2822265625
                    }
                },
                "velocity": {
                    "x": 16.81837272644043,
                    "y": -0.37596529722213745,
                    "z": 0.6136330962181091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1107.4139404296875,
                        "y": 3106.04736328125,
                        "z": 354.8601379394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.8450183868408203,
                        "yaw": 10.979940414428711
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.923866271972656,
                "transform": {
                    "location": {
                        "x": -1186.230712890625,
                        "y": 3077.9072265625,
                        "z": 351.8394470214844
                    },
                    "rotation": {
                        "roll": 0.0014931665500625968,
                        "pitch": -2.782776117324829,
                        "yaw": 178.71206665039062
                    }
                },
                "velocity": {
                    "x": -15.900928497314453,
                    "y": 0.3569863438606262,
                    "z": -0.7762427926063538
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1311.605712890625,
                        "y": 3080.99267578125,
                        "z": 346.1088562011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1287.613037109375,
                        "y": 3080.175537109375,
                        "z": 346.8969421386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.058741807937622,
                        "yaw": 178.51222229003906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.48415184020996,
                "transform": {
                    "location": {
                        "x": -1213.8863525390625,
                        "y": 3078.5244140625,
                        "z": 350.3783874511719
                    },
                    "rotation": {
                        "roll": 0.0009766352595761418,
                        "pitch": -3.1537508964538574,
                        "yaw": 178.71762084960938
                    }
                },
                "velocity": {
                    "x": -16.455839157104492,
                    "y": 0.36806997656822205,
                    "z": -0.8928124904632568
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4123150110244751,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1539764106273651,
        "expert_target_speed": 14.739018244321766,
        "target_point": [
            14.000860102608284,
            0.5165299811777041
        ],
        "target_point_next": [
            64.99462712129144,
            1.3156860371581276
        ]
    },
    "340": {
        "acceleration": [
            1.1724853515625,
            -0.677068829536438,
            0.029642581939697266
        ],
        "angular_velocity": [
            0.02269655652344227,
            -0.26994869112968445,
            2.3672597408294678
        ],
        "forward_vector": [
            -0.9985706806182861,
            0.025770410895347595,
            -0.0468236580491066
        ],
        "right_vector": [
            -0.026037413626909256,
            -0.9996479749679565,
            0.005101252347230911
        ],
        "location": [
            -1178.5380859375,
            3078.0693359375,
            352.20703125
        ],
        "rotation": [
            -0.29260244965553284,
            -2.683779239654541,
            178.5216827392578
        ],
        "velocity": [
            -14.647671699523926,
            0.38273119926452637,
            -0.6583154201507568
        ],
        "speed": 14.652671066666466,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.681187629699707,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1190.2054443359375,
                3077.99560546875,
                351.64361572265625
            ],
            "velocity": [
                -15.90112018585205,
                0.3519856035709381,
                -0.7995169758796692
            ],
            "speed_kmh": 57.33035258695688,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.7625732421875,
                        "y": 3074.7236328125,
                        "z": 356.4422302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.723049640655518,
                "transform": {
                    "location": {
                        "x": -1227.538330078125,
                        "y": 3106.880126953125,
                        "z": 349.6281433105469
                    },
                    "rotation": {
                        "roll": 0.020391225814819336,
                        "pitch": 2.9588582515716553,
                        "yaw": -0.74273681640625
                    }
                },
                "velocity": {
                    "x": 7.711604595184326,
                    "y": -0.11748310923576355,
                    "z": 0.40353965759277344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.658109664916992,
                "transform": {
                    "location": {
                        "x": -1227.5892333984375,
                        "y": 3103.38232421875,
                        "z": 349.6221008300781
                    },
                    "rotation": {
                        "roll": 0.036896731704473495,
                        "pitch": 2.947417736053467,
                        "yaw": -0.7329407334327698
                    }
                },
                "velocity": {
                    "x": 7.6471848487854,
                    "y": -0.10942844301462173,
                    "z": 0.3939969539642334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.827219486236572,
                "transform": {
                    "location": {
                        "x": -1227.69775390625,
                        "y": 3099.887451171875,
                        "z": 349.65826416015625
                    },
                    "rotation": {
                        "roll": 0.036153100430965424,
                        "pitch": 2.9638168811798096,
                        "yaw": -0.7427367568016052
                    }
                },
                "velocity": {
                    "x": 7.815526008605957,
                    "y": -0.12062220275402069,
                    "z": 0.41032835841178894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.641472339630127,
                "transform": {
                    "location": {
                        "x": -1227.7724609375,
                        "y": 3096.38623046875,
                        "z": 349.6285095214844
                    },
                    "rotation": {
                        "roll": 0.05194609612226486,
                        "pitch": 2.9584689140319824,
                        "yaw": -0.6755675673484802
                    }
                },
                "velocity": {
                    "x": 7.630232334136963,
                    "y": -0.10710901021957397,
                    "z": 0.4002349078655243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1078.1141357421875,
                        "y": 3075.490478515625,
                        "z": 355.7746887207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.941478252410889,
                "transform": {
                    "location": {
                        "x": -1186.6234130859375,
                        "y": 3106.0166015625,
                        "z": 351.8338928222656
                    },
                    "rotation": {
                        "roll": 0.004271289333701134,
                        "pitch": 2.8164010047912598,
                        "yaw": -1.2256165742874146
                    }
                },
                "velocity": {
                    "x": 7.930100440979004,
                    "y": -0.17115768790245056,
                    "z": 0.38895729184150696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.98977518081665,
                "transform": {
                    "location": {
                        "x": -1186.38232421875,
                        "y": 3102.51025390625,
                        "z": 351.8044128417969
                    },
                    "rotation": {
                        "roll": 0.004764873068779707,
                        "pitch": 2.818859815597534,
                        "yaw": -1.2214049100875854
                    }
                },
                "velocity": {
                    "x": 7.9783034324646,
                    "y": -0.17159448564052582,
                    "z": 0.39209815859794617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.889988422393799,
                "transform": {
                    "location": {
                        "x": -1186.5374755859375,
                        "y": 3099.013916015625,
                        "z": 351.8074645996094
                    },
                    "rotation": {
                        "roll": 0.009937613271176815,
                        "pitch": 2.8262500762939453,
                        "yaw": -1.2279356718063354
                    }
                },
                "velocity": {
                    "x": 7.878641128540039,
                    "y": -0.1705523431301117,
                    "z": 0.387092649936676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.116800308227539,
                "transform": {
                    "location": {
                        "x": -1186.8602294921875,
                        "y": 3095.520751953125,
                        "z": 351.80340576171875
                    },
                    "rotation": {
                        "roll": 0.005666607525199652,
                        "pitch": 2.888432264328003,
                        "yaw": -1.2307127714157104
                    }
                },
                "velocity": {
                    "x": 8.105157852172852,
                    "y": -0.17504186928272247,
                    "z": 0.39777931571006775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.275218963623047,
                "transform": {
                    "location": {
                        "x": -1132.551513671875,
                        "y": 3101.31298828125,
                        "z": 353.95123291015625
                    },
                    "rotation": {
                        "roll": 0.0003286729333922267,
                        "pitch": 2.476332664489746,
                        "yaw": -1.276397705078125
                    }
                },
                "velocity": {
                    "x": 16.26036834716797,
                    "y": -0.36255577206611633,
                    "z": 0.5930813550949097
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 15.96153450012207,
                "transform": {
                    "location": {
                        "x": -1127.4068603515625,
                        "y": 3094.19677734375,
                        "z": 354.1545104980469
                    },
                    "rotation": {
                        "roll": 0.0011297831078991294,
                        "pitch": 2.01352596282959,
                        "yaw": -1.2843931913375854
                    }
                },
                "velocity": {
                    "x": 15.94697093963623,
                    "y": -0.3554042875766754,
                    "z": 0.5817195773124695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.06517791748047,
                "transform": {
                    "location": {
                        "x": -1128.6761474609375,
                        "y": 3097.72607421875,
                        "z": 354.1037902832031
                    },
                    "rotation": {
                        "roll": 0.000658938311971724,
                        "pitch": 2.2772326469421387,
                        "yaw": -1.28057861328125
                    }
                },
                "velocity": {
                    "x": 17.049589157104492,
                    "y": -0.381086140871048,
                    "z": 0.6217777132987976
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.378157615661621,
                "transform": {
                    "location": {
                        "x": -1123.492919921875,
                        "y": 3104.71826171875,
                        "z": 354.2869567871094
                    },
                    "rotation": {
                        "roll": -0.169403076171875,
                        "pitch": 2.2938437461853027,
                        "yaw": 0.6789042353630066
                    }
                },
                "velocity": {
                    "x": 13.367874145507812,
                    "y": 0.1770147830247879,
                    "z": 0.4936598241329193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372365951538086,
                "transform": {
                    "location": {
                        "x": -1121.775634765625,
                        "y": 3076.466552734375,
                        "z": 354.3689270019531
                    },
                    "rotation": {
                        "roll": -0.0005493183271028101,
                        "pitch": -2.098992109298706,
                        "yaw": 178.71876525878906
                    }
                },
                "velocity": {
                    "x": -16.357440948486328,
                    "y": 0.36577796936035156,
                    "z": -0.595555305480957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4571,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.2567138671875,
                        "y": 3093.450439453125,
                        "z": 355.1897888183594
                    },
                    "rotation": {
                        "roll": 1.668363669438122e-09,
                        "pitch": 1.8150066137313843,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4569,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.3505859375,
                        "y": 3100.615478515625,
                        "z": 354.947021484375
                    },
                    "rotation": {
                        "roll": 3.337154330651515e-09,
                        "pitch": 2.0333266258239746,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4568,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.3057861328125,
                        "y": 3107.351806640625,
                        "z": 355.0628356933594
                    },
                    "rotation": {
                        "roll": 1.33470186014506e-08,
                        "pitch": 1.8298622369766235,
                        "yaw": 13.470725059509277
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.925098419189453,
                "transform": {
                    "location": {
                        "x": -1190.2054443359375,
                        "y": 3077.99560546875,
                        "z": 351.64361572265625
                    },
                    "rotation": {
                        "roll": -0.0016479456098750234,
                        "pitch": -2.846679210662842,
                        "yaw": 178.73492431640625
                    }
                },
                "velocity": {
                    "x": -15.90112018585205,
                    "y": 0.3519856035709381,
                    "z": -0.7995169758796692
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1315.8494873046875,
                        "y": 3081.185791015625,
                        "z": 345.9985046386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1291.8580322265625,
                        "y": 3080.28515625,
                        "z": 346.7453918457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9539121389389038,
                        "yaw": 178.27044677734375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.483423233032227,
                "transform": {
                    "location": {
                        "x": -1218.000244140625,
                        "y": 3078.615966796875,
                        "z": 350.15557861328125
                    },
                    "rotation": {
                        "roll": 0.00014050398021936417,
                        "pitch": -3.145110607147217,
                        "yaw": 178.72152709960938
                    }
                },
                "velocity": {
                    "x": -16.45557975769043,
                    "y": 0.36733508110046387,
                    "z": -0.8844029903411865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4084668457508087,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14996077120304108,
        "expert_target_speed": 14.589032422521328,
        "target_point": [
            10.307592248170025,
            0.37053394552060603
        ],
        "target_point_next": [
            61.30731514721293,
            0.5471390937642737
        ]
    },
    "345": {
        "acceleration": [
            0.7230758666992188,
            -0.2530723810195923,
            -0.1427924633026123
        ],
        "angular_velocity": [
            0.37734782695770264,
            -0.2395269274711609,
            0.6930480599403381
        ],
        "forward_vector": [
            -0.9985865354537964,
            0.019456496462225914,
            -0.049460843205451965
        ],
        "right_vector": [
            -0.019662342965602875,
            -0.9997998476028442,
            0.0036786356940865517
        ],
        "location": [
            -1182.16796875,
            3078.153076171875,
            352.0403137207031
        ],
        "rotation": [
            -0.2110290676355362,
            -2.8350541591644287,
            178.8837890625
        ],
        "velocity": [
            -14.429606437683105,
            0.2888900935649872,
            -0.676452100276947
        ],
        "speed": 14.432498031615514,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.027365684509277,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1194.18017578125,
                3078.083984375,
                351.44061279296875
            ],
            "velocity": [
                -15.901516914367676,
                0.3533951938152313,
                -0.8253973126411438
            ],
            "speed_kmh": 57.336643967691735,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.8533935546875,
                        "y": 3074.814697265625,
                        "z": 356.3649597167969
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.254630088806152,
                "transform": {
                    "location": {
                        "x": -1225.6416015625,
                        "y": 3106.851806640625,
                        "z": 349.7268371582031
                    },
                    "rotation": {
                        "roll": 0.020002305507659912,
                        "pitch": 3.0297420024871826,
                        "yaw": -0.8497619032859802
                    }
                },
                "velocity": {
                    "x": 7.243766784667969,
                    "y": -0.11338772624731064,
                    "z": 0.3803233206272125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.24614953994751,
                "transform": {
                    "location": {
                        "x": -1225.7718505859375,
                        "y": 3103.35595703125,
                        "z": 349.71746826171875
                    },
                    "rotation": {
                        "roll": 0.03162631019949913,
                        "pitch": 2.6660003662109375,
                        "yaw": -0.8839415311813354
                    }
                },
                "velocity": {
                    "x": 6.236799716949463,
                    "y": -0.09633024036884308,
                    "z": 0.32776832580566406
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.071743488311768,
                "transform": {
                    "location": {
                        "x": -1225.9410400390625,
                        "y": 3099.860595703125,
                        "z": 349.75103759765625
                    },
                    "rotation": {
                        "roll": 0.02438795007765293,
                        "pitch": 2.884661912918091,
                        "yaw": -0.8645629286766052
                    }
                },
                "velocity": {
                    "x": 6.062551021575928,
                    "y": -0.09705119580030441,
                    "z": 0.319573312997818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.81939697265625,
                "transform": {
                    "location": {
                        "x": -1225.8800048828125,
                        "y": 3096.35888671875,
                        "z": 349.7278137207031
                    },
                    "rotation": {
                        "roll": 0.038169197738170624,
                        "pitch": 2.948168992996216,
                        "yaw": -0.78118896484375
                    }
                },
                "velocity": {
                    "x": 6.809194564819336,
                    "y": -0.1058192104101181,
                    "z": 0.3575616478919983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1082.2047119140625,
                        "y": 3075.58203125,
                        "z": 355.6716003417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993072986602783,
                "transform": {
                    "location": {
                        "x": -1184.64453125,
                        "y": 3105.973876953125,
                        "z": 351.9296875
                    },
                    "rotation": {
                        "roll": 0.003478143597021699,
                        "pitch": 2.768275499343872,
                        "yaw": -1.2136534452438354
                    }
                },
                "velocity": {
                    "x": 7.9823527336120605,
                    "y": -0.16944687068462372,
                    "z": 0.3775489628314972
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.033780097961426,
                "transform": {
                    "location": {
                        "x": -1184.380615234375,
                        "y": 3102.467041015625,
                        "z": 351.9010925292969
                    },
                    "rotation": {
                        "roll": 0.002630189759656787,
                        "pitch": 2.7541985511779785,
                        "yaw": -1.235900640487671
                    }
                },
                "velocity": {
                    "x": 8.022920608520508,
                    "y": -0.1729927659034729,
                    "z": 0.38004064559936523
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.066893577575684,
                "transform": {
                    "location": {
                        "x": -1184.547119140625,
                        "y": 3098.970947265625,
                        "z": 351.90338134765625
                    },
                    "rotation": {
                        "roll": 0.0037269210442900658,
                        "pitch": 2.8225550651550293,
                        "yaw": -1.2419737577438354
                    }
                },
                "velocity": {
                    "x": 8.055890083312988,
                    "y": -0.17316503822803497,
                    "z": 0.3839627802371979
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.018631935119629,
                "transform": {
                    "location": {
                        "x": -1184.8480224609375,
                        "y": 3095.4775390625,
                        "z": 351.9012756347656
                    },
                    "rotation": {
                        "roll": 0.0016987044364213943,
                        "pitch": 2.768576145172119,
                        "yaw": -1.2453004121780396
                    }
                },
                "velocity": {
                    "x": 8.007722854614258,
                    "y": -0.17469367384910583,
                    "z": 0.37989118695259094
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.978412628173828,
                "transform": {
                    "location": {
                        "x": -1128.3941650390625,
                        "y": 3101.22021484375,
                        "z": 354.10284423828125
                    },
                    "rotation": {
                        "roll": 0.0016544279642403126,
                        "pitch": 2.4673988819122314,
                        "yaw": -1.284576416015625
                    }
                },
                "velocity": {
                    "x": 16.9628849029541,
                    "y": -0.3800450563430786,
                    "z": 0.6185199618339539
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 16.646587371826172,
                "transform": {
                    "location": {
                        "x": -1123.36962890625,
                        "y": 3094.106689453125,
                        "z": 354.30181884765625
                    },
                    "rotation": {
                        "roll": 0.0009607531246729195,
                        "pitch": 2.0047149658203125,
                        "yaw": -1.2713623046875
                    }
                },
                "velocity": {
                    "x": 16.631425857543945,
                    "y": -0.369549423456192,
                    "z": 0.6066149473190308
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 17.496475219726562,
                "transform": {
                    "location": {
                        "x": -1124.3624267578125,
                        "y": 3097.6298828125,
                        "z": 354.2615966796875
                    },
                    "rotation": {
                        "roll": 4.486492252908647e-05,
                        "pitch": 2.213261127471924,
                        "yaw": -1.277740240097046
                    }
                },
                "velocity": {
                    "x": 17.48050308227539,
                    "y": -0.3899668753147125,
                    "z": 0.6376520991325378
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.775409698486328,
                "transform": {
                    "location": {
                        "x": -1120.06689453125,
                        "y": 3104.796875,
                        "z": 354.4129943847656
                    },
                    "rotation": {
                        "roll": -0.1722717136144638,
                        "pitch": 2.190885543823242,
                        "yaw": 1.8649442195892334
                    }
                },
                "velocity": {
                    "x": 13.755249977111816,
                    "y": 0.5395733714103699,
                    "z": 0.5136616230010986
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37236785888672,
                "transform": {
                    "location": {
                        "x": -1125.864990234375,
                        "y": 3076.557861328125,
                        "z": 354.21978759765625
                    },
                    "rotation": {
                        "roll": -0.00015258771600201726,
                        "pitch": -2.099360942840576,
                        "yaw": 178.7181396484375
                    }
                },
                "velocity": {
                    "x": -16.357425689697266,
                    "y": 0.3659461438655853,
                    "z": -0.5959476232528687
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.92684555053711,
                "transform": {
                    "location": {
                        "x": -1194.18017578125,
                        "y": 3078.083984375,
                        "z": 351.44061279296875
                    },
                    "rotation": {
                        "roll": -0.0008544924203306437,
                        "pitch": -2.975947380065918,
                        "yaw": 178.72669982910156
                    }
                },
                "velocity": {
                    "x": -15.901516914367676,
                    "y": 0.3533951938152313,
                    "z": -0.8253973126411438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1320.09326171875,
                        "y": 3081.396484375,
                        "z": 345.9032287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.102783203125,
                        "y": 3080.409423828125,
                        "z": 346.59979248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.481332778930664,
                "transform": {
                    "location": {
                        "x": -1222.1148681640625,
                        "y": 3078.707763671875,
                        "z": 349.93682861328125
                    },
                    "rotation": {
                        "roll": -0.0006713825860060751,
                        "pitch": -3.0539822578430176,
                        "yaw": 178.720703125
                    }
                },
                "velocity": {
                    "x": -16.454540252685547,
                    "y": 0.36741700768470764,
                    "z": -0.8645396828651428
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.7338162064552307,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1473628580570221,
        "expert_target_speed": 14.501427939644412,
        "target_point": [
            57.67872337707298,
            0.17268298561841333
        ],
        "target_point_next": [
            108.73298964091974,
            0.014843224670817445
        ]
    },
    "350": {
        "acceleration": [
            0.6070327758789062,
            -0.009953975677490234,
            -0.02460956573486328
        ],
        "angular_velocity": [
            0.37389642000198364,
            -0.595310389995575,
            0.14429384469985962
        ],
        "forward_vector": [
            -0.99858158826828,
            0.017543720081448555,
            -0.050268787890672684
        ],
        "right_vector": [
            -0.017676128074526787,
            -0.9998413920402527,
            0.002190604340285063
        ],
        "location": [
            -1185.75341796875,
            3078.220458984375,
            351.8697204589844
        ],
        "rotation": [
            -0.1256713718175888,
            -2.881403923034668,
            178.99349975585938
        ],
        "velocity": [
            -14.268969535827637,
            0.2534085512161255,
            -0.6909888982772827
        ],
        "speed": 14.271219552238925,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.417635917663574,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1198.154541015625,
                3078.17236328125,
                351.2313537597656
            ],
            "velocity": [
                -15.90119457244873,
                0.3555360734462738,
                -0.8553851842880249
            ],
            "speed_kmh": 57.34135312258394,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1264.276611328125,
                        "y": 3107.631591796875,
                        "z": 348.20947265625
                    },
                    "rotation": {
                        "roll": 1.6692212057023426e-09,
                        "pitch": 2.5820231437683105,
                        "yaw": -0.486724853515625
                    }
                },
                "velocity": {
                    "x": 1.6311696438009449e-09,
                    "y": -1.3857039647680036e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.944580078125,
                        "y": 3074.90673828125,
                        "z": 356.3015441894531
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.325189590454102,
                "transform": {
                    "location": {
                        "x": -1224.005615234375,
                        "y": 3106.826171875,
                        "z": 349.81256103515625
                    },
                    "rotation": {
                        "roll": 0.0201506819576025,
                        "pitch": 3.0856540203094482,
                        "yaw": -0.886871337890625
                    }
                },
                "velocity": {
                    "x": 6.315584659576416,
                    "y": -0.09989351779222488,
                    "z": 0.33382177352905273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.643383979797363,
                "transform": {
                    "location": {
                        "x": -1224.32421875,
                        "y": 3103.332763671875,
                        "z": 349.793701171875
                    },
                    "rotation": {
                        "roll": 0.03082812763750553,
                        "pitch": 2.669429063796997,
                        "yaw": -0.8596800565719604
                    }
                },
                "velocity": {
                    "x": 5.6347832679748535,
                    "y": -0.08876948803663254,
                    "z": 0.29853424429893494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.756805896759033,
                "transform": {
                    "location": {
                        "x": -1224.49169921875,
                        "y": 3099.83740234375,
                        "z": 349.8268737792969
                    },
                    "rotation": {
                        "roll": 0.019586823880672455,
                        "pitch": 2.9592065811157227,
                        "yaw": -0.9376829862594604
                    }
                },
                "velocity": {
                    "x": 5.7479472160339355,
                    "y": -0.0966261476278305,
                    "z": 0.3042587637901306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.63073205947876,
                "transform": {
                    "location": {
                        "x": -1224.3609619140625,
                        "y": 3096.333740234375,
                        "z": 349.80975341796875
                    },
                    "rotation": {
                        "roll": 0.03560139611363411,
                        "pitch": 2.705232858657837,
                        "yaw": -0.6101989150047302
                    }
                },
                "velocity": {
                    "x": 5.622154235839844,
                    "y": -0.0895332396030426,
                    "z": 0.2975027561187744
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1086.2952880859375,
                        "y": 3075.673583984375,
                        "z": 355.56158447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.054549217224121,
                "transform": {
                    "location": {
                        "x": -1182.6341552734375,
                        "y": 3105.9306640625,
                        "z": 352.02557373046875
                    },
                    "rotation": {
                        "roll": 0.0028287768363952637,
                        "pitch": 2.6940791606903076,
                        "yaw": -1.2561949491500854
                    }
                },
                "velocity": {
                    "x": 8.043745994567871,
                    "y": -0.17768600583076477,
                    "z": 0.3772920072078705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.035127639770508,
                "transform": {
                    "location": {
                        "x": -1182.3743896484375,
                        "y": 3102.42333984375,
                        "z": 351.99639892578125
                    },
                    "rotation": {
                        "roll": 0.00127415603492409,
                        "pitch": 2.682652235031128,
                        "yaw": -1.2522886991500854
                    }
                },
                "velocity": {
                    "x": 8.024378776550293,
                    "y": -0.17567050457000732,
                    "z": 0.3765118420124054
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.998192310333252,
                "transform": {
                    "location": {
                        "x": -1182.5374755859375,
                        "y": 3098.927001953125,
                        "z": 351.9991455078125
                    },
                    "rotation": {
                        "roll": 0.004500925540924072,
                        "pitch": 2.730661630630493,
                        "yaw": -1.24908447265625
                    }
                },
                "velocity": {
                    "x": 7.9875030517578125,
                    "y": -0.17419345676898956,
                    "z": 0.3748794496059418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.999131679534912,
                "transform": {
                    "location": {
                        "x": -1182.8533935546875,
                        "y": 3095.43359375,
                        "z": 351.99652099609375
                    },
                    "rotation": {
                        "roll": 0.0018733853939920664,
                        "pitch": 2.6809582710266113,
                        "yaw": -1.257293701171875
                    }
                },
                "velocity": {
                    "x": 7.988336086273193,
                    "y": -0.17520293593406677,
                    "z": 0.376696914434433
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 17.664287567138672,
                "transform": {
                    "location": {
                        "x": -1124.064453125,
                        "y": 3101.123046875,
                        "z": 354.2607727050781
                    },
                    "rotation": {
                        "roll": 0.00043650082079693675,
                        "pitch": 2.4559242725372314,
                        "yaw": -1.28643798828125
                    }
                },
                "velocity": {
                    "x": 17.648103713989258,
                    "y": -0.39623403549194336,
                    "z": 0.6437846422195435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 17.35732650756836,
                "transform": {
                    "location": {
                        "x": -1119.1090087890625,
                        "y": 3094.01171875,
                        "z": 354.45721435546875
                    },
                    "rotation": {
                        "roll": -0.0007324204780161381,
                        "pitch": 2.0004189014434814,
                        "yaw": -1.2828369140625
                    }
                },
                "velocity": {
                    "x": 17.341447830200195,
                    "y": -0.3891191780567169,
                    "z": 0.6321247220039368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 18.205652236938477,
                "transform": {
                    "location": {
                        "x": -1119.8963623046875,
                        "y": 3097.530029296875,
                        "z": 354.4241027832031
                    },
                    "rotation": {
                        "roll": 0.0009520102175883949,
                        "pitch": 2.258695602416992,
                        "yaw": -1.28253173828125
                    }
                },
                "velocity": {
                    "x": 18.189023971557617,
                    "y": -0.4068651795387268,
                    "z": 0.6630325317382812
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4573,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.9239501953125,
                        "y": 3105.042236328125,
                        "z": 354.6011962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.893977165222168,
                        "yaw": 7.771931171417236
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372377395629883,
                "transform": {
                    "location": {
                        "x": -1129.954345703125,
                        "y": 3076.6494140625,
                        "z": 354.0707092285156
                    },
                    "rotation": {
                        "roll": 0.0005073235370218754,
                        "pitch": -2.0990536212921143,
                        "yaw": 178.717529296875
                    }
                },
                "velocity": {
                    "x": -16.357452392578125,
                    "y": 0.36612018942832947,
                    "z": -0.5953758358955383
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.928153991699219,
                "transform": {
                    "location": {
                        "x": -1198.154541015625,
                        "y": 3078.17236328125,
                        "z": 351.2313537597656
                    },
                    "rotation": {
                        "roll": 0.0004685429157689214,
                        "pitch": -3.0985970497131348,
                        "yaw": 178.71742248535156
                    }
                },
                "velocity": {
                    "x": -15.90119457244873,
                    "y": 0.3555360734462738,
                    "z": -0.8553851842880249
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1324.33642578125,
                        "y": 3081.622314453125,
                        "z": 345.822021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1300.3472900390625,
                        "y": 3080.54833984375,
                        "z": 346.45819091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 178.02867126464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.4808292388916,
                "transform": {
                    "location": {
                        "x": -1226.2283935546875,
                        "y": 3078.800048828125,
                        "z": 349.7210388183594
                    },
                    "rotation": {
                        "roll": -0.0024414053186774254,
                        "pitch": -3.057281255722046,
                        "yaw": 178.72166442871094
                    }
                },
                "velocity": {
                    "x": -16.454038619995117,
                    "y": 0.3659639358520508,
                    "z": -0.8650840520858765
                },
                "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": 0.1380082070827484,
        "expert_target_speed": 14.448436919345689,
        "target_point": [
            54.09286862273408,
            0.0666480077999484
        ],
        "target_point_next": [
            105.1467391374048,
            -0.18893485769763685
        ]
    },
    "355": {
        "acceleration": [
            0.5803871154785156,
            0.24681448936462402,
            -0.000133514404296875
        ],
        "angular_velocity": [
            0.3923070430755615,
            0.048301637172698975,
            -1.127321481704712
        ],
        "forward_vector": [
            -0.9984575510025024,
            0.02065376564860344,
            -0.051535893231630325
        ],
        "right_vector": [
            -0.02069099061191082,
            -0.9997859597206116,
            0.0001888332044472918
        ],
        "location": [
            -1189.3006591796875,
            3078.289306640625,
            351.69598388671875
        ],
        "rotation": [
            -0.01083374209702015,
            -2.9540977478027344,
            178.81497192382812
        ],
        "velocity": [
            -14.121146202087402,
            0.29847651720046997,
            -0.7011030316352844
        ],
        "speed": 14.12430027619236,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.846790313720703,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1202.12939453125,
                3078.261474609375,
                351.01568603515625
            ],
            "velocity": [
                -15.900910377502441,
                0.3539288640022278,
                -0.8731529712677002
            ],
            "speed_kmh": 57.343673575263956,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1264.22412109375,
                        "y": 3100.654052734375,
                        "z": 347.92730712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.689208984375,
                        "y": 3104.120361328125,
                        "z": 348.18182373046875
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.845703125,
                        "y": 3097.121826171875,
                        "z": 348.18182373046875
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.195068359375,
                        "y": 3107.596923828125,
                        "z": 348.1663513183594
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.0670166015625,
                        "y": 3074.998779296875,
                        "z": 356.2313537597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6897172927856445,
                "transform": {
                    "location": {
                        "x": -1222.399658203125,
                        "y": 3106.797119140625,
                        "z": 349.8980712890625
                    },
                    "rotation": {
                        "roll": 0.011762798763811588,
                        "pitch": 2.9779486656188965,
                        "yaw": -0.9927367568016052
                    }
                },
                "velocity": {
                    "x": 6.679225444793701,
                    "y": -0.1291656494140625,
                    "z": 0.35153311491012573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.7299675941467285,
                "transform": {
                    "location": {
                        "x": -1222.85595703125,
                        "y": 3103.307373046875,
                        "z": 349.8693542480469
                    },
                    "rotation": {
                        "roll": 0.031899675726890564,
                        "pitch": 3.154078722000122,
                        "yaw": -1.0543516874313354
                    }
                },
                "velocity": {
                    "x": 6.719440937042236,
                    "y": -0.12787990272045135,
                    "z": 0.3538665771484375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.721202373504639,
                "transform": {
                    "location": {
                        "x": -1222.998779296875,
                        "y": 3099.809814453125,
                        "z": 349.9044494628906
                    },
                    "rotation": {
                        "roll": 0.02256995439529419,
                        "pitch": 3.0798959732055664,
                        "yaw": -0.949737548828125
                    }
                },
                "velocity": {
                    "x": 6.710600852966309,
                    "y": -0.13077916204929352,
                    "z": 0.353970468044281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.883413791656494,
                "transform": {
                    "location": {
                        "x": -1222.96875,
                        "y": 3096.310546875,
                        "z": 349.880859375
                    },
                    "rotation": {
                        "roll": 0.032153479754924774,
                        "pitch": 3.0005428791046143,
                        "yaw": -0.8149107694625854
                    }
                },
                "velocity": {
                    "x": 5.874236106872559,
                    "y": -0.10891219228506088,
                    "z": 0.30991390347480774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1090.4171142578125,
                        "y": 3075.765625,
                        "z": 355.44378662109375
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.964442253112793,
                "transform": {
                    "location": {
                        "x": -1180.6378173828125,
                        "y": 3105.886474609375,
                        "z": 352.1190185546875
                    },
                    "rotation": {
                        "roll": 0.0021727473940700293,
                        "pitch": 2.688608169555664,
                        "yaw": -1.2454832792282104
                    }
                },
                "velocity": {
                    "x": 7.953788757324219,
                    "y": -0.17484264075756073,
                    "z": 0.37284788489341736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9946818351745605,
                "transform": {
                    "location": {
                        "x": -1180.3758544921875,
                        "y": 3102.379638671875,
                        "z": 352.0898742675781
                    },
                    "rotation": {
                        "roll": 0.000942510087043047,
                        "pitch": 2.6891136169433594,
                        "yaw": -1.2593382596969604
                    }
                },
                "velocity": {
                    "x": 7.984190464019775,
                    "y": -0.17540857195854187,
                    "z": 0.36995673179626465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.989616870880127,
                "transform": {
                    "location": {
                        "x": -1180.546630859375,
                        "y": 3098.88330078125,
                        "z": 352.0921936035156
                    },
                    "rotation": {
                        "roll": 0.0020959104876965284,
                        "pitch": 2.7178072929382324,
                        "yaw": -1.253662109375
                    }
                },
                "velocity": {
                    "x": 7.979169845581055,
                    "y": -0.17463022470474243,
                    "z": 0.36923080682754517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0836820602417,
                "transform": {
                    "location": {
                        "x": -1180.843017578125,
                        "y": 3095.389404296875,
                        "z": 352.09027099609375
                    },
                    "rotation": {
                        "roll": 0.0018255474278703332,
                        "pitch": 2.7137091159820557,
                        "yaw": -1.269012451171875
                    }
                },
                "velocity": {
                    "x": 8.073030471801758,
                    "y": -0.18019023537635803,
                    "z": 0.37366873025894165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4576,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.8878173828125,
                        "y": 3100.974609375,
                        "z": 354.4515075683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.2471923828125,
                        "y": 3093.792724609375,
                        "z": 354.6673889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4574,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1113.9913330078125,
                        "y": 3097.30029296875,
                        "z": 354.6369934082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372385025024414,
                "transform": {
                    "location": {
                        "x": -1134.043701171875,
                        "y": 3076.740478515625,
                        "z": 353.9216003417969
                    },
                    "rotation": {
                        "roll": -0.00033569487277418375,
                        "pitch": -2.0988693237304688,
                        "yaw": 178.72377014160156
                    }
                },
                "velocity": {
                    "x": -16.357460021972656,
                    "y": 0.364694207906723,
                    "z": -0.5962317585945129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.928797721862793,
                "transform": {
                    "location": {
                        "x": -1202.12939453125,
                        "y": 3078.261474609375,
                        "z": 351.01568603515625
                    },
                    "rotation": {
                        "roll": 0.00020156086247880012,
                        "pitch": -3.1285953521728516,
                        "yaw": 178.7178955078125
                    }
                },
                "velocity": {
                    "x": -15.900910377502441,
                    "y": 0.3539288640022278,
                    "z": -0.8731529712677002
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4543,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1328.578857421875,
                        "y": 3081.862548828125,
                        "z": 345.7538146972656
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1304.5909423828125,
                        "y": 3080.703125,
                        "z": 346.3179931640625
                    },
                    "rotation": {
                        "roll": -3.3368174889858437e-09,
                        "pitch": -1.8632686138153076,
                        "yaw": 177.78689575195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47878646850586,
                "transform": {
                    "location": {
                        "x": -1230.342529296875,
                        "y": 3078.891845703125,
                        "z": 349.5070495605469
                    },
                    "rotation": {
                        "roll": 0.0013097062474116683,
                        "pitch": -2.9693562984466553,
                        "yaw": 178.71957397460938
                    }
                },
                "velocity": {
                    "x": -16.453046798706055,
                    "y": 0.36903277039527893,
                    "z": -0.8434715867042542
                },
                "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": 0.14595793187618256,
        "expert_target_speed": 14.398217962722372,
        "target_point": [
            50.5444920386354,
            0.23065504730559094
        ],
        "target_point_next": [
            101.59891106237991,
            0.13413936042706398
        ]
    },
    "360": {
        "acceleration": [
            0.4761695861816406,
            0.19810199737548828,
            -0.10271549224853516
        ],
        "angular_velocity": [
            0.22567123174667358,
            -0.3418218791484833,
            -1.1484707593917847
        ],
        "forward_vector": [
            -0.9982162714004517,
            0.026366179808974266,
            -0.05356345698237419
        ],
        "right_vector": [
            -0.02633250318467617,
            -0.9996523857116699,
            -0.0013344866456463933
        ],
        "location": [
            -1192.8121337890625,
            3078.373046875,
            351.5184631347656
        ],
        "rotation": [
            0.07657039910554886,
            -3.0704293251037598,
            178.4869842529297
        ],
        "velocity": [
            -13.989838600158691,
            0.36870846152305603,
            -0.7178645730018616
        ],
        "speed": 13.994696495032995,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.311704635620117,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1206.104248046875,
                3078.349853515625,
                350.7969055175781
            ],
            "velocity": [
                -15.899773597717285,
                0.3532218039035797,
                -0.8767844438552856
            ],
            "speed_kmh": 57.34024999185822,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1262.1422119140625,
                        "y": 3100.607177734375,
                        "z": 347.9827575683594
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.60791015625,
                        "y": 3104.073486328125,
                        "z": 348.10443115234375
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.7642822265625,
                        "y": 3097.0751953125,
                        "z": 348.10443115234375
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1260.1136474609375,
                        "y": 3107.5595703125,
                        "z": 348.0889892578125
                    },
                    "rotation": {
                        "roll": -3.3387261844097793e-09,
                        "pitch": 2.687856912612915,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.189208984375,
                        "y": 3075.090576171875,
                        "z": 356.1551818847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.615476131439209,
                "transform": {
                    "location": {
                        "x": -1220.6414794921875,
                        "y": 3106.763916015625,
                        "z": 349.990966796875
                    },
                    "rotation": {
                        "roll": 0.010381217114627361,
                        "pitch": 2.9357516765594482,
                        "yaw": -1.085998296737671
                    }
                },
                "velocity": {
                    "x": 7.603529930114746,
                    "y": -0.14592097699642181,
                    "z": 0.4006463587284088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.161802291870117,
                "transform": {
                    "location": {
                        "x": -1220.9615478515625,
                        "y": 3103.270751953125,
                        "z": 349.9674987792969
                    },
                    "rotation": {
                        "roll": 0.02232303097844124,
                        "pitch": 3.5778167247772217,
                        "yaw": -1.096282720565796
                    }
                },
                "velocity": {
                    "x": 8.148920059204102,
                    "y": -0.15933118760585785,
                    "z": 0.4298039972782135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.417594909667969,
                "transform": {
                    "location": {
                        "x": -1221.0633544921875,
                        "y": 3099.7734375,
                        "z": 350.00531005859375
                    },
                    "rotation": {
                        "roll": 0.013469027355313301,
                        "pitch": 3.1924233436584473,
                        "yaw": -1.0789794921875
                    }
                },
                "velocity": {
                    "x": 8.404335975646973,
                    "y": -0.16552074253559113,
                    "z": 0.44231313467025757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.292670726776123,
                "transform": {
                    "location": {
                        "x": -1221.2874755859375,
                        "y": 3096.28125,
                        "z": 349.9658508300781
                    },
                    "rotation": {
                        "roll": 0.016586802899837494,
                        "pitch": 3.4356327056884766,
                        "yaw": -1.167083740234375
                    }
                },
                "velocity": {
                    "x": 7.281193733215332,
                    "y": -0.14340725541114807,
                    "z": 0.3830111622810364
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1094.53857421875,
                        "y": 3075.857666015625,
                        "z": 355.3197937011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029378890991211,
                "transform": {
                    "location": {
                        "x": -1178.6419677734375,
                        "y": 3105.8427734375,
                        "z": 352.2104187011719
                    },
                    "rotation": {
                        "roll": 0.0010790758533403277,
                        "pitch": 2.610600709915161,
                        "yaw": -1.2821348905563354
                    }
                },
                "velocity": {
                    "x": 8.019219398498535,
                    "y": -0.17909307777881622,
                    "z": 0.36191526055336
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057347297668457,
                "transform": {
                    "location": {
                        "x": -1178.37060546875,
                        "y": 3102.33544921875,
                        "z": 352.181396484375
                    },
                    "rotation": {
                        "roll": 0.0015863324515521526,
                        "pitch": 2.5884366035461426,
                        "yaw": -1.259429931640625
                    }
                },
                "velocity": {
                    "x": 8.047221183776855,
                    "y": -0.17688554525375366,
                    "z": 0.36303383111953735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026673316955566,
                "transform": {
                    "location": {
                        "x": -1178.544921875,
                        "y": 3098.83935546875,
                        "z": 352.1836242675781
                    },
                    "rotation": {
                        "roll": 0.003535069292411208,
                        "pitch": 2.649259567260742,
                        "yaw": -1.2669677734375
                    }
                },
                "velocity": {
                    "x": 8.016434669494629,
                    "y": -0.178509920835495,
                    "z": 0.3638625144958496
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020925521850586,
                "transform": {
                    "location": {
                        "x": -1178.832763671875,
                        "y": 3095.344970703125,
                        "z": 352.1823425292969
                    },
                    "rotation": {
                        "roll": -6.103555642766878e-05,
                        "pitch": 2.626453399658203,
                        "yaw": -1.269927978515625
                    }
                },
                "velocity": {
                    "x": 8.010833740234375,
                    "y": -0.17720508575439453,
                    "z": 0.3610871732234955
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372379302978516,
                "transform": {
                    "location": {
                        "x": -1138.133056640625,
                        "y": 3076.83203125,
                        "z": 353.7724914550781
                    },
                    "rotation": {
                        "roll": 0.0005378663772717118,
                        "pitch": -2.098930597305298,
                        "yaw": 178.714111328125
                    }
                },
                "velocity": {
                    "x": -16.357397079467773,
                    "y": 0.3665599822998047,
                    "z": -0.5966119766235352
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.927846908569336,
                "transform": {
                    "location": {
                        "x": -1206.104248046875,
                        "y": 3078.349853515625,
                        "z": 350.7969055175781
                    },
                    "rotation": {
                        "roll": -0.0009460413712076843,
                        "pitch": -3.1663525104522705,
                        "yaw": 178.72909545898438
                    }
                },
                "velocity": {
                    "x": -15.899773597717285,
                    "y": 0.3532218039035797,
                    "z": -0.8767844438552856
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1308.8343505859375,
                        "y": 3080.874267578125,
                        "z": 346.1879577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.6445318460464478,
                        "yaw": 177.54510498046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.477806091308594,
                "transform": {
                    "location": {
                        "x": -1234.4559326171875,
                        "y": 3078.983642578125,
                        "z": 349.29779052734375
                    },
                    "rotation": {
                        "roll": 0.0007125752163119614,
                        "pitch": -2.9613921642303467,
                        "yaw": 178.7144317626953
                    }
                },
                "velocity": {
                    "x": -16.452417373657227,
                    "y": 0.366794228553772,
                    "z": -0.8375636339187622
                },
                "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": 0.1663290560245514,
        "expert_target_speed": 14.353469877150507,
        "target_point": [
            47.029882104225166,
            0.5109832714530339
        ],
        "target_point_next": [
            98.08401712086223,
            0.7067250219622869
        ]
    },
    "365": {
        "acceleration": [
            0.35675048828125,
            0.08040487766265869,
            -0.07209300994873047
        ],
        "angular_velocity": [
            -0.10430759191513062,
            -0.5268261432647705,
            -0.23578369617462158
        ],
        "forward_vector": [
            -0.9981224536895752,
            0.028514442965388298,
            -0.05420803651213646
        ],
        "right_vector": [
            -0.028487833216786385,
            -0.9995933771133423,
            -0.0012636835454031825
        ],
        "location": [
            -1196.2958984375,
            3078.468017578125,
            351.3370361328125
        ],
        "rotation": [
            0.07251036912202835,
            -3.107414960861206,
            178.36361694335938
        ],
        "velocity": [
            -13.890738487243652,
            0.39403289556503296,
            -0.7369211316108704
        ],
        "speed": 13.8963260484122,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.804216384887695,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1210.0792236328125,
                3078.438720703125,
                350.57843017578125
            ],
            "velocity": [
                -15.898332595825195,
                0.35428622364997864,
                -0.8654227256774902
            ],
            "speed_kmh": 57.3329194352272,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.180639266967773,
                "transform": {
                    "location": {
                        "x": -1260.0821533203125,
                        "y": 3100.56591796875,
                        "z": 348.0399169921875
                    },
                    "rotation": {
                        "roll": -0.03558349609375,
                        "pitch": 2.6584255695343018,
                        "yaw": -1.079925298690796
                    }
                },
                "velocity": {
                    "x": 8.174931526184082,
                    "y": -0.11246460676193237,
                    "z": 0.28406670689582825
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.972127914428711,
                "transform": {
                    "location": {
                        "x": -1258.5623779296875,
                        "y": 3104.033935546875,
                        "z": 348.06256103515625
                    },
                    "rotation": {
                        "roll": 0.028956478461623192,
                        "pitch": 2.7249789237976074,
                        "yaw": -1.078369140625
                    }
                },
                "velocity": {
                    "x": 7.965038776397705,
                    "y": -0.10119412839412689,
                    "z": 0.3205317556858063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.991152286529541,
                "transform": {
                    "location": {
                        "x": -1258.740966796875,
                        "y": 3097.045166015625,
                        "z": 348.0978088378906
                    },
                    "rotation": {
                        "roll": -0.0436096265912056,
                        "pitch": 2.6360771656036377,
                        "yaw": -0.784820556640625
                    }
                },
                "velocity": {
                    "x": 7.986032962799072,
                    "y": -0.0994776263833046,
                    "z": 0.26813748478889465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.9673333168029785,
                "transform": {
                    "location": {
                        "x": -1258.073486328125,
                        "y": 3107.517822265625,
                        "z": 348.1142578125
                    },
                    "rotation": {
                        "roll": 0.0017076281365007162,
                        "pitch": 2.7560904026031494,
                        "yaw": -1.2801817655563354
                    }
                },
                "velocity": {
                    "x": 6.959012985229492,
                    "y": -0.15482208132743835,
                    "z": 0.30315762758255005
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.3428955078125,
                        "y": 3075.18310546875,
                        "z": 356.07623291015625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.491177558898926,
                "transform": {
                    "location": {
                        "x": -1218.5465087890625,
                        "y": 3106.72314453125,
                        "z": 350.10174560546875
                    },
                    "rotation": {
                        "roll": 0.007201561238616705,
                        "pitch": 2.926107406616211,
                        "yaw": -1.106353759765625
                    }
                },
                "velocity": {
                    "x": 8.477261543273926,
                    "y": -0.17442090809345245,
                    "z": 0.4535553753376007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.120049476623535,
                "transform": {
                    "location": {
                        "x": -1218.8955078125,
                        "y": 3103.230224609375,
                        "z": 350.0774841308594
                    },
                    "rotation": {
                        "roll": 0.017179859802126884,
                        "pitch": 3.306631088256836,
                        "yaw": -1.14654541015625
                    }
                },
                "velocity": {
                    "x": 8.106826782226562,
                    "y": -0.16604238748550415,
                    "z": 0.4324183464050293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.967872142791748,
                "transform": {
                    "location": {
                        "x": -1219.0028076171875,
                        "y": 3099.733154296875,
                        "z": 350.1153564453125
                    },
                    "rotation": {
                        "roll": 0.008561087772250175,
                        "pitch": 3.0435867309570312,
                        "yaw": -1.1098021268844604
                    }
                },
                "velocity": {
                    "x": 7.954923629760742,
                    "y": -0.15576353669166565,
                    "z": 0.42651593685150146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.54382610321045,
                "transform": {
                    "location": {
                        "x": -1219.3328857421875,
                        "y": 3096.242431640625,
                        "z": 350.06927490234375
                    },
                    "rotation": {
                        "roll": 0.007222040090709925,
                        "pitch": 3.369168281555176,
                        "yaw": -1.2741392850875854
                    }
                },
                "velocity": {
                    "x": 8.529942512512207,
                    "y": -0.1770997792482376,
                    "z": 0.4535317122936249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1098.6912841796875,
                        "y": 3075.950439453125,
                        "z": 355.18853759765625
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007972717285156,
                "transform": {
                    "location": {
                        "x": -1176.638427734375,
                        "y": 3105.798095703125,
                        "z": 352.30078125
                    },
                    "rotation": {
                        "roll": 0.001542932353913784,
                        "pitch": 2.5552761554718018,
                        "yaw": -1.2610472440719604
                    }
                },
                "velocity": {
                    "x": 7.998040676116943,
                    "y": -0.17789161205291748,
                    "z": 0.35684341192245483
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.988959789276123,
                "transform": {
                    "location": {
                        "x": -1176.3687744140625,
                        "y": 3102.291259765625,
                        "z": 352.2712097167969
                    },
                    "rotation": {
                        "roll": 0.0005545091698877513,
                        "pitch": 2.5526123046875,
                        "yaw": -1.265320062637329
                    }
                },
                "velocity": {
                    "x": 7.979105472564697,
                    "y": -0.17767061293125153,
                    "z": 0.3546624779701233
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00007438659668,
                "transform": {
                    "location": {
                        "x": -1176.5450439453125,
                        "y": 3098.794677734375,
                        "z": 352.2736511230469
                    },
                    "rotation": {
                        "roll": 0.0031406686175614595,
                        "pitch": 2.58832049369812,
                        "yaw": -1.2796629667282104
                    }
                },
                "velocity": {
                    "x": 7.990173816680908,
                    "y": -0.17961129546165466,
                    "z": 0.35504257678985596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.045052528381348,
                "transform": {
                    "location": {
                        "x": -1176.8289794921875,
                        "y": 3095.30029296875,
                        "z": 352.2730712890625
                    },
                    "rotation": {
                        "roll": 0.0018432469805702567,
                        "pitch": 2.5491697788238525,
                        "yaw": -1.275054931640625
                    }
                },
                "velocity": {
                    "x": 8.035057067871094,
                    "y": -0.17995402216911316,
                    "z": 0.3582512438297272
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372398376464844,
                "transform": {
                    "location": {
                        "x": -1142.222412109375,
                        "y": 3076.923583984375,
                        "z": 353.62335205078125
                    },
                    "rotation": {
                        "roll": 0.0002489637699909508,
                        "pitch": -2.099545478820801,
                        "yaw": 178.71571350097656
                    }
                },
                "velocity": {
                    "x": -16.357454299926758,
                    "y": 0.3657498061656952,
                    "z": -0.5961329340934753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.925810813903809,
                "transform": {
                    "location": {
                        "x": -1210.0792236328125,
                        "y": 3078.438720703125,
                        "z": 350.57843017578125
                    },
                    "rotation": {
                        "roll": -0.0007629378233104944,
                        "pitch": -3.125699281692505,
                        "yaw": 178.72315979003906
                    }
                },
                "velocity": {
                    "x": -15.898332595825195,
                    "y": 0.35428622364997864,
                    "z": -0.8654227256774902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1313.078369140625,
                        "y": 3081.0595703125,
                        "z": 346.07049560546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4258360862731934,
                        "yaw": 177.3032989501953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.476367950439453,
                "transform": {
                    "location": {
                        "x": -1238.5693359375,
                        "y": 3079.075439453125,
                        "z": 349.08929443359375
                    },
                    "rotation": {
                        "roll": 0.0017961848061531782,
                        "pitch": -2.9185192584991455,
                        "yaw": 178.71856689453125
                    }
                },
                "velocity": {
                    "x": -16.451627731323242,
                    "y": 0.3679616451263428,
                    "z": -0.824152410030365
                },
                "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": 0.17707504332065582,
        "expert_target_speed": 14.325405622820828,
        "target_point": [
            43.54361707224837,
            0.6076838925416373
        ],
        "target_point_next": [
            94.59721235339262,
            0.9133405610836773
        ]
    },
    "370": {
        "acceleration": [
            0.3306770324707031,
            0.03961384296417236,
            -0.022590160369873047
        ],
        "angular_velocity": [
            -0.05428052693605423,
            0.04200589284300804,
            -0.212831050157547
        ],
        "forward_vector": [
            -0.9980117678642273,
            0.029382891952991486,
            -0.05575945973396301
        ],
        "right_vector": [
            -0.029372438788414,
            -0.999567985534668,
            -0.0010071583092212677
        ],
        "location": [
            -1199.756591796875,
            3078.568115234375,
            351.1518249511719
        ],
        "rotation": [
            0.05779583752155304,
            -3.196439504623413,
            178.31361389160156
        ],
        "velocity": [
            -13.805974006652832,
            0.40702196955680847,
            -0.7485907077789307
        ],
        "speed": 13.811972529514948,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.31893539428711,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1214.0537109375,
                3078.52783203125,
                350.36273193359375
            ],
            "velocity": [
                -15.896621704101562,
                0.3553077280521393,
                -0.8618423342704773
            ],
            "speed_kmh": 57.32615373655476,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.864394664764404,
                "transform": {
                    "location": {
                        "x": -1258.080078125,
                        "y": 3100.541259765625,
                        "z": 348.123046875
                    },
                    "rotation": {
                        "roll": 0.013769414275884628,
                        "pitch": 2.685063362121582,
                        "yaw": -0.731842041015625
                    }
                },
                "velocity": {
                    "x": 7.855739116668701,
                    "y": -0.10225079208612442,
                    "z": 0.3544091582298279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.780722141265869,
                "transform": {
                    "location": {
                        "x": -1256.597900390625,
                        "y": 3104.00732421875,
                        "z": 348.18060302734375
                    },
                    "rotation": {
                        "roll": 0.027128713205456734,
                        "pitch": 2.708559274673462,
                        "yaw": -0.8082275390625
                    }
                },
                "velocity": {
                    "x": 7.766780376434326,
                    "y": -0.09371231496334076,
                    "z": 0.4560452103614807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.849049091339111,
                "transform": {
                    "location": {
                        "x": -1256.7630615234375,
                        "y": 3097.019287109375,
                        "z": 348.1820373535156
                    },
                    "rotation": {
                        "roll": 0.00899353064596653,
                        "pitch": 2.675685405731201,
                        "yaw": -0.7366333603858948
                    }
                },
                "velocity": {
                    "x": 7.839966297149658,
                    "y": -0.1011417955160141,
                    "z": 0.36368322372436523
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.496896266937256,
                "transform": {
                    "location": {
                        "x": -1256.4071044921875,
                        "y": 3107.48779296875,
                        "z": 348.1872863769531
                    },
                    "rotation": {
                        "roll": 0.0137447165325284,
                        "pitch": 2.7083542346954346,
                        "yaw": -1.00408935546875
                    }
                },
                "velocity": {
                    "x": 6.489683151245117,
                    "y": -0.08400226384401321,
                    "z": 0.294312059879303
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.4967041015625,
                        "y": 3075.276123046875,
                        "z": 355.9930114746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.813899040222168,
                "transform": {
                    "location": {
                        "x": -1216.519287109375,
                        "y": 3106.681396484375,
                        "z": 350.2094421386719
                    },
                    "rotation": {
                        "roll": 0.004516918677836657,
                        "pitch": 3.1233906745910645,
                        "yaw": -1.17767333984375
                    }
                },
                "velocity": {
                    "x": 7.800837993621826,
                    "y": -0.16475428640842438,
                    "z": 0.42047712206840515
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7832136154174805,
                "transform": {
                    "location": {
                        "x": -1216.934814453125,
                        "y": 3103.189697265625,
                        "z": 350.183349609375
                    },
                    "rotation": {
                        "roll": 0.01384593453258276,
                        "pitch": 3.108466625213623,
                        "yaw": -1.169189453125
                    }
                },
                "velocity": {
                    "x": 7.770380020141602,
                    "y": -0.16066402196884155,
                    "z": 0.41688215732574463
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.857766151428223,
                "transform": {
                    "location": {
                        "x": -1217.0546875,
                        "y": 3099.693359375,
                        "z": 350.2197570800781
                    },
                    "rotation": {
                        "roll": 0.006832425482571125,
                        "pitch": 3.093153476715088,
                        "yaw": -1.2004393339157104
                    }
                },
                "velocity": {
                    "x": 7.8446831703186035,
                    "y": -0.16716378927230835,
                    "z": 0.421293705701828
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.210603713989258,
                "transform": {
                    "location": {
                        "x": -1217.22900390625,
                        "y": 3096.197509765625,
                        "z": 350.18426513671875
                    },
                    "rotation": {
                        "roll": 0.004750617314130068,
                        "pitch": 3.1199278831481934,
                        "yaw": -1.262359619140625
                    }
                },
                "velocity": {
                    "x": 8.196818351745605,
                    "y": -0.17612113058567047,
                    "z": 0.44176849722862244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1102.8438720703125,
                        "y": 3076.04296875,
                        "z": 355.0509948730469
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.998863220214844,
                "transform": {
                    "location": {
                        "x": -1174.6422119140625,
                        "y": 3105.75390625,
                        "z": 352.38922119140625
                    },
                    "rotation": {
                        "roll": -0.0005493182106874883,
                        "pitch": 2.54520845413208,
                        "yaw": -1.2855530977249146
                    }
                },
                "velocity": {
                    "x": 7.989387035369873,
                    "y": -0.17922136187553406,
                    "z": 0.3455251157283783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056303024291992,
                "transform": {
                    "location": {
                        "x": -1174.365478515625,
                        "y": 3102.246826171875,
                        "z": 352.3597717285156
                    },
                    "rotation": {
                        "roll": -0.0005798324127681553,
                        "pitch": 2.53402042388916,
                        "yaw": -1.274017333984375
                    }
                },
                "velocity": {
                    "x": 8.046930313110352,
                    "y": -0.177560493350029,
                    "z": 0.3455427587032318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005754470825195,
                "transform": {
                    "location": {
                        "x": -1174.548095703125,
                        "y": 3098.750244140625,
                        "z": 352.36181640625
                    },
                    "rotation": {
                        "roll": 0.0010124415857717395,
                        "pitch": 2.5762994289398193,
                        "yaw": -1.2751463651657104
                    }
                },
                "velocity": {
                    "x": 7.996269226074219,
                    "y": -0.17798355221748352,
                    "z": 0.3465730845928192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035568237304688,
                "transform": {
                    "location": {
                        "x": -1174.8211669921875,
                        "y": 3095.255615234375,
                        "z": 352.3616027832031
                    },
                    "rotation": {
                        "roll": -0.0003967296506743878,
                        "pitch": 2.5578579902648926,
                        "yaw": -1.2814942598342896
                    }
                },
                "velocity": {
                    "x": 8.026019096374512,
                    "y": -0.17957234382629395,
                    "z": 0.34803229570388794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37238121032715,
                "transform": {
                    "location": {
                        "x": -1146.311767578125,
                        "y": 3077.014892578125,
                        "z": 353.4742431640625
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -2.0986642837524414,
                        "yaw": 178.7257080078125
                    }
                },
                "velocity": {
                    "x": -16.35748291015625,
                    "y": 0.36447080969810486,
                    "z": -0.5955912470817566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.923931121826172,
                "transform": {
                    "location": {
                        "x": -1214.0537109375,
                        "y": 3078.52783203125,
                        "z": 350.36273193359375
                    },
                    "rotation": {
                        "roll": 0.0007303321035578847,
                        "pitch": -3.1106183528900146,
                        "yaw": 178.710205078125
                    }
                },
                "velocity": {
                    "x": -15.896621704101562,
                    "y": 0.3553077280521393,
                    "z": -0.8618423342704773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1317.3221435546875,
                        "y": 3081.259521484375,
                        "z": 345.96600341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2071539163589478,
                        "yaw": 177.0615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.474828720092773,
                "transform": {
                    "location": {
                        "x": -1242.6826171875,
                        "y": 3079.167236328125,
                        "z": 348.8854675292969
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": -2.86449933052063,
                        "yaw": 178.73001098632812
                    }
                },
                "velocity": {
                    "x": -16.450822830200195,
                    "y": 0.36528047919273376,
                    "z": -0.8105506896972656
                },
                "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": 0.18786242604255676,
        "expert_target_speed": 14.30137068864076,
        "target_point": [
            40.08092969892572,
            0.6439123476500531
        ],
        "target_point_next": [
            91.13423865600757,
            0.9941432181422705
        ]
    },
    "375": {
        "acceleration": [
            0.3016090393066406,
            0.035471320152282715,
            0.04291415214538574
        ],
        "angular_velocity": [
            -0.011272045783698559,
            -0.30720096826553345,
            0.01683051884174347
        ],
        "forward_vector": [
            -0.9979454874992371,
            0.030165135860443115,
            -0.056523099541664124
        ],
        "right_vector": [
            -0.03016466647386551,
            -0.999544620513916,
            -0.0008616647683084011
        ],
        "location": [
            -1203.197265625,
            3078.670654296875,
            350.9639892578125
        ],
        "rotation": [
            0.04944881424307823,
            -3.240262031555176,
            178.2686309814453
        ],
        "velocity": [
            -13.727726936340332,
            0.4159596562385559,
            -0.7520486116409302
        ],
        "speed": 13.734027423678096,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.853007316589355,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1218.0277099609375,
                3078.61669921875,
                350.14739990234375
            ],
            "velocity": [
                -15.895273208618164,
                0.35758066177368164,
                -0.852325975894928
            ],
            "speed_kmh": 57.319646536123585,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.925937652587891,
                "transform": {
                    "location": {
                        "x": -1256.1082763671875,
                        "y": 3100.514892578125,
                        "z": 348.21429443359375
                    },
                    "rotation": {
                        "roll": 0.02435353584587574,
                        "pitch": 2.70363450050354,
                        "yaw": -0.762542724609375
                    }
                },
                "velocity": {
                    "x": 7.916441917419434,
                    "y": -0.10644392669200897,
                    "z": 0.37296417355537415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.71480655670166,
                "transform": {
                    "location": {
                        "x": -1254.6640625,
                        "y": 3103.98388671875,
                        "z": 348.28216552734375
                    },
                    "rotation": {
                        "roll": 0.02813894674181938,
                        "pitch": 2.73527193069458,
                        "yaw": -0.7134093046188354
                    }
                },
                "velocity": {
                    "x": 7.704905033111572,
                    "y": -0.09091990441083908,
                    "z": 0.3800153136253357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.735694408416748,
                "transform": {
                    "location": {
                        "x": -1254.8173828125,
                        "y": 3096.993896484375,
                        "z": 348.2741394042969
                    },
                    "rotation": {
                        "roll": 0.019818652421236038,
                        "pitch": 2.726433753967285,
                        "yaw": -0.7481995224952698
                    }
                },
                "velocity": {
                    "x": 7.726085662841797,
                    "y": -0.10020250827074051,
                    "z": 0.37219467759132385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.597681045532227,
                "transform": {
                    "location": {
                        "x": -1254.771728515625,
                        "y": 3107.467041015625,
                        "z": 348.2642517089844
                    },
                    "rotation": {
                        "roll": 0.02595604956150055,
                        "pitch": 2.746173143386841,
                        "yaw": -0.6970825791358948
                    }
                },
                "velocity": {
                    "x": 6.589706897735596,
                    "y": -0.06406749039888382,
                    "z": 0.31789228320121765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1072.61865234375,
                        "y": 3075.3681640625,
                        "z": 355.9046325683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99082088470459,
                "transform": {
                    "location": {
                        "x": -1214.5638427734375,
                        "y": 3106.64013671875,
                        "z": 350.3156433105469
                    },
                    "rotation": {
                        "roll": 0.004664181731641293,
                        "pitch": 3.095789909362793,
                        "yaw": -1.2033995389938354
                    }
                },
                "velocity": {
                    "x": 7.977305889129639,
                    "y": -0.16763751208782196,
                    "z": 0.433248370885849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.167065620422363,
                "transform": {
                    "location": {
                        "x": -1214.935546875,
                        "y": 3103.147705078125,
                        "z": 350.2908935546875
                    },
                    "rotation": {
                        "roll": 0.009162366390228271,
                        "pitch": 3.258833408355713,
                        "yaw": -1.2196043729782104
                    }
                },
                "velocity": {
                    "x": 8.153178215026855,
                    "y": -0.1735183745622635,
                    "z": 0.44332510232925415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.166230201721191,
                "transform": {
                    "location": {
                        "x": -1215.035400390625,
                        "y": 3099.650146484375,
                        "z": 350.32861328125
                    },
                    "rotation": {
                        "roll": 0.005313186440616846,
                        "pitch": 3.1486282348632812,
                        "yaw": -1.2077635526657104
                    }
                },
                "velocity": {
                    "x": 8.152323722839355,
                    "y": -0.17370398342609406,
                    "z": 0.44356727600097656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.85980749130249,
                "transform": {
                    "location": {
                        "x": -1215.234619140625,
                        "y": 3096.154296875,
                        "z": 350.29302978515625
                    },
                    "rotation": {
                        "roll": 0.0023578002583235502,
                        "pitch": 3.0068745613098145,
                        "yaw": -1.2456666231155396
                    }
                },
                "velocity": {
                    "x": 7.846405506134033,
                    "y": -0.16941042244434357,
                    "z": 0.42637670040130615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1106.9959716796875,
                        "y": 3076.13623046875,
                        "z": 354.9071350097656
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.019287109375,
                "transform": {
                    "location": {
                        "x": -1172.6419677734375,
                        "y": 3105.708984375,
                        "z": 352.4759216308594
                    },
                    "rotation": {
                        "roll": 0.0009319722303189337,
                        "pitch": 2.4478304386138916,
                        "yaw": -1.2661131620407104
                    }
                },
                "velocity": {
                    "x": 8.00995922088623,
                    "y": -0.17874100804328918,
                    "z": 0.34286871552467346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.994783878326416,
                "transform": {
                    "location": {
                        "x": -1172.362060546875,
                        "y": 3102.2021484375,
                        "z": 352.44635009765625
                    },
                    "rotation": {
                        "roll": 0.00079044682206586,
                        "pitch": 2.425004005432129,
                        "yaw": -1.2819212675094604
                    }
                },
                "velocity": {
                    "x": 7.985508441925049,
                    "y": -0.17865636944770813,
                    "z": 0.3410359025001526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020072937011719,
                "transform": {
                    "location": {
                        "x": -1172.547119140625,
                        "y": 3098.70556640625,
                        "z": 352.4483947753906
                    },
                    "rotation": {
                        "roll": 8.185032493202016e-05,
                        "pitch": 2.4772684574127197,
                        "yaw": -1.27783203125
                    }
                },
                "velocity": {
                    "x": 8.010641098022461,
                    "y": -0.1787703037261963,
                    "z": 0.3453141748905182
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057275772094727,
                "transform": {
                    "location": {
                        "x": -1172.8123779296875,
                        "y": 3095.2109375,
                        "z": 352.4485168457031
                    },
                    "rotation": {
                        "roll": 0.0005689252284355462,
                        "pitch": 2.466613292694092,
                        "yaw": -1.27557373046875
                    }
                },
                "velocity": {
                    "x": 8.04788875579834,
                    "y": -0.1804019957780838,
                    "z": 0.3444233536720276
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37237548828125,
                "transform": {
                    "location": {
                        "x": -1150.401123046875,
                        "y": 3077.106201171875,
                        "z": 353.3251037597656
                    },
                    "rotation": {
                        "roll": 0.0005581922014243901,
                        "pitch": -2.0991151332855225,
                        "yaw": 178.7196502685547
                    }
                },
                "velocity": {
                    "x": -16.357452392578125,
                    "y": 0.36509615182876587,
                    "z": -0.5959298610687256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.922123908996582,
                "transform": {
                    "location": {
                        "x": -1218.0277099609375,
                        "y": 3078.61669921875,
                        "z": 350.14739990234375
                    },
                    "rotation": {
                        "roll": 0.0006152958958409727,
                        "pitch": -3.103419303894043,
                        "yaw": 178.7106475830078
                    }
                },
                "velocity": {
                    "x": -15.895273208618164,
                    "y": 0.35758066177368164,
                    "z": -0.852325975894928
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1321.5657958984375,
                        "y": 3081.473876953125,
                        "z": 345.8744201660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.474363327026367,
                "transform": {
                    "location": {
                        "x": -1246.79541015625,
                        "y": 3079.259033203125,
                        "z": 348.6830139160156
                    },
                    "rotation": {
                        "roll": 0.001426482805982232,
                        "pitch": -2.8664252758026123,
                        "yaw": 178.71612548828125
                    }
                },
                "velocity": {
                    "x": -16.450448989868164,
                    "y": 0.36647072434425354,
                    "z": -0.8081330060958862
                },
                "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": 0.2030775099992752,
        "expert_target_speed": 14.276063310752155,
        "target_point": [
            36.63821084841616,
            0.6739096694415099
        ],
        "target_point_next": [
            87.69122919332408,
            1.0642108408386912
        ]
    },
    "380": {
        "acceleration": [
            -0.049381256103515625,
            -0.2171766757965088,
            0.00956416130065918
        ],
        "angular_velocity": [
            -0.23472431302070618,
            0.13855445384979248,
            0.5689214468002319
        ],
        "forward_vector": [
            -0.9980267882347107,
            0.0274870116263628,
            -0.05645335465669632
        ],
        "right_vector": [
            -0.027541888877749443,
            -0.9996206760406494,
            0.0001941006485139951
        ],
        "location": [
            -1206.6241455078125,
            3078.76904296875,
            350.77484130859375
        ],
        "rotation": [
            -0.011138912290334702,
            -3.2362594604492188,
            178.42239379882812
        ],
        "velocity": [
            -13.703746795654297,
            0.3684399724006653,
            -0.7555984258651733
        ],
        "speed": 13.708698853380215,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.400769233703613,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1222.001953125,
                3078.705810546875,
                349.9365539550781
            ],
            "velocity": [
                -15.893892288208008,
                0.3544730544090271,
                -0.833514392375946
            ],
            "speed_kmh": 57.31084779143074,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.1263427734375,
                        "y": 3074.68701171875,
                        "z": 356.4779357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.575721740722656,
                "transform": {
                    "location": {
                        "x": -1254.17041015625,
                        "y": 3100.48828125,
                        "z": 348.3067932128906
                    },
                    "rotation": {
                        "roll": 0.024648498743772507,
                        "pitch": 2.75099515914917,
                        "yaw": -0.7823486924171448
                    }
                },
                "velocity": {
                    "x": 7.5663275718688965,
                    "y": -0.10366128385066986,
                    "z": 0.36263710260391235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.257795810699463,
                "transform": {
                    "location": {
                        "x": -1252.7677001953125,
                        "y": 3103.95654296875,
                        "z": 348.37353515625
                    },
                    "rotation": {
                        "roll": 0.014370700344443321,
                        "pitch": 2.797870635986328,
                        "yaw": -0.8394775986671448
                    }
                },
                "velocity": {
                    "x": 7.24834680557251,
                    "y": -0.12303540110588074,
                    "z": 0.3491828143596649
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.837556838989258,
                "transform": {
                    "location": {
                        "x": -1253.2039794921875,
                        "y": 3096.9697265625,
                        "z": 348.3533935546875
                    },
                    "rotation": {
                        "roll": 0.038703691214323044,
                        "pitch": 2.318835496902466,
                        "yaw": -0.8793027997016907
                    }
                },
                "velocity": {
                    "x": 5.829840183258057,
                    "y": -0.09937529265880585,
                    "z": 0.283123642206192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.231351852416992,
                "transform": {
                    "location": {
                        "x": -1253.1715087890625,
                        "y": 3107.44921875,
                        "z": 348.3412170410156
                    },
                    "rotation": {
                        "roll": 0.03155185282230377,
                        "pitch": 2.7832610607147217,
                        "yaw": -0.6368407011032104
                    }
                },
                "velocity": {
                    "x": 6.223543167114258,
                    "y": -0.08175941556692123,
                    "z": 0.3009510040283203
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1076.77197265625,
                        "y": 3075.461181640625,
                        "z": 355.8080749511719
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038437843322754,
                "transform": {
                    "location": {
                        "x": -1212.5521240234375,
                        "y": 3106.59716796875,
                        "z": 350.4250793457031
                    },
                    "rotation": {
                        "roll": 0.0015164024662226439,
                        "pitch": 3.0808181762695312,
                        "yaw": -1.2287901639938354
                    }
                },
                "velocity": {
                    "x": 8.024691581726074,
                    "y": -0.17524518072605133,
                    "z": 0.4359956383705139
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9464263916015625,
                "transform": {
                    "location": {
                        "x": -1212.9210205078125,
                        "y": 3103.104248046875,
                        "z": 350.40081787109375
                    },
                    "rotation": {
                        "roll": 0.009257483296096325,
                        "pitch": 3.1551647186279297,
                        "yaw": -1.2175291776657104
                    }
                },
                "velocity": {
                    "x": 7.932868480682373,
                    "y": -0.17176660895347595,
                    "z": 0.43103376030921936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.898819446563721,
                "transform": {
                    "location": {
                        "x": -1213.03369140625,
                        "y": 3099.607421875,
                        "z": 350.4377136230469
                    },
                    "rotation": {
                        "roll": 0.00360153173096478,
                        "pitch": 3.105078935623169,
                        "yaw": -1.2474974393844604
                    }
                },
                "velocity": {
                    "x": 7.88525915145874,
                    "y": -0.17275267839431763,
                    "z": 0.4291784465312958
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.029888153076172,
                "transform": {
                    "location": {
                        "x": -1213.259521484375,
                        "y": 3096.111572265625,
                        "z": 350.39935302734375
                    },
                    "rotation": {
                        "roll": 0.0017294948920607567,
                        "pitch": 3.1507456302642822,
                        "yaw": -1.2377320528030396
                    }
                },
                "velocity": {
                    "x": 8.0161714553833,
                    "y": -0.1732778251171112,
                    "z": 0.43597784638404846
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1111.11669921875,
                        "y": 3076.228271484375,
                        "z": 354.758544921875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003067970275879,
                "transform": {
                    "location": {
                        "x": -1170.6417236328125,
                        "y": 3105.66455078125,
                        "z": 352.5608215332031
                    },
                    "rotation": {
                        "roll": -0.0003051769745070487,
                        "pitch": 2.4240543842315674,
                        "yaw": -1.2916868925094604
                    }
                },
                "velocity": {
                    "x": 7.993907928466797,
                    "y": -0.17978329956531525,
                    "z": 0.3379497528076172
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.048873901367188,
                "transform": {
                    "location": {
                        "x": -1170.35888671875,
                        "y": 3102.157470703125,
                        "z": 352.5309753417969
                    },
                    "rotation": {
                        "roll": -0.00021362434199545532,
                        "pitch": 2.4226748943328857,
                        "yaw": -1.279724359512329
                    }
                },
                "velocity": {
                    "x": 8.039796829223633,
                    "y": -0.1773950606584549,
                    "z": 0.3384838104248047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9958062171936035,
                "transform": {
                    "location": {
                        "x": -1170.5484619140625,
                        "y": 3098.6611328125,
                        "z": 352.5329895019531
                    },
                    "rotation": {
                        "roll": 0.0001426596863893792,
                        "pitch": 2.4573721885681152,
                        "yaw": -1.278350830078125
                    }
                },
                "velocity": {
                    "x": 7.986719131469727,
                    "y": -0.17817825078964233,
                    "z": 0.3368871212005615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.023388862609863,
                "transform": {
                    "location": {
                        "x": -1170.8055419921875,
                        "y": 3095.165771484375,
                        "z": 352.53411865234375
                    },
                    "rotation": {
                        "roll": -9.155546285910532e-05,
                        "pitch": 2.419567108154297,
                        "yaw": -1.27740478515625
                    }
                },
                "velocity": {
                    "x": 8.014298439025879,
                    "y": -0.17873644828796387,
                    "z": 0.33740103244781494
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.372373580932617,
                "transform": {
                    "location": {
                        "x": -1154.490478515625,
                        "y": 3077.19775390625,
                        "z": 353.1759948730469
                    },
                    "rotation": {
                        "roll": -0.0011596687836572528,
                        "pitch": -2.09863018989563,
                        "yaw": 178.7181396484375
                    }
                },
                "velocity": {
                    "x": -16.357406616210938,
                    "y": 0.3659015893936157,
                    "z": -0.5966333150863647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.91968059539795,
                "transform": {
                    "location": {
                        "x": -1222.001953125,
                        "y": 3078.705810546875,
                        "z": 349.9365539550781
                    },
                    "rotation": {
                        "roll": -0.000701903598383069,
                        "pitch": -3.010767698287964,
                        "yaw": 178.72442626953125
                    }
                },
                "velocity": {
                    "x": -15.893892288208008,
                    "y": 0.3544730544090271,
                    "z": -0.833514392375946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1325.80859375,
                        "y": 3081.70263671875,
                        "z": 345.7958068847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9884580969810486,
                        "yaw": 176.8197784423828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.473369598388672,
                "transform": {
                    "location": {
                        "x": -1250.908203125,
                        "y": 3079.35107421875,
                        "z": 348.4821472167969
                    },
                    "rotation": {
                        "roll": 0.0023802947252988815,
                        "pitch": -2.8214144706726074,
                        "yaw": 178.71347045898438
                    }
                },
                "velocity": {
                    "x": -16.449859619140625,
                    "y": 0.36895376443862915,
                    "z": -0.7986637949943542
                },
                "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": 0.20598360896110535,
        "expert_target_speed": 14.28865577953615,
        "target_point": [
            33.2115977829982,
            0.5795912132944308
        ],
        "target_point_next": [
            84.26547971450475,
            0.8328832457158757
        ]
    },
    "385": {
        "acceleration": [
            -0.20977020263671875,
            -0.2668893337249756,
            0.001474618911743164
        ],
        "angular_velocity": [
            -0.1829216033220291,
            0.3342479169368744,
            1.6519657373428345
        ],
        "forward_vector": [
            -0.9982160329818726,
            0.022406931966543198,
            -0.05534084886312485
        ],
        "right_vector": [
            -0.022507229819893837,
            -0.9997459650039673,
            0.0011896718060597777
        ],
        "location": [
            -1210.0552978515625,
            3078.85400390625,
            350.5862121582031
        ],
        "rotation": [
            -0.0682678073644638,
            -3.1724178791046143,
            178.71409606933594
        ],
        "velocity": [
            -13.744180679321289,
            0.3052644729614258,
            -0.7519527077674866
        ],
        "speed": 13.7475702923928,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.943036079406738,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1225.97509765625,
                3078.794189453125,
                349.72784423828125
            ],
            "velocity": [
                -15.893208503723145,
                0.35216963291168213,
                -0.83427494764328
            ],
            "speed_kmh": 57.30834953365266,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.3109130859375,
                        "y": 3074.780517578125,
                        "z": 356.3866271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.1798834800720215,
                "transform": {
                    "location": {
                        "x": -1252.5306396484375,
                        "y": 3100.46142578125,
                        "z": 348.38568115234375
                    },
                    "rotation": {
                        "roll": 0.027640849351882935,
                        "pitch": 2.6077661514282227,
                        "yaw": -0.9076843857765198
                    }
                },
                "velocity": {
                    "x": 6.171669960021973,
                    "y": -0.10669456422328949,
                    "z": 0.30010786652565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.383673667907715,
                "transform": {
                    "location": {
                        "x": -1251.1207275390625,
                        "y": 3103.928955078125,
                        "z": 348.4530029296875
                    },
                    "rotation": {
                        "roll": 0.014656797982752323,
                        "pitch": 2.850961685180664,
                        "yaw": -0.9382630586624146
                    }
                },
                "velocity": {
                    "x": 6.375192642211914,
                    "y": -0.11098001897335052,
                    "z": 0.3096596300601959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.697939872741699,
                "transform": {
                    "location": {
                        "x": -1251.77197265625,
                        "y": 3096.94482421875,
                        "z": 348.4221496582031
                    },
                    "rotation": {
                        "roll": 0.027842802926898003,
                        "pitch": 2.5880541801452637,
                        "yaw": -0.9742431640625
                    }
                },
                "velocity": {
                    "x": 5.690258026123047,
                    "y": -0.10137011110782623,
                    "z": 0.2778577208518982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.233569622039795,
                "transform": {
                    "location": {
                        "x": -1251.490234375,
                        "y": 3107.42626953125,
                        "z": 348.4228820800781
                    },
                    "rotation": {
                        "roll": 0.025323064997792244,
                        "pitch": 2.8014156818389893,
                        "yaw": -0.7895202040672302
                    }
                },
                "velocity": {
                    "x": 7.224200248718262,
                    "y": -0.11088928580284119,
                    "z": 0.35094717144966125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.92529296875,
                        "y": 3075.553955078125,
                        "z": 355.7044982910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.97976541519165,
                "transform": {
                    "location": {
                        "x": -1210.556396484375,
                        "y": 3106.5537109375,
                        "z": 350.533203125
                    },
                    "rotation": {
                        "roll": 0.00203210161998868,
                        "pitch": 3.0991504192352295,
                        "yaw": -1.244171142578125
                    }
                },
                "velocity": {
                    "x": 7.966127872467041,
                    "y": -0.1754535585641861,
                    "z": 0.43206626176834106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.982148170471191,
                "transform": {
                    "location": {
                        "x": -1210.9434814453125,
                        "y": 3103.0615234375,
                        "z": 350.5082092285156
                    },
                    "rotation": {
                        "roll": 0.00438325759023428,
                        "pitch": 3.1566126346588135,
                        "yaw": -1.258392333984375
                    }
                },
                "velocity": {
                    "x": 7.968510627746582,
                    "y": -0.17438240349292755,
                    "z": 0.4325711727142334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031964302062988,
                "transform": {
                    "location": {
                        "x": -1211.0523681640625,
                        "y": 3099.56396484375,
                        "z": 350.5450744628906
                    },
                    "rotation": {
                        "roll": 0.003772164462134242,
                        "pitch": 3.125828981399536,
                        "yaw": -1.2391663789749146
                    }
                },
                "velocity": {
                    "x": 8.018244743347168,
                    "y": -0.17683717608451843,
                    "z": 0.43466055393218994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.134899139404297,
                "transform": {
                    "location": {
                        "x": -1211.2315673828125,
                        "y": 3096.067138671875,
                        "z": 350.5091247558594
                    },
                    "rotation": {
                        "roll": 0.003271720139309764,
                        "pitch": 3.1908867359161377,
                        "yaw": -1.2502135038375854
                    }
                },
                "velocity": {
                    "x": 8.121026039123535,
                    "y": -0.17736704647541046,
                    "z": 0.44052404165267944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1115.3001708984375,
                        "y": 3076.321533203125,
                        "z": 354.6061706542969
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011686325073242,
                "transform": {
                    "location": {
                        "x": -1168.642822265625,
                        "y": 3105.61962890625,
                        "z": 352.6441345214844
                    },
                    "rotation": {
                        "roll": 0.0006742404657416046,
                        "pitch": 2.3863587379455566,
                        "yaw": -1.2649840116500854
                    }
                },
                "velocity": {
                    "x": 8.003146171569824,
                    "y": -0.17710809409618378,
                    "z": 0.3246687352657318
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.003948211669922,
                "transform": {
                    "location": {
                        "x": -1168.354736328125,
                        "y": 3102.11279296875,
                        "z": 352.6142578125
                    },
                    "rotation": {
                        "roll": 7.391804047074402e-06,
                        "pitch": 2.3710453510284424,
                        "yaw": -1.2758482694625854
                    }
                },
                "velocity": {
                    "x": 7.995400905609131,
                    "y": -0.17826981842517853,
                    "z": 0.32398977875709534
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021557807922363,
                "transform": {
                    "location": {
                        "x": -1168.548583984375,
                        "y": 3098.616455078125,
                        "z": 352.61614990234375
                    },
                    "rotation": {
                        "roll": -0.000854493526276201,
                        "pitch": 2.4165072441101074,
                        "yaw": -1.278289794921875
                    }
                },
                "velocity": {
                    "x": 8.012908935546875,
                    "y": -0.17887738347053528,
                    "z": 0.3266078233718872
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061141967773438,
                "transform": {
                    "location": {
                        "x": -1168.797119140625,
                        "y": 3095.12109375,
                        "z": 352.61749267578125
                    },
                    "rotation": {
                        "roll": 0.0010139300720766187,
                        "pitch": 2.40210223197937,
                        "yaw": -1.278930425643921
                    }
                },
                "velocity": {
                    "x": 8.052478790283203,
                    "y": -0.18071624636650085,
                    "z": 0.32698988914489746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37316131591797,
                "transform": {
                    "location": {
                        "x": -1158.5794677734375,
                        "y": 3077.2890625,
                        "z": 353.026123046875
                    },
                    "rotation": {
                        "roll": -0.0016479487530887127,
                        "pitch": -2.1370773315429688,
                        "yaw": 178.72161865234375
                    }
                },
                "velocity": {
                    "x": -16.357961654663086,
                    "y": 0.36391279101371765,
                    "z": -0.6042018532752991
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.918985366821289,
                "transform": {
                    "location": {
                        "x": -1225.97509765625,
                        "y": 3078.794189453125,
                        "z": 349.72784423828125
                    },
                    "rotation": {
                        "roll": -9.155076986644417e-05,
                        "pitch": -3.017789125442505,
                        "yaw": 178.7235870361328
                    }
                },
                "velocity": {
                    "x": -15.893208503723145,
                    "y": 0.35216963291168213,
                    "z": -0.83427494764328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4542,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1330.051025390625,
                        "y": 3081.947998046875,
                        "z": 345.7320251464844
                    },
                    "rotation": {
                        "roll": 3.335353992994783e-09,
                        "pitch": -0.769775927066803,
                        "yaw": 176.5779571533203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.472454071044922,
                "transform": {
                    "location": {
                        "x": -1255.020751953125,
                        "y": 3079.443115234375,
                        "z": 348.282958984375
                    },
                    "rotation": {
                        "roll": 0.0028821106534451246,
                        "pitch": -2.808922052383423,
                        "yaw": 178.71665954589844
                    }
                },
                "velocity": {
                    "x": -16.449312210083008,
                    "y": 0.3712766468524933,
                    "z": -0.7899497151374817
                },
                "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": 0.19188927114009857,
        "expert_target_speed": 14.349752367834574,
        "target_point": [
            29.781923273247248,
            0.4184391868363739
        ],
        "target_point_next": [
            80.83643309465852,
            0.411804029042633
        ]
    },
    "390": {
        "acceleration": [
            -0.3393363952636719,
            0.25008201599121094,
            0.016394853591918945
        ],
        "angular_velocity": [
            0.43155765533447266,
            0.041524678468704224,
            -1.7065370082855225
        ],
        "forward_vector": [
            -0.9982594847679138,
            0.02203858084976673,
            -0.054702140390872955
        ],
        "right_vector": [
            -0.02208595722913742,
            -0.9997560381889343,
            0.000261662615230307
        ],
        "location": [
            -1213.5,
            3078.929931640625,
            350.39874267578125
        ],
        "rotation": [
            -0.015014645643532276,
            -3.1357669830322266,
            178.73529052734375
        ],
        "velocity": [
            -13.813660621643066,
            0.3241153657436371,
            -0.7480836510658264
        ],
        "speed": 13.817462521760044,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.472322463989258,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1229.9488525390625,
                3078.8828125,
                349.52099609375
            ],
            "velocity": [
                -15.890913009643555,
                0.3568773865699768,
                -0.8158774971961975
            ],
            "speed_kmh": 57.297043331749435,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1291.46435546875,
                        "y": 3101.279541015625,
                        "z": 347.12310791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0140039920806885,
                        "yaw": -1.5909422636032104
                    }
                },
                "velocity": {
                    "x": 8.253382977052581e-10,
                    "y": -2.2923210205028077e-11,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1290.955078125,
                        "y": 3104.76708984375,
                        "z": 347.0626525878906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1291.1492919921875,
                        "y": 3097.76953125,
                        "z": 347.06298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.4649658203125,
                        "y": 3074.873291015625,
                        "z": 356.3246154785156
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.3862810134887695,
                "transform": {
                    "location": {
                        "x": -1250.97998046875,
                        "y": 3100.43408203125,
                        "z": 348.46124267578125
                    },
                    "rotation": {
                        "roll": 0.01883990690112114,
                        "pitch": 2.768494129180908,
                        "yaw": -0.9979553818702698
                    }
                },
                "velocity": {
                    "x": 6.377683639526367,
                    "y": -0.11570462584495544,
                    "z": 0.31040477752685547
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.756811141967773,
                "transform": {
                    "location": {
                        "x": -1249.4976806640625,
                        "y": 3103.90087890625,
                        "z": 348.53277587890625
                    },
                    "rotation": {
                        "roll": 0.014224756509065628,
                        "pitch": 2.7466375827789307,
                        "yaw": -0.9849852323532104
                    }
                },
                "velocity": {
                    "x": 6.74782657623291,
                    "y": -0.1174706518650055,
                    "z": 0.3279290795326233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8003926277160645,
                "transform": {
                    "location": {
                        "x": -1250.0836181640625,
                        "y": 3096.91455078125,
                        "z": 348.501708984375
                    },
                    "rotation": {
                        "roll": 0.020598040893673897,
                        "pitch": 3.302765130996704,
                        "yaw": -1.0198974609375
                    }
                },
                "velocity": {
                    "x": 7.789968490600586,
                    "y": -0.14143727719783783,
                    "z": 0.3775068521499634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.40383243560791,
                "transform": {
                    "location": {
                        "x": -1249.5191650390625,
                        "y": 3107.396240234375,
                        "z": 348.5185546875
                    },
                    "rotation": {
                        "roll": 0.01879490539431572,
                        "pitch": 2.8123984336853027,
                        "yaw": -0.89569091796875
                    }
                },
                "velocity": {
                    "x": 8.392815589904785,
                    "y": -0.1354784220457077,
                    "z": 0.40828269720077515
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1085.0787353515625,
                        "y": 3075.646484375,
                        "z": 355.5945739746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.971173286437988,
                "transform": {
                    "location": {
                        "x": -1208.5672607421875,
                        "y": 3106.51025390625,
                        "z": 350.6414794921875
                    },
                    "rotation": {
                        "roll": 0.00166619464289397,
                        "pitch": 3.1011788845062256,
                        "yaw": -1.256072998046875
                    }
                },
                "velocity": {
                    "x": 7.95723819732666,
                    "y": -0.17606952786445618,
                    "z": 0.436991810798645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.051800727844238,
                "transform": {
                    "location": {
                        "x": -1208.934326171875,
                        "y": 3103.017822265625,
                        "z": 350.61724853515625
                    },
                    "rotation": {
                        "roll": 0.003749170806258917,
                        "pitch": 3.199397087097168,
                        "yaw": -1.2338258028030396
                    }
                },
                "velocity": {
                    "x": 8.037931442260742,
                    "y": -0.17510181665420532,
                    "z": 0.43873557448387146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026681900024414,
                "transform": {
                    "location": {
                        "x": -1209.04052734375,
                        "y": 3099.520263671875,
                        "z": 350.6544494628906
                    },
                    "rotation": {
                        "roll": 0.0006461606826633215,
                        "pitch": 3.131054162979126,
                        "yaw": -1.2665709257125854
                    }
                },
                "velocity": {
                    "x": 8.012711524963379,
                    "y": -0.17521484196186066,
                    "z": 0.43975210189819336
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.965734481811523,
                "transform": {
                    "location": {
                        "x": -1209.2254638671875,
                        "y": 3096.02294921875,
                        "z": 350.6188659667969
                    },
                    "rotation": {
                        "roll": 0.00199633976444602,
                        "pitch": 3.1108710765838623,
                        "yaw": -1.2581785917282104
                    }
                },
                "velocity": {
                    "x": 7.9519829750061035,
                    "y": -0.17460620403289795,
                    "z": 0.4340600371360779
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1119.4212646484375,
                        "y": 3076.413330078125,
                        "z": 354.4559326171875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011996269226074,
                "transform": {
                    "location": {
                        "x": -1166.642333984375,
                        "y": 3105.575439453125,
                        "z": 352.72607421875
                    },
                    "rotation": {
                        "roll": 4.572678153635934e-05,
                        "pitch": 2.2910501956939697,
                        "yaw": -1.286102294921875
                    }
                },
                "velocity": {
                    "x": 8.003475189208984,
                    "y": -0.17966891825199127,
                    "z": 0.3227757215499878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.048555374145508,
                "transform": {
                    "location": {
                        "x": -1166.35107421875,
                        "y": 3102.067626953125,
                        "z": 352.69580078125
                    },
                    "rotation": {
                        "roll": -0.001281740260310471,
                        "pitch": 2.283844470977783,
                        "yaw": -1.28118896484375
                    }
                },
                "velocity": {
                    "x": 8.040165901184082,
                    "y": -0.1799527108669281,
                    "z": 0.3203098177909851
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00057601928711,
                "transform": {
                    "location": {
                        "x": -1166.548828125,
                        "y": 3098.57177734375,
                        "z": 352.69775390625
                    },
                    "rotation": {
                        "roll": -0.0004272467049304396,
                        "pitch": 2.32448410987854,
                        "yaw": -1.2776488065719604
                    }
                },
                "velocity": {
                    "x": 7.9921417236328125,
                    "y": -0.17837980389595032,
                    "z": 0.3210580348968506
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.028526306152344,
                "transform": {
                    "location": {
                        "x": -1166.7890625,
                        "y": 3095.076416015625,
                        "z": 352.6994934082031
                    },
                    "rotation": {
                        "roll": 0.00024402979761362076,
                        "pitch": 2.3047242164611816,
                        "yaw": -1.27606201171875
                    }
                },
                "velocity": {
                    "x": 8.019989013671875,
                    "y": -0.17939412593841553,
                    "z": 0.3237655460834503
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.374557495117188,
                "transform": {
                    "location": {
                        "x": -1162.668701171875,
                        "y": 3077.3798828125,
                        "z": 352.8726806640625
                    },
                    "rotation": {
                        "roll": -0.0006408682675100863,
                        "pitch": -2.182156562805176,
                        "yaw": 178.7267303466797
                    }
                },
                "velocity": {
                    "x": -16.35852813720703,
                    "y": 0.3638710081577301,
                    "z": -0.6263098120689392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.915844917297363,
                "transform": {
                    "location": {
                        "x": -1229.9488525390625,
                        "y": 3078.8828125,
                        "z": 349.52099609375
                    },
                    "rotation": {
                        "roll": 0.0008875104831531644,
                        "pitch": -2.9298095703125,
                        "yaw": 178.72303771972656
                    }
                },
                "velocity": {
                    "x": -15.890913009643555,
                    "y": 0.3568773865699768,
                    "z": -0.8158774971961975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.47077178955078,
                "transform": {
                    "location": {
                        "x": -1259.1336669921875,
                        "y": 3079.53515625,
                        "z": 348.0873718261719
                    },
                    "rotation": {
                        "roll": 0.0010306505719199777,
                        "pitch": -2.7376694679260254,
                        "yaw": 178.719970703125
                    }
                },
                "velocity": {
                    "x": -16.448389053344727,
                    "y": 0.36978957056999207,
                    "z": -0.7746418714523315
                },
                "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": 0.19814690947532654,
        "expert_target_speed": 14.433064624644887,
        "target_point": [
            26.336537033359196,
            0.40731290124732955
        ],
        "target_point_next": [
            77.39104091659289,
            0.3818106116191551
        ]
    },
    "395": {
        "acceleration": [
            -0.4561805725097656,
            0.4069417715072632,
            -0.021511316299438477
        ],
        "angular_velocity": [
            0.3543517291545868,
            0.02840104140341282,
            -1.3332678079605103
        ],
        "forward_vector": [
            -0.9980949759483337,
            0.029042139649391174,
            -0.054433129727840424
        ],
        "right_vector": [
            -0.028998618945479393,
            -0.9995781779289246,
            -0.0015893701929599047
        ],
        "location": [
            -1216.966552734375,
            3079.020751953125,
            350.2108459472656
        ],
        "rotation": [
            0.09119945764541626,
            -3.120330810546875,
            178.3332977294922
        ],
        "velocity": [
            -13.917794227600098,
            0.41145411133766174,
            -0.7546249032020569
        ],
        "speed": 13.923874843144606,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.978363037109375,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1233.92138671875,
                3078.971923828125,
                349.3186340332031
            ],
            "velocity": [
                -15.889383316040039,
                0.355810284614563,
                -0.8078106641769409
            ],
            "speed_kmh": 57.28997756192908,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.40380859375,
                        "y": 3101.224609375,
                        "z": 346.82177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1288.890380859375,
                        "y": 3104.71240234375,
                        "z": 346.8358459472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1289.084228515625,
                        "y": 3097.71484375,
                        "z": 346.8375244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.058741807937622,
                        "yaw": -1.487762451171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.619140625,
                        "y": 3074.9658203125,
                        "z": 356.2561340332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.466123580932617,
                "transform": {
                    "location": {
                        "x": -1249.0625,
                        "y": 3100.398681640625,
                        "z": 348.5545349121094
                    },
                    "rotation": {
                        "roll": 0.015436358749866486,
                        "pitch": 3.1108505725860596,
                        "yaw": -1.048980712890625
                    }
                },
                "velocity": {
                    "x": 8.454683303833008,
                    "y": -0.1565234214067459,
                    "z": 0.4112001657485962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.692774295806885,
                "transform": {
                    "location": {
                        "x": -1247.7215576171875,
                        "y": 3103.867431640625,
                        "z": 348.6195373535156
                    },
                    "rotation": {
                        "roll": 0.009390034712851048,
                        "pitch": 2.7101643085479736,
                        "yaw": -1.048797845840454
                    }
                },
                "velocity": {
                    "x": 7.6820068359375,
                    "y": -0.15330614149570465,
                    "z": 0.37688779830932617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.24244499206543,
                "transform": {
                    "location": {
                        "x": -1248.0531005859375,
                        "y": 3096.876220703125,
                        "z": 348.6007080078125
                    },
                    "rotation": {
                        "roll": 0.025628944858908653,
                        "pitch": 3.2229065895080566,
                        "yaw": -1.09283447265625
                    }
                },
                "velocity": {
                    "x": 8.230965614318848,
                    "y": -0.16323265433311462,
                    "z": 0.4030599892139435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.039104461669922,
                "transform": {
                    "location": {
                        "x": -1247.45166015625,
                        "y": 3107.36083984375,
                        "z": 348.6194763183594
                    },
                    "rotation": {
                        "roll": 0.013451511971652508,
                        "pitch": 2.7939910888671875,
                        "yaw": -1.01092529296875
                    }
                },
                "velocity": {
                    "x": 8.02803897857666,
                    "y": -0.14986255764961243,
                    "z": 0.39412641525268555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1089.232421875,
                        "y": 3075.739501953125,
                        "z": 355.4783020019531
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031536102294922,
                "transform": {
                    "location": {
                        "x": -1206.5679931640625,
                        "y": 3106.4658203125,
                        "z": 350.7510070800781
                    },
                    "rotation": {
                        "roll": 0.0014115679077804089,
                        "pitch": 3.136415958404541,
                        "yaw": -1.2654112577438354
                    }
                },
                "velocity": {
                    "x": 8.017614364624023,
                    "y": -0.17711108922958374,
                    "z": 0.4382440745830536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.960927486419678,
                "transform": {
                    "location": {
                        "x": -1206.9390869140625,
                        "y": 3102.973876953125,
                        "z": 350.7265625
                    },
                    "rotation": {
                        "roll": 0.0015573845012113452,
                        "pitch": 3.194028615951538,
                        "yaw": -1.2726134061813354
                    }
                },
                "velocity": {
                    "x": 7.9471001625061035,
                    "y": -0.174770325422287,
                    "z": 0.4352259635925293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.963424205780029,
                "transform": {
                    "location": {
                        "x": -1207.0501708984375,
                        "y": 3099.475830078125,
                        "z": 350.7634582519531
                    },
                    "rotation": {
                        "roll": 0.0018912325613200665,
                        "pitch": 3.1598706245422363,
                        "yaw": -1.257232666015625
                    }
                },
                "velocity": {
                    "x": 7.949517726898193,
                    "y": -0.17619425058364868,
                    "z": 0.43617919087409973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.036117553710938,
                "transform": {
                    "location": {
                        "x": -1207.2313232421875,
                        "y": 3095.979248046875,
                        "z": 350.7276916503906
                    },
                    "rotation": {
                        "roll": 0.0021672635339200497,
                        "pitch": 3.1674318313598633,
                        "yaw": -1.261535406112671
                    }
                },
                "velocity": {
                    "x": 8.02211856842041,
                    "y": -0.176692932844162,
                    "z": 0.439971387386322
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1123.5738525390625,
                        "y": 3076.506103515625,
                        "z": 354.3045654296875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006492614746094,
                "transform": {
                    "location": {
                        "x": -1164.6422119140625,
                        "y": 3105.530517578125,
                        "z": 352.8058166503906
                    },
                    "rotation": {
                        "roll": 3.950867539970204e-05,
                        "pitch": 2.293536424636841,
                        "yaw": -1.263519287109375
                    }
                },
                "velocity": {
                    "x": 7.998228073120117,
                    "y": -0.17683283984661102,
                    "z": 0.31781741976737976
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.001150131225586,
                "transform": {
                    "location": {
                        "x": -1164.34716796875,
                        "y": 3102.02294921875,
                        "z": 352.7755432128906
                    },
                    "rotation": {
                        "roll": 0.00011042350524803624,
                        "pitch": 2.2912003993988037,
                        "yaw": -1.2795716524124146
                    }
                },
                "velocity": {
                    "x": 7.992812156677246,
                    "y": -0.1800169199705124,
                    "z": 0.3177260458469391
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016679763793945,
                "transform": {
                    "location": {
                        "x": -1164.548828125,
                        "y": 3098.527099609375,
                        "z": 352.77740478515625
                    },
                    "rotation": {
                        "roll": -0.00018310532323084772,
                        "pitch": 2.326812982559204,
                        "yaw": -1.278045654296875
                    }
                },
                "velocity": {
                    "x": 8.008331298828125,
                    "y": -0.17866115272045135,
                    "z": 0.3191574215888977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057757377624512,
                "transform": {
                    "location": {
                        "x": -1164.7803955078125,
                        "y": 3095.031494140625,
                        "z": 352.7799072265625
                    },
                    "rotation": {
                        "roll": 0.0008253231062553823,
                        "pitch": 2.2935774326324463,
                        "yaw": -1.2825927734375
                    }
                },
                "velocity": {
                    "x": 8.049405097961426,
                    "y": -0.1814320683479309,
                    "z": 0.3187686800956726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.377079010009766,
                "transform": {
                    "location": {
                        "x": -1166.7574462890625,
                        "y": 3077.471435546875,
                        "z": 352.7123107910156
                    },
                    "rotation": {
                        "roll": -0.0015563960187137127,
                        "pitch": -2.3123741149902344,
                        "yaw": 178.72181701660156
                    }
                },
                "velocity": {
                    "x": -16.359874725341797,
                    "y": 0.3631911277770996,
                    "z": -0.656728982925415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.9138822555542,
                "transform": {
                    "location": {
                        "x": -1233.92138671875,
                        "y": 3078.971923828125,
                        "z": 349.3186340332031
                    },
                    "rotation": {
                        "roll": 0.00042263060458935797,
                        "pitch": -2.9223577976226807,
                        "yaw": 178.7154998779297
                    }
                },
                "velocity": {
                    "x": -15.889383316040039,
                    "y": 0.355810284614563,
                    "z": -0.8078106641769409
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.468313217163086,
                "transform": {
                    "location": {
                        "x": -1263.2462158203125,
                        "y": 3079.627197265625,
                        "z": 347.8951416015625
                    },
                    "rotation": {
                        "roll": -0.002136227674782276,
                        "pitch": -2.6784584522247314,
                        "yaw": 178.7227020263672
                    }
                },
                "velocity": {
                    "x": -16.44705581665039,
                    "y": 0.3670179545879364,
                    "z": -0.751646101474762
                },
                "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": 0.226095512509346,
        "expert_target_speed": 14.54449328334495,
        "target_point": [
            22.865303637171916,
            0.5820284289954678
        ],
        "target_point_next": [
            73.91872998627791,
            0.9147071723932025
        ]
    },
    "400": {
        "acceleration": [
            -0.6159591674804688,
            -0.010013580322265625,
            0.05107998847961426
        ],
        "angular_velocity": [
            -0.2963641881942749,
            0.3587247431278229,
            -0.21979808807373047
        ],
        "forward_vector": [
            -0.9980576634407043,
            0.03340205177664757,
            -0.0525854118168354
        ],
        "right_vector": [
            -0.03335737809538841,
            -0.9994419813156128,
            -0.0017271918477490544
        ],
        "location": [
            -1220.4638671875,
            3079.130859375,
            350.0233154296875
        ],
        "rotation": [
            0.09909795224666595,
            -3.014312505722046,
            178.08319091796875
        ],
        "velocity": [
            -14.054657936096191,
            0.4550064504146576,
            -0.745297372341156
        ],
        "speed": 14.062021212136989,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.453388214111328,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1237.8935546875,
                3079.060546875,
                349.11676025390625
            ],
            "velocity": [
                -15.886493682861328,
                0.35466307401657104,
                -0.7945175766944885
            ],
            "speed_kmh": 57.277088996587196,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1287.3223876953125,
                        "y": 3101.173583984375,
                        "z": 346.8949279785156
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1286.8089599609375,
                        "y": 3104.662353515625,
                        "z": 346.9093017578125
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1287.0029296875,
                        "y": 3097.66455078125,
                        "z": 346.9096374511719
                    },
                    "rotation": {
                        "roll": 1.6687160542261381e-09,
                        "pitch": 2.1635990142822266,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.7425537109375,
                        "y": 3075.05810546875,
                        "z": 356.1822509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.928420066833496,
                "transform": {
                    "location": {
                        "x": -1247.0062255859375,
                        "y": 3100.3583984375,
                        "z": 348.6549072265625
                    },
                    "rotation": {
                        "roll": 0.014019472524523735,
                        "pitch": 2.831407070159912,
                        "yaw": -1.1365050077438354
                    }
                },
                "velocity": {
                    "x": 7.917298316955566,
                    "y": -0.16029790043830872,
                    "z": 0.38799262046813965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.54366397857666,
                "transform": {
                    "location": {
                        "x": -1245.606689453125,
                        "y": 3103.825927734375,
                        "z": 348.7235107421875
                    },
                    "rotation": {
                        "roll": 0.0058431606739759445,
                        "pitch": 2.7263996601104736,
                        "yaw": -1.141326665878296
                    }
                },
                "velocity": {
                    "x": 8.531563758850098,
                    "y": -0.17288075387477875,
                    "z": 0.42038312554359436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.853069305419922,
                "transform": {
                    "location": {
                        "x": -1246.051513671875,
                        "y": 3096.836181640625,
                        "z": 348.7001953125
                    },
                    "rotation": {
                        "roll": 0.017095042392611504,
                        "pitch": 2.902550220489502,
                        "yaw": -1.1572569608688354
                    }
                },
                "velocity": {
                    "x": 7.84196138381958,
                    "y": -0.16075387597084045,
                    "z": 0.3853612542152405
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9003071784973145,
                "transform": {
                    "location": {
                        "x": -1245.4852294921875,
                        "y": 3107.323974609375,
                        "z": 348.71588134765625
                    },
                    "rotation": {
                        "roll": 0.010022480972111225,
                        "pitch": 2.82778000831604,
                        "yaw": -1.110870361328125
                    }
                },
                "velocity": {
                    "x": 7.889248371124268,
                    "y": -0.15608085691928864,
                    "z": 0.3876323699951172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1093.38623046875,
                        "y": 3075.83251953125,
                        "z": 355.3558044433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.95344352722168,
                "transform": {
                    "location": {
                        "x": -1204.574462890625,
                        "y": 3106.421875,
                        "z": 350.86077880859375
                    },
                    "rotation": {
                        "roll": 0.0017045184504240751,
                        "pitch": 3.141026258468628,
                        "yaw": -1.264892578125
                    }
                },
                "velocity": {
                    "x": 7.9395952224731445,
                    "y": -0.17342086136341095,
                    "z": 0.4359089434146881
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022870063781738,
                "transform": {
                    "location": {
                        "x": -1204.945068359375,
                        "y": 3102.929931640625,
                        "z": 350.8362121582031
                    },
                    "rotation": {
                        "roll": 0.0031283856369554996,
                        "pitch": 3.224156379699707,
                        "yaw": -1.253173828125
                    }
                },
                "velocity": {
                    "x": 8.008779525756836,
                    "y": -0.1772681325674057,
                    "z": 0.44098371267318726
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033604621887207,
                "transform": {
                    "location": {
                        "x": -1205.0523681640625,
                        "y": 3099.431396484375,
                        "z": 350.8733215332031
                    },
                    "rotation": {
                        "roll": 3.490480230539106e-05,
                        "pitch": 3.1726157665252686,
                        "yaw": -1.2952269315719604
                    }
                },
                "velocity": {
                    "x": 8.019448280334473,
                    "y": -0.1810007244348526,
                    "z": 0.4410175085067749
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.048308372497559,
                "transform": {
                    "location": {
                        "x": -1205.22119140625,
                        "y": 3095.934814453125,
                        "z": 350.837890625
                    },
                    "rotation": {
                        "roll": 0.00164166244212538,
                        "pitch": 3.2088704109191895,
                        "yaw": -1.269836664199829
                    }
                },
                "velocity": {
                    "x": 8.03409481048584,
                    "y": -0.1791943907737732,
                    "z": 0.4432498812675476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1127.726806640625,
                        "y": 3076.598876953125,
                        "z": 354.1531066894531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014057159423828,
                "transform": {
                    "location": {
                        "x": -1162.64208984375,
                        "y": 3105.486083984375,
                        "z": 352.8838195800781
                    },
                    "rotation": {
                        "roll": 0.0005366045515984297,
                        "pitch": 2.2253506183624268,
                        "yaw": -1.2917174100875854
                    }
                },
                "velocity": {
                    "x": 8.00611400604248,
                    "y": -0.1812943071126938,
                    "z": 0.30721521377563477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05332088470459,
                "transform": {
                    "location": {
                        "x": -1162.342529296875,
                        "y": 3101.978759765625,
                        "z": 352.8535461425781
                    },
                    "rotation": {
                        "roll": 5.4238156735664234e-05,
                        "pitch": 2.206362724304199,
                        "yaw": -1.2753602266311646
                    }
                },
                "velocity": {
                    "x": 8.045487403869629,
                    "y": -0.18073439598083496,
                    "z": 0.3057018518447876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005309104919434,
                "transform": {
                    "location": {
                        "x": -1162.5484619140625,
                        "y": 3098.482421875,
                        "z": 352.8552551269531
                    },
                    "rotation": {
                        "roll": 0.0002503122668713331,
                        "pitch": 2.2517082691192627,
                        "yaw": -1.2795103788375854
                    }
                },
                "velocity": {
                    "x": 7.997463226318359,
                    "y": -0.17765814065933228,
                    "z": 0.3065795600414276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.031527519226074,
                "transform": {
                    "location": {
                        "x": -1162.771484375,
                        "y": 3094.986572265625,
                        "z": 352.85797119140625
                    },
                    "rotation": {
                        "roll": -0.00115966668818146,
                        "pitch": 2.241633892059326,
                        "yaw": -1.280700445175171
                    }
                },
                "velocity": {
                    "x": 8.023717880249023,
                    "y": -0.17901873588562012,
                    "z": 0.3055025637149811
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37989044189453,
                "transform": {
                    "location": {
                        "x": -1170.8465576171875,
                        "y": 3077.562744140625,
                        "z": 352.544677734375
                    },
                    "rotation": {
                        "roll": 6.488898361567408e-05,
                        "pitch": -2.4410958290100098,
                        "yaw": 178.72080993652344
                    }
                },
                "velocity": {
                    "x": -16.36152458190918,
                    "y": 0.3652309775352478,
                    "z": -0.68404221534729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.91030216217041,
                "transform": {
                    "location": {
                        "x": -1237.8935546875,
                        "y": 3079.060546875,
                        "z": 349.11676025390625
                    },
                    "rotation": {
                        "roll": -0.001342775416560471,
                        "pitch": -2.90081524848938,
                        "yaw": 178.7216339111328
                    }
                },
                "velocity": {
                    "x": -15.886493682861328,
                    "y": 0.35466307401657104,
                    "z": -0.7945175766944885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.465423583984375,
                "transform": {
                    "location": {
                        "x": -1267.358642578125,
                        "y": 3079.718994140625,
                        "z": 347.7106628417969
                    },
                    "rotation": {
                        "roll": 0.0014038908993825316,
                        "pitch": -2.5691208839416504,
                        "yaw": 178.71893310546875
                    }
                },
                "velocity": {
                    "x": -16.445356369018555,
                    "y": 0.36752912402153015,
                    "z": -0.7248103022575378
                },
                "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": 0.24366334080696106,
        "expert_target_speed": 14.67905663623077,
        "target_point": [
            19.36350452518638,
            0.6749068292082385
        ],
        "target_point_next": [
            70.41499212399225,
            1.230452577882036
        ]
    },
    "405": {
        "acceleration": [
            -0.6951713562011719,
            -0.294610857963562,
            -0.02958059310913086
        ],
        "angular_velocity": [
            -0.441112220287323,
            0.033880565315485,
            1.7501741647720337
        ],
        "forward_vector": [
            -0.9982224106788635,
            0.028810271993279457,
            -0.052173156291246414
        ],
        "right_vector": [
            -0.028852730989456177,
            -0.9995836615562439,
            6.063736145733856e-05
        ],
        "location": [
            -1223.9993896484375,
            3079.239013671875,
            349.8373718261719
        ],
        "rotation": [
            -0.003479003207758069,
            -2.990659713745117,
            178.34681701660156
        ],
        "velocity": [
            -14.223341941833496,
            0.40139392018318176,
            -0.7461655735969543
        ],
        "speed": 14.229004640995795,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.889385223388672,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1241.864990234375,
                3079.1494140625,
                348.9195556640625
            ],
            "velocity": [
                -15.882734298706055,
                0.3539619445800781,
                -0.7831414341926575
            ],
            "speed_kmh": 57.261488234608464,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.129733085632324,
                "transform": {
                    "location": {
                        "x": -1285.2926025390625,
                        "y": 3101.137939453125,
                        "z": 346.96490478515625
                    },
                    "rotation": {
                        "roll": -0.0676269382238388,
                        "pitch": 2.1240384578704834,
                        "yaw": -0.8900145888328552
                    }
                },
                "velocity": {
                    "x": 8.124152183532715,
                    "y": -0.09417442977428436,
                    "z": 0.28609368205070496
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9796271324157715,
                "transform": {
                    "location": {
                        "x": -1284.7606201171875,
                        "y": 3104.62060546875,
                        "z": 346.9837951660156
                    },
                    "rotation": {
                        "roll": -0.035400390625,
                        "pitch": 2.124892234802246,
                        "yaw": -1.0545958280563354
                    }
                },
                "velocity": {
                    "x": 7.97314453125,
                    "y": -0.10421013832092285,
                    "z": 0.30423250794410706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.905313968658447,
                "transform": {
                    "location": {
                        "x": -1284.990966796875,
                        "y": 3097.6337890625,
                        "z": 346.9795227050781
                    },
                    "rotation": {
                        "roll": -0.010925292037427425,
                        "pitch": 2.171726942062378,
                        "yaw": -0.785400390625
                    }
                },
                "velocity": {
                    "x": 7.899580001831055,
                    "y": -0.09337864816188812,
                    "z": 0.28619185090065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.8973388671875,
                        "y": 3075.151123046875,
                        "z": 356.1042175292969
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.911917209625244,
                "transform": {
                    "location": {
                        "x": -1245.05615234375,
                        "y": 3100.318359375,
                        "z": 348.7506103515625
                    },
                    "rotation": {
                        "roll": 0.008797391317784786,
                        "pitch": 2.8516037464141846,
                        "yaw": -1.178527593612671
                    }
                },
                "velocity": {
                    "x": 7.900604724884033,
                    "y": -0.16361212730407715,
                    "z": 0.39000868797302246
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.816969871520996,
                "transform": {
                    "location": {
                        "x": -1243.5728759765625,
                        "y": 3103.78466796875,
                        "z": 348.82281494140625
                    },
                    "rotation": {
                        "roll": 0.004787561949342489,
                        "pitch": 2.8646085262298584,
                        "yaw": -1.1593018770217896
                    }
                },
                "velocity": {
                    "x": 7.805699348449707,
                    "y": -0.16321714222431183,
                    "z": 0.3865683674812317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046544075012207,
                "transform": {
                    "location": {
                        "x": -1244.07763671875,
                        "y": 3096.795654296875,
                        "z": 348.79742431640625
                    },
                    "rotation": {
                        "roll": 0.010619785636663437,
                        "pitch": 2.930349111557007,
                        "yaw": -1.17724609375
                    }
                },
                "velocity": {
                    "x": 8.035036087036133,
                    "y": -0.16628609597682953,
                    "z": 0.39674535393714905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.348904609680176,
                "transform": {
                    "location": {
                        "x": -1243.47607421875,
                        "y": 3107.283935546875,
                        "z": 348.8150634765625
                    },
                    "rotation": {
                        "roll": 0.006128039676696062,
                        "pitch": 2.841317653656006,
                        "yaw": -1.155731201171875
                    }
                },
                "velocity": {
                    "x": 8.336979866027832,
                    "y": -0.171378493309021,
                    "z": 0.41181686520576477
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1097.509033203125,
                        "y": 3075.924072265625,
                        "z": 355.22796630859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026618957519531,
                "transform": {
                    "location": {
                        "x": -1202.5799560546875,
                        "y": 3106.377685546875,
                        "z": 350.9706115722656
                    },
                    "rotation": {
                        "roll": 0.00016419713210780174,
                        "pitch": 3.1362383365631104,
                        "yaw": -1.2703551054000854
                    }
                },
                "velocity": {
                    "x": 8.012454986572266,
                    "y": -0.181253582239151,
                    "z": 0.4408295452594757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.003216743469238,
                "transform": {
                    "location": {
                        "x": -1202.9432373046875,
                        "y": 3102.885498046875,
                        "z": 350.94659423828125
                    },
                    "rotation": {
                        "roll": 0.002216722583398223,
                        "pitch": 3.2161104679107666,
                        "yaw": -1.287689208984375
                    }
                },
                "velocity": {
                    "x": 7.98909854888916,
                    "y": -0.17947955429553986,
                    "z": 0.43996840715408325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.991610050201416,
                "transform": {
                    "location": {
                        "x": -1203.052001953125,
                        "y": 3099.386474609375,
                        "z": 350.9835510253906
                    },
                    "rotation": {
                        "roll": 0.0005951941129751503,
                        "pitch": 3.1646244525909424,
                        "yaw": -1.2702635526657104
                    }
                },
                "velocity": {
                    "x": 7.977487564086914,
                    "y": -0.1786678582429886,
                    "z": 0.44000470638275146
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.036738395690918,
                "transform": {
                    "location": {
                        "x": -1203.2144775390625,
                        "y": 3095.89013671875,
                        "z": 350.9488220214844
                    },
                    "rotation": {
                        "roll": 0.0010097884805873036,
                        "pitch": 3.177028179168701,
                        "yaw": -1.2792357206344604
                    }
                },
                "velocity": {
                    "x": 8.02254581451416,
                    "y": -0.1791713982820511,
                    "z": 0.4425133466720581
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1131.8800048828125,
                        "y": 3076.692138671875,
                        "z": 354.001708984375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010640144348145,
                "transform": {
                    "location": {
                        "x": -1160.6414794921875,
                        "y": 3105.441162109375,
                        "z": 352.96063232421875
                    },
                    "rotation": {
                        "roll": 0.0014799011405557394,
                        "pitch": 2.153592586517334,
                        "yaw": -1.2658997774124146
                    }
                },
                "velocity": {
                    "x": 8.003034591674805,
                    "y": -0.17699936032295227,
                    "z": 0.3007757365703583
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.000146865844727,
                "transform": {
                    "location": {
                        "x": -1160.338623046875,
                        "y": 3101.93408203125,
                        "z": 352.9298400878906
                    },
                    "rotation": {
                        "roll": -0.00042724638478830457,
                        "pitch": 2.151543617248535,
                        "yaw": -1.276824951171875
                    }
                },
                "velocity": {
                    "x": 7.992551326751709,
                    "y": -0.17815521359443665,
                    "z": 0.29955095052719116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017322540283203,
                "transform": {
                    "location": {
                        "x": -1160.54833984375,
                        "y": 3098.437744140625,
                        "z": 352.93170166015625
                    },
                    "rotation": {
                        "roll": 0.001607271027751267,
                        "pitch": 2.1857969760894775,
                        "yaw": -1.2810667753219604
                    }
                },
                "velocity": {
                    "x": 8.009684562683105,
                    "y": -0.18080385029315948,
                    "z": 0.299552857875824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.060285568237305,
                "transform": {
                    "location": {
                        "x": -1160.762939453125,
                        "y": 3094.94189453125,
                        "z": 352.93505859375
                    },
                    "rotation": {
                        "roll": 0.0011797042097896338,
                        "pitch": 2.1554300785064697,
                        "yaw": -1.2801817655563354
                    }
                },
                "velocity": {
                    "x": 8.052539825439453,
                    "y": -0.18013350665569305,
                    "z": 0.3039010763168335
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.38225555419922,
                "transform": {
                    "location": {
                        "x": -1174.9364013671875,
                        "y": 3077.654052734375,
                        "z": 352.36944580078125
                    },
                    "rotation": {
                        "roll": -0.000946042244322598,
                        "pitch": -2.515380859375,
                        "yaw": 178.72421264648438
                    }
                },
                "velocity": {
                    "x": -16.362632751464844,
                    "y": 0.3659496307373047,
                    "z": -0.7131955027580261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.90596866607666,
                "transform": {
                    "location": {
                        "x": -1241.864990234375,
                        "y": 3079.1494140625,
                        "z": 348.9195556640625
                    },
                    "rotation": {
                        "roll": -0.0008239695453085005,
                        "pitch": -2.825655937194824,
                        "yaw": 178.723876953125
                    }
                },
                "velocity": {
                    "x": -15.882734298706055,
                    "y": 0.3539619445800781,
                    "z": -0.7831414341926575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.46221160888672,
                "transform": {
                    "location": {
                        "x": -1271.470703125,
                        "y": 3079.810791015625,
                        "z": 347.53131103515625
                    },
                    "rotation": {
                        "roll": -0.0004882794455625117,
                        "pitch": -2.4769270420074463,
                        "yaw": 178.72100830078125
                    }
                },
                "velocity": {
                    "x": -16.44319725036621,
                    "y": 0.36577650904655457,
                    "z": -0.7013573050498962
                },
                "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": 0.2455071657896042,
        "expert_target_speed": 14.835685966120227,
        "target_point": [
            15.82923375196392,
            0.5919200558036727
        ],
        "target_point_next": [
            66.882737049651,
            0.9125727697388906
        ]
    },
    "410": {
        "acceleration": [
            -0.6898880004882812,
            -0.3895688056945801,
            0.09893178939819336
        ],
        "angular_velocity": [
            -0.30820709466934204,
            0.32782500982284546,
            1.4660131931304932
        ],
        "forward_vector": [
            -0.9984112977981567,
            0.02181020937860012,
            -0.051952920854091644
        ],
        "right_vector": [
            -0.02192557230591774,
            -0.999758243560791,
            0.0016515884781256318
        ],
        "location": [
            -1227.577880859375,
            3079.3291015625,
            349.64959716796875
        ],
        "rotation": [
            -0.09475705772638321,
            -2.9780237674713135,
            178.7485809326172
        ],
        "velocity": [
            -14.397358894348145,
            0.3112640976905823,
            -0.7500880360603333
        ],
        "speed": 14.400723192644762,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.281131744384766,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1245.8353271484375,
                3079.23779296875,
                348.72381591796875
            ],
            "velocity": [
                -15.879501342773438,
                0.35390281677246094,
                -0.7836571931838989
            ],
            "speed_kmh": 57.24995332653976,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8263421058654785,
                "transform": {
                    "location": {
                        "x": -1283.2999267578125,
                        "y": 3101.115234375,
                        "z": 347.0371398925781
                    },
                    "rotation": {
                        "roll": 0.0017415030160918832,
                        "pitch": 2.215221405029297,
                        "yaw": -0.6505126953125
                    }
                },
                "velocity": {
                    "x": 7.820187091827393,
                    "y": -0.10117180645465851,
                    "z": 0.29336899518966675
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.102944374084473,
                "transform": {
                    "location": {
                        "x": -1282.750244140625,
                        "y": 3104.59375,
                        "z": 347.0615539550781
                    },
                    "rotation": {
                        "roll": 0.026087820529937744,
                        "pitch": 2.2172021865844727,
                        "yaw": -0.6763917207717896
                    }
                },
                "velocity": {
                    "x": 8.096043586730957,
                    "y": -0.10119275748729706,
                    "z": 0.3186591863632202
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.995859622955322,
                "transform": {
                    "location": {
                        "x": -1283.0040283203125,
                        "y": 3097.610595703125,
                        "z": 347.0538635253906
                    },
                    "rotation": {
                        "roll": 0.02188979834318161,
                        "pitch": 2.2381436824798584,
                        "yaw": -0.689453125
                    }
                },
                "velocity": {
                    "x": 7.989201068878174,
                    "y": -0.10475226491689682,
                    "z": 0.30896586179733276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.021728515625,
                        "y": 3075.2431640625,
                        "z": 356.0240173339844
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.164156913757324,
                "transform": {
                    "location": {
                        "x": -1243.028564453125,
                        "y": 3100.275634765625,
                        "z": 348.85089111328125
                    },
                    "rotation": {
                        "roll": 0.007652909029275179,
                        "pitch": 2.8925576210021973,
                        "yaw": -1.2137451171875
                    }
                },
                "velocity": {
                    "x": 8.152295112609863,
                    "y": -0.17502304911613464,
                    "z": 0.4036199152469635
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977929592132568,
                "transform": {
                    "location": {
                        "x": -1241.619873046875,
                        "y": 3103.74365234375,
                        "z": 348.9197082519531
                    },
                    "rotation": {
                        "roll": 0.002760737668722868,
                        "pitch": 2.8168039321899414,
                        "yaw": -1.202178955078125
                    }
                },
                "velocity": {
                    "x": 7.96644401550293,
                    "y": -0.16919711232185364,
                    "z": 0.39307036995887756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.047943115234375,
                "transform": {
                    "location": {
                        "x": -1242.056640625,
                        "y": 3096.752685546875,
                        "z": 348.89739990234375
                    },
                    "rotation": {
                        "roll": 0.010680659674108028,
                        "pitch": 2.914537191390991,
                        "yaw": -1.2196043729782104
                    }
                },
                "velocity": {
                    "x": 8.036243438720703,
                    "y": -0.17416416108608246,
                    "z": 0.3973037004470825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.140708923339844,
                "transform": {
                    "location": {
                        "x": -1241.4056396484375,
                        "y": 3107.240966796875,
                        "z": 348.91754150390625
                    },
                    "rotation": {
                        "roll": 0.003685485804453492,
                        "pitch": 2.829911231994629,
                        "yaw": -1.2068480253219604
                    }
                },
                "velocity": {
                    "x": 8.128971099853516,
                    "y": -0.17282578349113464,
                    "z": 0.40138229727745056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1101.6632080078125,
                        "y": 3076.01708984375,
                        "z": 355.0919494628906
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9635009765625,
                "transform": {
                    "location": {
                        "x": -1200.5848388671875,
                        "y": 3106.3330078125,
                        "z": 351.0794372558594
                    },
                    "rotation": {
                        "roll": -0.0003357006062287837,
                        "pitch": 3.0995123386383057,
                        "yaw": -1.2774354219436646
                    }
                },
                "velocity": {
                    "x": 7.949851036071777,
                    "y": -0.1774558424949646,
                    "z": 0.4309574067592621
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.99326229095459,
                "transform": {
                    "location": {
                        "x": -1200.9495849609375,
                        "y": 3102.8408203125,
                        "z": 351.05560302734375
                    },
                    "rotation": {
                        "roll": 0.0014353110454976559,
                        "pitch": 3.176590919494629,
                        "yaw": -1.26177978515625
                    }
                },
                "velocity": {
                    "x": 7.979481220245361,
                    "y": -0.17626765370368958,
                    "z": 0.43480145931243896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.001367568969727,
                "transform": {
                    "location": {
                        "x": -1201.0582275390625,
                        "y": 3099.342041015625,
                        "z": 351.0925598144531
                    },
                    "rotation": {
                        "roll": -0.0005798377096652985,
                        "pitch": 3.131498098373413,
                        "yaw": -1.2935181856155396
                    }
                },
                "velocity": {
                    "x": 7.987699508666992,
                    "y": -0.17843016982078552,
                    "z": 0.43209707736968994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.012849807739258,
                "transform": {
                    "location": {
                        "x": -1201.2132568359375,
                        "y": 3095.845458984375,
                        "z": 351.0584411621094
                    },
                    "rotation": {
                        "roll": -0.0006713883485645056,
                        "pitch": 3.147282600402832,
                        "yaw": -1.2839049100875854
                    }
                },
                "velocity": {
                    "x": 7.999110698699951,
                    "y": -0.17922905087471008,
                    "z": 0.43344321846961975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1136.002685546875,
                        "y": 3076.783935546875,
                        "z": 353.8513488769531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.599609375,
                        "y": 3105.322998046875,
                        "z": 353.01312255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.303466796875,
                        "y": 3101.87109375,
                        "z": 353.00750732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1158.5318603515625,
                        "y": 3098.38330078125,
                        "z": 353.00732421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.031888961791992,
                "transform": {
                    "location": {
                        "x": -1158.7535400390625,
                        "y": 3094.896728515625,
                        "z": 353.01019287109375
                    },
                    "rotation": {
                        "roll": -6.103315172367729e-05,
                        "pitch": 2.160101890563965,
                        "yaw": -1.2791441679000854
                    }
                },
                "velocity": {
                    "x": 8.024374961853027,
                    "y": -0.179136723279953,
                    "z": 0.2975805401802063
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.38431167602539,
                "transform": {
                    "location": {
                        "x": -1179.026611328125,
                        "y": 3077.74560546875,
                        "z": 352.1875305175781
                    },
                    "rotation": {
                        "roll": 0.0004975075135007501,
                        "pitch": -2.589228868484497,
                        "yaw": 178.7144317626953
                    }
                },
                "velocity": {
                    "x": -16.36334228515625,
                    "y": 0.36660289764404297,
                    "z": -0.7431478500366211
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.902765274047852,
                "transform": {
                    "location": {
                        "x": -1245.8353271484375,
                        "y": 3079.23779296875,
                        "z": 348.72381591796875
                    },
                    "rotation": {
                        "roll": -6.102934275986627e-05,
                        "pitch": -2.832854986190796,
                        "yaw": 178.72354125976562
                    }
                },
                "velocity": {
                    "x": -15.879501342773438,
                    "y": 0.35390281677246094,
                    "z": -0.7836571931838989
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45979118347168,
                "transform": {
                    "location": {
                        "x": -1275.5819091796875,
                        "y": 3079.90234375,
                        "z": 347.3596496582031
                    },
                    "rotation": {
                        "roll": 0.00029858722700737417,
                        "pitch": -2.406794548034668,
                        "yaw": 178.72238159179688
                    }
                },
                "velocity": {
                    "x": -16.441694259643555,
                    "y": 0.3682030439376831,
                    "z": -0.67813640832901
                },
                "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": 0.22133854031562805,
        "expert_target_speed": 14.993970853296936,
        "target_point": [
            12.253390116613964,
            0.49282066993974427
        ],
        "target_point_next": [
            63.3078867011315,
            0.4554625197322557
        ]
    },
    "415": {
        "acceleration": [
            -0.6651878356933594,
            -0.4417416453361511,
            0.018988847732543945
        ],
        "angular_velocity": [
            -0.2009052336215973,
            0.060354482382535934,
            1.8235673904418945
        ],
        "forward_vector": [
            -0.9986258745193481,
            0.014514484442770481,
            -0.05035558342933655
        ],
        "right_vector": [
            -0.014669077470898628,
            -0.9998887777328491,
            0.002701804041862488
        ],
        "location": [
            -1231.2000732421875,
            3079.39453125,
            349.4627380371094
        ],
        "rotation": [
            -0.1549987941980362,
            -2.886383056640625,
            179.16729736328125
        ],
        "velocity": [
            -14.565682411193848,
            0.20839005708694458,
            -0.7426222562789917
        ],
        "speed": 14.567173044886044,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.62862777709961,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1249.80517578125,
                3079.326416015625,
                348.529296875
            ],
            "velocity": [
                -15.876421928405762,
                0.35750463604927063,
                -0.7729899287223816
            ],
            "speed_kmh": 57.23729385038502,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.126953125,
                        "y": 3074.68701171875,
                        "z": 356.4779357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6442575454711914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.916222095489502,
                "transform": {
                    "location": {
                        "x": -1281.3331298828125,
                        "y": 3101.088134765625,
                        "z": 347.1127014160156
                    },
                    "rotation": {
                        "roll": 0.024716435000300407,
                        "pitch": 2.2304186820983887,
                        "yaw": -0.800201416015625
                    }
                },
                "velocity": {
                    "x": 7.909455299377441,
                    "y": -0.116055428981781,
                    "z": 0.30597439408302307
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.775302410125732,
                "transform": {
                    "location": {
                        "x": -1280.7685546875,
                        "y": 3104.568115234375,
                        "z": 347.13916015625
                    },
                    "rotation": {
                        "roll": 0.05793779715895653,
                        "pitch": 2.2410805225372314,
                        "yaw": -0.693267822265625
                    }
                },
                "velocity": {
                    "x": 7.768674850463867,
                    "y": -0.1011156365275383,
                    "z": 0.30461767315864563
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.685542583465576,
                "transform": {
                    "location": {
                        "x": -1281.0469970703125,
                        "y": 3097.5830078125,
                        "z": 347.1300354003906
                    },
                    "rotation": {
                        "roll": 0.020915284752845764,
                        "pitch": 2.224565267562866,
                        "yaw": -0.81884765625
                    }
                },
                "velocity": {
                    "x": 7.678898811340332,
                    "y": -0.1122293472290039,
                    "z": 0.2991344928741455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.1461181640625,
                        "y": 3075.335205078125,
                        "z": 355.9366455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.906447887420654,
                "transform": {
                    "location": {
                        "x": -1241.0286865234375,
                        "y": 3100.232177734375,
                        "z": 348.9496765136719
                    },
                    "rotation": {
                        "roll": 0.0045499955303967,
                        "pitch": 2.8230466842651367,
                        "yaw": -1.2409363985061646
                    }
                },
                "velocity": {
                    "x": 7.894882678985596,
                    "y": -0.17229995131492615,
                    "z": 0.3912266492843628
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.051637649536133,
                "transform": {
                    "location": {
                        "x": -1239.6068115234375,
                        "y": 3103.700439453125,
                        "z": 349.019287109375
                    },
                    "rotation": {
                        "roll": 0.002420727163553238,
                        "pitch": 2.801818609237671,
                        "yaw": -1.2259520292282104
                    }
                },
                "velocity": {
                    "x": 8.039992332458496,
                    "y": -0.17234474420547485,
                    "z": 0.3971031904220581
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.934884548187256,
                "transform": {
                    "location": {
                        "x": -1240.0703125,
                        "y": 3096.7099609375,
                        "z": 348.9957275390625
                    },
                    "rotation": {
                        "roll": 0.005157455336302519,
                        "pitch": 2.8588643074035645,
                        "yaw": -1.2321776151657104
                    }
                },
                "velocity": {
                    "x": 7.923367977142334,
                    "y": -0.17049825191497803,
                    "z": 0.3918772041797638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.943656921386719,
                "transform": {
                    "location": {
                        "x": -1239.4051513671875,
                        "y": 3107.197998046875,
                        "z": 349.016357421875
                    },
                    "rotation": {
                        "roll": 0.0021513260435312986,
                        "pitch": 2.8251640796661377,
                        "yaw": -1.2371212244033813
                    }
                },
                "velocity": {
                    "x": 7.9320807456970215,
                    "y": -0.17216676473617554,
                    "z": 0.3926100730895996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1105.755615234375,
                        "y": 3076.1083984375,
                        "z": 354.9510192871094
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.022318840026855,
                "transform": {
                    "location": {
                        "x": -1198.5902099609375,
                        "y": 3106.2890625,
                        "z": 351.18768310546875
                    },
                    "rotation": {
                        "roll": 0.0008248210651800036,
                        "pitch": 3.0647125244140625,
                        "yaw": -1.2694090604782104
                    }
                },
                "velocity": {
                    "x": 8.008743286132812,
                    "y": -0.17744256556034088,
                    "z": 0.43145498633384705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014208793640137,
                "transform": {
                    "location": {
                        "x": -1198.9515380859375,
                        "y": 3102.79638671875,
                        "z": 351.16424560546875
                    },
                    "rotation": {
                        "roll": 0.0003347569436300546,
                        "pitch": 3.1462514400482178,
                        "yaw": -1.2880859375
                    }
                },
                "velocity": {
                    "x": 8.000563621520996,
                    "y": -0.17909619212150574,
                    "z": 0.43179428577423096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012060165405273,
                "transform": {
                    "location": {
                        "x": -1199.0589599609375,
                        "y": 3099.2978515625,
                        "z": 351.2010498046875
                    },
                    "rotation": {
                        "roll": 0.0008957516984082758,
                        "pitch": 3.0956807136535645,
                        "yaw": -1.256317138671875
                    }
                },
                "velocity": {
                    "x": 7.998542785644531,
                    "y": -0.17492911219596863,
                    "z": 0.43106916546821594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0570650100708,
                "transform": {
                    "location": {
                        "x": -1199.20751953125,
                        "y": 3095.800537109375,
                        "z": 351.1672668457031
                    },
                    "rotation": {
                        "roll": -0.00042723992373794317,
                        "pitch": 3.11173152923584,
                        "yaw": -1.2843931913375854
                    }
                },
                "velocity": {
                    "x": 8.043309211730957,
                    "y": -0.18031589686870575,
                    "z": 0.43468427658081055
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1140.0950927734375,
                        "y": 3076.87548828125,
                        "z": 353.7021789550781
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.5181884765625,
                        "y": 3105.262939453125,
                        "z": 353.0849914550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4581,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.223388671875,
                        "y": 3101.781494140625,
                        "z": 353.08892822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4580,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.4517822265625,
                        "y": 3098.291259765625,
                        "z": 353.08587646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4579,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.6734619140625,
                        "y": 3094.801513671875,
                        "z": 353.0847473144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0886991024017334,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.38671875,
                "transform": {
                    "location": {
                        "x": -1183.11669921875,
                        "y": 3077.83642578125,
                        "z": 351.9981994628906
                    },
                    "rotation": {
                        "roll": -0.001770018134266138,
                        "pitch": -2.714747428894043,
                        "yaw": 178.72744750976562
                    }
                },
                "velocity": {
                    "x": -16.364463806152344,
                    "y": 0.36411258578300476,
                    "z": -0.7722201943397522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.899248123168945,
                "transform": {
                    "location": {
                        "x": -1249.80517578125,
                        "y": 3079.326416015625,
                        "z": 348.529296875
                    },
                    "rotation": {
                        "roll": 0.0002543413720559329,
                        "pitch": -2.784818172454834,
                        "yaw": 178.71934509277344
                    }
                },
                "velocity": {
                    "x": -15.876421928405762,
                    "y": 0.35750463604927063,
                    "z": -0.7729899287223816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.456567764282227,
                "transform": {
                    "location": {
                        "x": -1279.693115234375,
                        "y": 3079.994384765625,
                        "z": 347.1924133300781
                    },
                    "rotation": {
                        "roll": 0.013592628762125969,
                        "pitch": -2.293365716934204,
                        "yaw": 178.7193145751953
                    }
                },
                "velocity": {
                    "x": -16.43950843811035,
                    "y": 0.3650318384170532,
                    "z": -0.6541536450386047
                },
                "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": 0.19078263640403748,
        "expert_target_speed": 15.145010823728878,
        "target_point": [
            8.633903686482155,
            0.41604365191046233
        ],
        "target_point_next": [
            59.68676393327743,
            0.0055832383634039084
        ]
    },
    "420": {
        "acceleration": [
            -0.6427001953125,
            -0.4560050368309021,
            -0.03226637840270996
        ],
        "angular_velocity": [
            -0.17217780649662018,
            -0.024016158655285835,
            1.757673740386963
        ],
        "forward_vector": [
            -0.998705267906189,
            0.006721142213791609,
            -0.05042320862412453
        ],
        "right_vector": [
            -0.006906537339091301,
            -0.999970018863678,
            0.0035034464672207832
        ],
        "location": [
            -1234.86279296875,
            3079.43408203125,
            349.2763977050781
        ],
        "rotation": [
            -0.2009887844324112,
            -2.8902626037597656,
            179.61441040039062
        ],
        "velocity": [
            -14.728439331054688,
            0.09681783616542816,
            -0.7486419677734375
        ],
        "speed": 14.72875754508704,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.93447494506836,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1253.77392578125,
                3079.4150390625,
                348.3367004394531
            ],
            "velocity": [
                -15.873452186584473,
                0.35317152738571167,
                -0.7704828381538391
            ],
            "speed_kmh": 57.22583125598543,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1046.25146484375,
                        "y": 3074.779296875,
                        "z": 356.38787841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.324857711791992,
                "transform": {
                    "location": {
                        "x": -1279.48828125,
                        "y": 3101.060546875,
                        "z": 347.18560791015625
                    },
                    "rotation": {
                        "roll": 0.023367688059806824,
                        "pitch": 1.891559362411499,
                        "yaw": -0.8585204482078552
                    }
                },
                "velocity": {
                    "x": 6.3193511962890625,
                    "y": -0.09664344787597656,
                    "z": 0.24552598595619202
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.897125244140625,
                "transform": {
                    "location": {
                        "x": -1278.810546875,
                        "y": 3104.54248046875,
                        "z": 347.2158508300781
                    },
                    "rotation": {
                        "roll": 0.037468940019607544,
                        "pitch": 2.245875358581543,
                        "yaw": -0.7711791396141052
                    }
                },
                "velocity": {
                    "x": 7.889994144439697,
                    "y": -0.12080155313014984,
                    "z": 0.31302961707115173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.448321342468262,
                "transform": {
                    "location": {
                        "x": -1279.2333984375,
                        "y": 3097.555908203125,
                        "z": 347.20037841796875
                    },
                    "rotation": {
                        "roll": 0.019139818847179413,
                        "pitch": 2.059821128845215,
                        "yaw": -0.8597412705421448
                    }
                },
                "velocity": {
                    "x": 6.44266939163208,
                    "y": -0.09793240576982498,
                    "z": 0.2515398859977722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.270751953125,
                        "y": 3075.427490234375,
                        "z": 355.8424377441406
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060141563415527,
                "transform": {
                    "location": {
                        "x": -1239.0391845703125,
                        "y": 3100.18896484375,
                        "z": 349.04803466796875
                    },
                    "rotation": {
                        "roll": 0.0021922795567661524,
                        "pitch": 2.8685905933380127,
                        "yaw": -1.248718023300171
                    }
                },
                "velocity": {
                    "x": 8.048418998718262,
                    "y": -0.17549698054790497,
                    "z": 0.397542268037796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.980040073394775,
                "transform": {
                    "location": {
                        "x": -1237.6082763671875,
                        "y": 3103.6572265625,
                        "z": 349.1184387207031
                    },
                    "rotation": {
                        "roll": 0.0005867438740096986,
                        "pitch": 2.8485779762268066,
                        "yaw": -1.24609375
                    }
                },
                "velocity": {
                    "x": 7.967942237854004,
                    "y": -0.17527171969413757,
                    "z": 0.40276405215263367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059840202331543,
                "transform": {
                    "location": {
                        "x": -1238.0701904296875,
                        "y": 3096.66650390625,
                        "z": 349.09478759765625
                    },
                    "rotation": {
                        "roll": 0.007046356797218323,
                        "pitch": 2.9230270385742188,
                        "yaw": -1.2500914335250854
                    }
                },
                "velocity": {
                    "x": 8.047772407531738,
                    "y": -0.177723228931427,
                    "z": 0.40348899364471436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.947176456451416,
                "transform": {
                    "location": {
                        "x": -1237.425048828125,
                        "y": 3107.155029296875,
                        "z": 349.11492919921875
                    },
                    "rotation": {
                        "roll": 0.001391231082379818,
                        "pitch": 2.866896629333496,
                        "yaw": -1.2545472383499146
                    }
                },
                "velocity": {
                    "x": 7.935135364532471,
                    "y": -0.17375417053699493,
                    "z": 0.4013158977031708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.879150390625,
                        "y": 3076.2001953125,
                        "z": 354.8034973144531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.966404438018799,
                "transform": {
                    "location": {
                        "x": -1196.595458984375,
                        "y": 3106.24462890625,
                        "z": 351.2949523925781
                    },
                    "rotation": {
                        "roll": -0.00018310591985937208,
                        "pitch": 3.063230276107788,
                        "yaw": -1.2759093046188354
                    }
                },
                "velocity": {
                    "x": 7.953291416168213,
                    "y": -0.1773620992898941,
                    "z": 0.4210663437843323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997808456420898,
                "transform": {
                    "location": {
                        "x": -1196.95361328125,
                        "y": 3102.751708984375,
                        "z": 351.27166748046875
                    },
                    "rotation": {
                        "roll": 0.0002010217576753348,
                        "pitch": 3.138888359069824,
                        "yaw": -1.267242431640625
                    }
                },
                "velocity": {
                    "x": 7.9844183921813965,
                    "y": -0.17689773440361023,
                    "z": 0.42745107412338257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997384548187256,
                "transform": {
                    "location": {
                        "x": -1197.0618896484375,
                        "y": 3099.253662109375,
                        "z": 351.30859375
                    },
                    "rotation": {
                        "roll": -0.0007019053446128964,
                        "pitch": 3.0951478481292725,
                        "yaw": -1.283385992050171
                    }
                },
                "velocity": {
                    "x": 7.984029293060303,
                    "y": -0.17683908343315125,
                    "z": 0.4268031120300293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.019301414489746,
                "transform": {
                    "location": {
                        "x": -1197.2017822265625,
                        "y": 3095.755615234375,
                        "z": 351.2752380371094
                    },
                    "rotation": {
                        "roll": -0.00018310971790924668,
                        "pitch": 3.104689598083496,
                        "yaw": -1.2822571992874146
                    }
                },
                "velocity": {
                    "x": 8.005921363830566,
                    "y": -0.17894615232944489,
                    "z": 0.42708250880241394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1144.21875,
                        "y": 3076.9677734375,
                        "z": 353.55181884765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.389450073242188,
                "transform": {
                    "location": {
                        "x": -1187.20703125,
                        "y": 3077.927734375,
                        "z": 351.8020324707031
                    },
                    "rotation": {
                        "roll": 0.0013549326686188579,
                        "pitch": -2.8433802127838135,
                        "yaw": 178.71922302246094
                    }
                },
                "velocity": {
                    "x": -16.365947723388672,
                    "y": 0.3661966323852539,
                    "z": -0.7973282933235168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.896064758300781,
                "transform": {
                    "location": {
                        "x": -1253.77392578125,
                        "y": 3079.4150390625,
                        "z": 348.3367004394531
                    },
                    "rotation": {
                        "roll": 0.00011854791227960959,
                        "pitch": -2.7866759300231934,
                        "yaw": 178.72654724121094
                    }
                },
                "velocity": {
                    "x": -15.873452186584473,
                    "y": 0.35317152738571167,
                    "z": -0.7704828381538391
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.454235076904297,
                "transform": {
                    "location": {
                        "x": -1283.80322265625,
                        "y": 3080.087158203125,
                        "z": 347.0326232910156
                    },
                    "rotation": {
                        "roll": 0.029457980766892433,
                        "pitch": -2.2435598373413086,
                        "yaw": 178.68333435058594
                    }
                },
                "velocity": {
                    "x": -16.437767028808594,
                    "y": 0.3783608675003052,
                    "z": -0.6312559843063354
                },
                "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": 0.16162364184856415,
        "expert_target_speed": 15.290508465152296,
        "target_point": [
            56.022087289323125,
            -0.44527282498342297
        ],
        "target_point_next": [
            107.0185286129617,
            -2.556483736974112
        ]
    },
    "425": {
        "acceleration": [
            -0.6122207641601562,
            -0.4713435471057892,
            0.023844242095947266
        ],
        "angular_velocity": [
            -0.1160833016037941,
            0.4871278405189514,
            1.855763554573059
        ],
        "forward_vector": [
            -0.9987661838531494,
            -0.0012722121318802238,
            -0.049643367528915405
        ],
        "right_vector": [
            0.0010682150023058057,
            -0.9999908208847046,
            0.004135565832257271
        ],
        "location": [
            -1238.5657958984375,
            3079.444580078125,
            349.0889892578125
        ],
        "rotation": [
            -0.23724365234375,
            -2.845525026321411,
            -179.92701721191406
        ],
        "velocity": [
            -14.884724617004395,
            -0.019881058484315872,
            -0.7445887327194214
        ],
        "speed": 14.88473789425071,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.199621200561523,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1257.7421875,
                3079.50341796875,
                348.1466369628906
            ],
            "velocity": [
                -15.869630813598633,
                0.3551565408706665,
                -0.7482737302780151
            ],
            "speed_kmh": 57.20843264304757,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1050.376953125,
                        "y": 3074.87109375,
                        "z": 356.3260192871094
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.699673652648926,
                "transform": {
                    "location": {
                        "x": -1278.02392578125,
                        "y": 3101.03564453125,
                        "z": 347.24359130859375
                    },
                    "rotation": {
                        "roll": 0.0325276181101799,
                        "pitch": 1.8982938528060913,
                        "yaw": -0.960418701171875
                    }
                },
                "velocity": {
                    "x": 5.694079399108887,
                    "y": -0.104794442653656,
                    "z": 0.2296960949897766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.29656982421875,
                "transform": {
                    "location": {
                        "x": -1276.9954833984375,
                        "y": 3104.512939453125,
                        "z": 347.2908020019531
                    },
                    "rotation": {
                        "roll": 0.03681573644280434,
                        "pitch": 2.08979868888855,
                        "yaw": -0.8954772353172302
                    }
                },
                "velocity": {
                    "x": 6.2902398109436035,
                    "y": -0.11261198669672012,
                    "z": 0.25883808732032776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.274217128753662,
                "transform": {
                    "location": {
                        "x": -1277.6727294921875,
                        "y": 3097.528564453125,
                        "z": 347.2629699707031
                    },
                    "rotation": {
                        "roll": 0.01940552517771721,
                        "pitch": 2.2526440620422363,
                        "yaw": -0.9889525175094604
                    }
                },
                "velocity": {
                    "x": 6.268100261688232,
                    "y": -0.11415497213602066,
                    "z": 0.2523581087589264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.395751953125,
                        "y": 3075.51953125,
                        "z": 355.74212646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025007247924805,
                "transform": {
                    "location": {
                        "x": -1237.0252685546875,
                        "y": 3100.14453125,
                        "z": 349.14886474609375
                    },
                    "rotation": {
                        "roll": 0.0021854816004633904,
                        "pitch": 2.9106030464172363,
                        "yaw": -1.2568968534469604
                    }
                },
                "velocity": {
                    "x": 8.01294231414795,
                    "y": -0.17580242455005646,
                    "z": 0.4032244086265564
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.972482204437256,
                "transform": {
                    "location": {
                        "x": -1235.619140625,
                        "y": 3103.61328125,
                        "z": 349.2189025878906
                    },
                    "rotation": {
                        "roll": 0.0013936334289610386,
                        "pitch": 2.9062180519104004,
                        "yaw": -1.258331298828125
                    }
                },
                "velocity": {
                    "x": 7.960443019866943,
                    "y": -0.17504359781742096,
                    "z": 0.40147101879119873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.977880001068115,
                "transform": {
                    "location": {
                        "x": -1236.0670166015625,
                        "y": 3096.6220703125,
                        "z": 349.1955261230469
                    },
                    "rotation": {
                        "roll": 0.005909431260079145,
                        "pitch": 2.9663031101226807,
                        "yaw": -1.270141363143921
                    }
                },
                "velocity": {
                    "x": 7.965707778930664,
                    "y": -0.1786796897649765,
                    "z": 0.4026776850223541
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.036099433898926,
                "transform": {
                    "location": {
                        "x": -1235.4273681640625,
                        "y": 3107.11083984375,
                        "z": 349.2154541015625
                    },
                    "rotation": {
                        "roll": 0.001419850392267108,
                        "pitch": 2.932377576828003,
                        "yaw": -1.264495849609375
                    }
                },
                "velocity": {
                    "x": 8.023784637451172,
                    "y": -0.1780119240283966,
                    "z": 0.40754234790802
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1114.0335693359375,
                        "y": 3076.29345703125,
                        "z": 354.65240478515625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.025920867919922,
                "transform": {
                    "location": {
                        "x": -1194.5997314453125,
                        "y": 3106.2001953125,
                        "z": 351.3997497558594
                    },
                    "rotation": {
                        "roll": 0.0004516351909842342,
                        "pitch": 2.968311309814453,
                        "yaw": -1.2765504121780396
                    }
                },
                "velocity": {
                    "x": 8.013099670410156,
                    "y": -0.17856775224208832,
                    "z": 0.4168408215045929
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00460147857666,
                "transform": {
                    "location": {
                        "x": -1194.957763671875,
                        "y": 3102.70751953125,
                        "z": 351.3770751953125
                    },
                    "rotation": {
                        "roll": -0.0010986300185322762,
                        "pitch": 3.051448345184326,
                        "yaw": -1.294036626815796
                    }
                },
                "velocity": {
                    "x": 7.99155855178833,
                    "y": -0.1797262728214264,
                    "z": 0.41992393136024475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00780200958252,
                "transform": {
                    "location": {
                        "x": -1195.06494140625,
                        "y": 3099.208740234375,
                        "z": 351.4139404296875
                    },
                    "rotation": {
                        "roll": 0.0007159382803365588,
                        "pitch": 3.002742290496826,
                        "yaw": -1.2670897245407104
                    }
                },
                "velocity": {
                    "x": 7.994930744171143,
                    "y": -0.17862796783447266,
                    "z": 0.41721510887145996
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.047313690185547,
                "transform": {
                    "location": {
                        "x": -1195.197509765625,
                        "y": 3095.7109375,
                        "z": 351.3810119628906
                    },
                    "rotation": {
                        "roll": -0.0005187983042560518,
                        "pitch": 3.028348684310913,
                        "yaw": -1.2742919921875
                    }
                },
                "velocity": {
                    "x": 8.03443717956543,
                    "y": -0.17864789068698883,
                    "z": 0.41852399706840515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1148.3427734375,
                        "y": 3077.0595703125,
                        "z": 353.40142822265625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.391860961914062,
                "transform": {
                    "location": {
                        "x": -1191.2977294921875,
                        "y": 3078.01953125,
                        "z": 351.5982360839844
                    },
                    "rotation": {
                        "roll": 0.0007815684075467288,
                        "pitch": -2.9168663024902344,
                        "yaw": 178.70880126953125
                    }
                },
                "velocity": {
                    "x": -16.366846084594727,
                    "y": 0.3671916425228119,
                    "z": -0.8274187445640564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.891230583190918,
                "transform": {
                    "location": {
                        "x": -1257.7421875,
                        "y": 3079.50341796875,
                        "z": 348.1466369628906
                    },
                    "rotation": {
                        "roll": 0.0002154672401957214,
                        "pitch": -2.702207088470459,
                        "yaw": 178.71713256835938
                    }
                },
                "velocity": {
                    "x": -15.869630813598633,
                    "y": 0.3551565408706665,
                    "z": -0.7482737302780151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.45014762878418,
                "transform": {
                    "location": {
                        "x": -1287.9136962890625,
                        "y": 3080.185302734375,
                        "z": 346.87908935546875
                    },
                    "rotation": {
                        "roll": 0.03907361254096031,
                        "pitch": -2.090850591659546,
                        "yaw": 178.55648803710938
                    }
                },
                "velocity": {
                    "x": -16.43419075012207,
                    "y": 0.4139934480190277,
                    "z": -0.5944110751152039
                },
                "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": 0.10370155423879623,
        "expert_target_speed": 15.42888380772077,
        "target_point": [
            52.31374300159985,
            -0.8783973561198941
        ],
        "target_point_next": [
            103.29165479143472,
            -3.397672795216617
        ]
    },
    "430": {
        "acceleration": [
            -0.5946922302246094,
            -0.2105635404586792,
            -0.02044200897216797
        ],
        "angular_velocity": [
            0.18010132014751434,
            -0.013365505263209343,
            1.1518104076385498
        ],
        "forward_vector": [
            -0.998772144317627,
            -0.008744116872549057,
            -0.048762883991003036
        ],
        "right_vector": [
            0.008541817776858807,
            -0.9999539852142334,
            0.004355459474027157
        ],
        "location": [
            -1242.3070068359375,
            3079.426513671875,
            348.90362548828125
        ],
        "rotation": [
            -0.24984745681285858,
            -2.795015811920166,
            -179.49839782714844
        ],
        "velocity": [
            -15.035032272338867,
            -0.12155082076787949,
            -0.7402333617210388
        ],
        "speed": 15.03552360352976,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.425870895385742,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1261.709228515625,
                3079.592529296875,
                347.9598693847656
            ],
            "velocity": [
                -15.866064071655273,
                0.350564569234848,
                -0.7482128143310547
            ],
            "speed_kmh": 57.195232349204474,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1318.1593017578125,
                        "y": 3102.326416015625,
                        "z": 346.00897216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.666259765625,
                        "y": 3105.756103515625,
                        "z": 346.1413879394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1317.0164794921875,
                        "y": 3098.764892578125,
                        "z": 346.1421813964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1054.5029296875,
                        "y": 3074.963623046875,
                        "z": 356.2580261230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.75718355178833,
                "transform": {
                    "location": {
                        "x": -1276.5390625,
                        "y": 3101.008056640625,
                        "z": 347.3016662597656
                    },
                    "rotation": {
                        "roll": 0.022309435531497,
                        "pitch": 2.4800755977630615,
                        "yaw": -1.0408935546875
                    }
                },
                "velocity": {
                    "x": 6.750356197357178,
                    "y": -0.1292712539434433,
                    "z": 0.2747851014137268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.409648895263672,
                "transform": {
                    "location": {
                        "x": -1275.5716552734375,
                        "y": 3104.48779296875,
                        "z": 347.3493347167969
                    },
                    "rotation": {
                        "roll": 0.014600816182792187,
                        "pitch": 2.1062662601470947,
                        "yaw": -0.9821168184280396
                    }
                },
                "velocity": {
                    "x": 5.404112339019775,
                    "y": -0.10045113414525986,
                    "z": 0.22311753034591675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.67601203918457,
                "transform": {
                    "location": {
                        "x": -1276.000244140625,
                        "y": 3097.497314453125,
                        "z": 347.3306579589844
                    },
                    "rotation": {
                        "roll": 0.01398899219930172,
                        "pitch": 2.5813400745391846,
                        "yaw": -1.062103271484375
                    }
                },
                "velocity": {
                    "x": 7.66818380355835,
                    "y": -0.14577548205852509,
                    "z": 0.314420223236084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.5516357421875,
                        "y": 3075.612060546875,
                        "z": 355.63482666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.98656702041626,
                "transform": {
                    "location": {
                        "x": -1235.0311279296875,
                        "y": 3100.1005859375,
                        "z": 349.24957275390625
                    },
                    "rotation": {
                        "roll": -0.0006408705376088619,
                        "pitch": 2.946345329284668,
                        "yaw": -1.2652894258499146
                    }
                },
                "velocity": {
                    "x": 7.974241256713867,
                    "y": -0.17516696453094482,
                    "z": 0.40748655796051025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036130905151367,
                "transform": {
                    "location": {
                        "x": -1233.6185302734375,
                        "y": 3103.5693359375,
                        "z": 349.32086181640625
                    },
                    "rotation": {
                        "roll": -9.15551936486736e-05,
                        "pitch": 2.909803867340088,
                        "yaw": -1.2649840116500854
                    }
                },
                "velocity": {
                    "x": 8.02359676361084,
                    "y": -0.17974498867988586,
                    "z": 0.41107383370399475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010125160217285,
                "transform": {
                    "location": {
                        "x": -1234.0740966796875,
                        "y": 3096.578125,
                        "z": 349.29718017578125
                    },
                    "rotation": {
                        "roll": 0.001296306843869388,
                        "pitch": 2.9825522899627686,
                        "yaw": -1.2706910371780396
                    }
                },
                "velocity": {
                    "x": 7.997698783874512,
                    "y": -0.1773974746465683,
                    "z": 0.40920889377593994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.983375549316406,
                "transform": {
                    "location": {
                        "x": -1233.427490234375,
                        "y": 3107.06689453125,
                        "z": 349.3176574707031
                    },
                    "rotation": {
                        "roll": 0.0013969739666208625,
                        "pitch": 2.926032304763794,
                        "yaw": -1.26727294921875
                    }
                },
                "velocity": {
                    "x": 7.970986843109131,
                    "y": -0.17693917453289032,
                    "z": 0.40785887837409973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1118.1578369140625,
                        "y": 3076.385498046875,
                        "z": 354.5020751953125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9642653465271,
                "transform": {
                    "location": {
                        "x": -1192.6048583984375,
                        "y": 3106.155517578125,
                        "z": 351.50335693359375
                    },
                    "rotation": {
                        "roll": 0.0004911382566206157,
                        "pitch": 2.929877758026123,
                        "yaw": -1.280761480331421
                    }
                },
                "velocity": {
                    "x": 7.9518256187438965,
                    "y": -0.17548571527004242,
                    "z": 0.40889862179756165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.006803512573242,
                "transform": {
                    "location": {
                        "x": -1192.95947265625,
                        "y": 3102.662841796875,
                        "z": 351.4810485839844
                    },
                    "rotation": {
                        "roll": 0.0008561990689486265,
                        "pitch": 3.001840591430664,
                        "yaw": -1.2684324979782104
                    }
                },
                "velocity": {
                    "x": 7.9942216873168945,
                    "y": -0.17886395752429962,
                    "z": 0.4114937484264374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003950119018555,
                "transform": {
                    "location": {
                        "x": -1193.066650390625,
                        "y": 3099.164306640625,
                        "z": 351.51788330078125
                    },
                    "rotation": {
                        "roll": -0.0020751964766532183,
                        "pitch": 2.9578542709350586,
                        "yaw": -1.294677495956421
                    }
                },
                "velocity": {
                    "x": 7.991316318511963,
                    "y": -0.17886826395988464,
                    "z": 0.41241249442100525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.022586822509766,
                "transform": {
                    "location": {
                        "x": -1193.1927490234375,
                        "y": 3095.666259765625,
                        "z": 351.4857482910156
                    },
                    "rotation": {
                        "roll": 0.0012407221365720034,
                        "pitch": 2.958052396774292,
                        "yaw": -1.2773743867874146
                    }
                },
                "velocity": {
                    "x": 8.009941101074219,
                    "y": -0.18013574182987213,
                    "z": 0.4126710295677185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1152.4671630859375,
                        "y": 3077.152099609375,
                        "z": 353.25103759765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.393796920776367,
                "transform": {
                    "location": {
                        "x": -1195.3890380859375,
                        "y": 3078.111572265625,
                        "z": 351.3876953125
                    },
                    "rotation": {
                        "roll": 0.00014815475151408464,
                        "pitch": -2.9907143115997314,
                        "yaw": 178.71646118164062
                    }
                },
                "velocity": {
                    "x": -16.367244720458984,
                    "y": 0.36716535687446594,
                    "z": -0.8573898077011108
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.887564659118652,
                "transform": {
                    "location": {
                        "x": -1261.709228515625,
                        "y": 3079.592529296875,
                        "z": 347.9598693847656
                    },
                    "rotation": {
                        "roll": -3.051307430723682e-05,
                        "pitch": -2.7060251235961914,
                        "yaw": 178.71954345703125
                    }
                },
                "velocity": {
                    "x": -15.866064071655273,
                    "y": 0.350564569234848,
                    "z": -0.7482128143310547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.447153091430664,
                "transform": {
                    "location": {
                        "x": -1292.0224609375,
                        "y": 3080.29345703125,
                        "z": 346.73309326171875
                    },
                    "rotation": {
                        "roll": 0.06875693053007126,
                        "pitch": -2.0301506519317627,
                        "yaw": 178.39102172851562
                    }
                },
                "velocity": {
                    "x": -16.430654525756836,
                    "y": 0.46292993426322937,
                    "z": -0.5728250741958618
                },
                "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": 0.041437022387981415,
        "expert_target_speed": 15.561207762902939,
        "target_point": [
            48.56448204607458,
            -1.255046167629971
        ],
        "target_point_next": [
            99.52212053541393,
            -4.1556183146420835
        ]
    },
    "435": {
        "acceleration": [
            -0.5794715881347656,
            0.24272695183753967,
            -0.045942068099975586
        ],
        "angular_velocity": [
            0.5155449509620667,
            -0.019293162971735,
            -1.354787826538086
        ],
        "forward_vector": [
            -0.9987828135490417,
            -0.006544012576341629,
            -0.04888778179883957
        ],
        "right_vector": [
            0.0064468695782125,
            -0.9999769330024719,
            0.002144471276551485
        ],
        "location": [
            -1246.0848388671875,
            3079.399658203125,
            348.7176513671875
        ],
        "rotation": [
            -0.1230163425207138,
            -2.802180528640747,
            -179.62460327148438
        ],
        "velocity": [
            -15.181544303894043,
            -0.08724690973758698,
            -0.7482488751411438
        ],
        "speed": 15.181795001723492,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.61566162109375,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1265.676025390625,
                3079.6806640625,
                347.77923583984375
            ],
            "velocity": [
                -15.860871315002441,
                0.35548293590545654,
                -0.702083945274353
            ],
            "speed_kmh": 57.16937479071106,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1316.078369140625,
                        "y": 3102.2236328125,
                        "z": 346.0127258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.5872802734375,
                        "y": 3105.654541015625,
                        "z": 346.04443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1314.9376220703125,
                        "y": 3098.663330078125,
                        "z": 346.0453796386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.425856590270996,
                        "yaw": -2.696655750274658
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1058.6900634765625,
                        "y": 3075.057373046875,
                        "z": 356.18316650390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.221148490905762,
                "transform": {
                    "location": {
                        "x": -1274.6329345703125,
                        "y": 3100.971435546875,
                        "z": 347.3785095214844
                    },
                    "rotation": {
                        "roll": 0.017301660031080246,
                        "pitch": 2.95261549949646,
                        "yaw": -1.105712890625
                    }
                },
                "velocity": {
                    "x": 8.212406158447266,
                    "y": -0.15993615984916687,
                    "z": 0.3436528742313385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.470842361450195,
                "transform": {
                    "location": {
                        "x": -1274.136474609375,
                        "y": 3104.461181640625,
                        "z": 347.40545654296875
                    },
                    "rotation": {
                        "roll": 0.012902405112981796,
                        "pitch": 2.571859836578369,
                        "yaw": -1.0140074491500854
                    }
                },
                "velocity": {
                    "x": 6.464052677154541,
                    "y": -0.12169473618268967,
                    "z": 0.27021604776382446
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.336600303649902,
                "transform": {
                    "location": {
                        "x": -1273.925048828125,
                        "y": 3097.45751953125,
                        "z": 347.4172058105469
                    },
                    "rotation": {
                        "roll": 0.011513063684105873,
                        "pitch": 2.528296947479248,
                        "yaw": -1.1087342500686646
                    }
                },
                "velocity": {
                    "x": 8.327628135681152,
                    "y": -0.16552546620368958,
                    "z": 0.34945112466812134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.707763671875,
                        "y": 3075.704833984375,
                        "z": 355.5211181640625
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039986610412598,
                "transform": {
                    "location": {
                        "x": -1233.0289306640625,
                        "y": 3100.05615234375,
                        "z": 349.35198974609375
                    },
                    "rotation": {
                        "roll": 0.0001626334706088528,
                        "pitch": 2.9559826850891113,
                        "yaw": -1.2723387479782104
                    }
                },
                "velocity": {
                    "x": 8.027581214904785,
                    "y": -0.17837782204151154,
                    "z": 0.409258097410202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9564900398254395,
                "transform": {
                    "location": {
                        "x": -1231.6240234375,
                        "y": 3103.52490234375,
                        "z": 349.4228820800781
                    },
                    "rotation": {
                        "roll": 0.0005760025233030319,
                        "pitch": 2.909503221511841,
                        "yaw": -1.2663878202438354
                    }
                },
                "velocity": {
                    "x": 7.944258689880371,
                    "y": -0.17537228763103485,
                    "z": 0.4046398103237152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.009735107421875,
                "transform": {
                    "location": {
                        "x": -1232.072509765625,
                        "y": 3096.53369140625,
                        "z": 349.39947509765625
                    },
                    "rotation": {
                        "roll": 0.0005086559103801847,
                        "pitch": 2.9860150814056396,
                        "yaw": -1.266387701034546
                    }
                },
                "velocity": {
                    "x": 7.99739933013916,
                    "y": -0.17682132124900818,
                    "z": 0.40767723321914673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00692367553711,
                "transform": {
                    "location": {
                        "x": -1231.432373046875,
                        "y": 3107.0224609375,
                        "z": 349.4196472167969
                    },
                    "rotation": {
                        "roll": 0.0010349364019930363,
                        "pitch": 2.9232115745544434,
                        "yaw": -1.2725523710250854
                    }
                },
                "velocity": {
                    "x": 7.9945292472839355,
                    "y": -0.17752793431282043,
                    "z": 0.4084230661392212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1122.34326171875,
                        "y": 3076.479248046875,
                        "z": 354.3494567871094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028121948242188,
                "transform": {
                    "location": {
                        "x": -1190.60888671875,
                        "y": 3106.111083984375,
                        "z": 351.6053771972656
                    },
                    "rotation": {
                        "roll": 0.0008815084001980722,
                        "pitch": 2.907167434692383,
                        "yaw": -1.2764281034469604
                    }
                },
                "velocity": {
                    "x": 8.016274452209473,
                    "y": -0.17611749470233917,
                    "z": 0.3988192677497864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00363540649414,
                "transform": {
                    "location": {
                        "x": -1190.9620361328125,
                        "y": 3102.6181640625,
                        "z": 351.5833435058594
                    },
                    "rotation": {
                        "roll": 9.857125405687839e-05,
                        "pitch": 2.985987901687622,
                        "yaw": -1.2955628633499146
                    }
                },
                "velocity": {
                    "x": 7.991448402404785,
                    "y": -0.17970827221870422,
                    "z": 0.4032778739929199
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005875587463379,
                "transform": {
                    "location": {
                        "x": -1191.0692138671875,
                        "y": 3099.11962890625,
                        "z": 351.6202392578125
                    },
                    "rotation": {
                        "roll": 0.00025927863316610456,
                        "pitch": 2.942206382751465,
                        "yaw": -1.263671636581421
                    }
                },
                "velocity": {
                    "x": 7.993880271911621,
                    "y": -0.17802342772483826,
                    "z": 0.40029028058052063
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052263259887695,
                "transform": {
                    "location": {
                        "x": -1191.1864013671875,
                        "y": 3095.62109375,
                        "z": 351.58819580078125
                    },
                    "rotation": {
                        "roll": 2.1012128854636103e-05,
                        "pitch": 2.956904888153076,
                        "yaw": -1.284271240234375
                    }
                },
                "velocity": {
                    "x": 8.0401029586792,
                    "y": -0.18020617961883545,
                    "z": 0.4040064215660095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1156.5919189453125,
                        "y": 3077.243896484375,
                        "z": 353.1003723144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39635467529297,
                "transform": {
                    "location": {
                        "x": -1199.4801025390625,
                        "y": 3078.20263671875,
                        "z": 351.1698303222656
                    },
                    "rotation": {
                        "roll": -0.0006103503401391208,
                        "pitch": -3.11663556098938,
                        "yaw": 178.72427368164062
                    }
                },
                "velocity": {
                    "x": -16.3682861328125,
                    "y": 0.364931583404541,
                    "z": -0.8868368864059448
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.880382537841797,
                "transform": {
                    "location": {
                        "x": -1265.676025390625,
                        "y": 3079.6806640625,
                        "z": 347.77923583984375
                    },
                    "rotation": {
                        "roll": 0.0007573256734758615,
                        "pitch": -2.533965826034546,
                        "yaw": 178.72967529296875
                    }
                },
                "velocity": {
                    "x": -15.860871315002441,
                    "y": 0.35548293590545654,
                    "z": -0.702083945274353
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.444597244262695,
                "transform": {
                    "location": {
                        "x": -1296.1304931640625,
                        "y": 3080.41455078125,
                        "z": 346.5927734375
                    },
                    "rotation": {
                        "roll": 0.08028177917003632,
                        "pitch": -1.9543423652648926,
                        "yaw": 178.20376586914062
                    }
                },
                "velocity": {
                    "x": -16.427257537841797,
                    "y": 0.5177304148674011,
                    "z": -0.5495010018348694
                },
                "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": 0.0012397491373121738,
        "expert_target_speed": 15.688430204950878,
        "target_point": [
            44.789202151568425,
            -1.1501598950182816
        ],
        "target_point_next": [
            95.75310690781684,
            -3.9384660450422166
        ]
    },
    "440": {
        "acceleration": [
            -0.5340766906738281,
            0.483371764421463,
            0.03491640090942383
        ],
        "angular_velocity": [
            0.565427839756012,
            0.0917811319231987,
            -1.9066660404205322
        ],
        "forward_vector": [
            -0.998839795589447,
            0.0006748071173205972,
            -0.04815205559134483
        ],
        "right_vector": [
            -0.0006676651537418365,
            -0.9999997615814209,
            -0.00016440408944617957
        ],
        "location": [
            -1249.89892578125,
            3079.388916015625,
            348.53094482421875
        ],
        "rotation": [
            0.009430599398911,
            -2.759976863861084,
            179.96128845214844
        ],
        "velocity": [
            -15.320712089538574,
            0.012902513146400452,
            -0.7442283630371094
        ],
        "speed": 15.320717522537217,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.76734161376953,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1269.640869140625,
                3079.76904296875,
                347.6041259765625
            ],
            "velocity": [
                -15.85802936553955,
                0.3547843396663666,
                -0.69207364320755
            ],
            "speed_kmh": 57.157517917141774,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.015618324279785,
                "transform": {
                    "location": {
                        "x": -1314.0079345703125,
                        "y": 3102.123779296875,
                        "z": 346.0177307128906
                    },
                    "rotation": {
                        "roll": -0.02227783016860485,
                        "pitch": 1.4033169746398926,
                        "yaw": -2.640777587890625
                    }
                },
                "velocity": {
                    "x": 8.008541107177734,
                    "y": -0.33062833547592163,
                    "z": 0.06389535963535309
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.95718240737915,
                "transform": {
                    "location": {
                        "x": -1312.5477294921875,
                        "y": 3105.560546875,
                        "z": 346.0635986328125
                    },
                    "rotation": {
                        "roll": 0.003935635089874268,
                        "pitch": 1.7068300247192383,
                        "yaw": -2.442932605743408
                    }
                },
                "velocity": {
                    "x": 6.9492011070251465,
                    "y": -0.2982185184955597,
                    "z": 0.14851832389831543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9543070793151855,
                "transform": {
                    "location": {
                        "x": -1312.9053955078125,
                        "y": 3098.575927734375,
                        "z": 346.0347900390625
                    },
                    "rotation": {
                        "roll": -0.010467529296875,
                        "pitch": 1.4382123947143555,
                        "yaw": -2.328339099884033
                    }
                },
                "velocity": {
                    "x": 7.947454452514648,
                    "y": -0.2669055163860321,
                    "z": 0.1942419707775116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1062.8167724609375,
                        "y": 3075.1494140625,
                        "z": 356.1057434082031
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.122489929199219,
                "transform": {
                    "location": {
                        "x": -1272.5599365234375,
                        "y": 3100.93017578125,
                        "z": 347.46636962890625
                    },
                    "rotation": {
                        "roll": 0.017053915187716484,
                        "pitch": 2.651089906692505,
                        "yaw": -1.143981695175171
                    }
                },
                "velocity": {
                    "x": 8.113692283630371,
                    "y": -0.16676068305969238,
                    "z": 0.33915451169013977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.564990043640137,
                "transform": {
                    "location": {
                        "x": -1272.2955322265625,
                        "y": 3104.425048828125,
                        "z": 347.48052978515625
                    },
                    "rotation": {
                        "roll": 0.0154721699655056,
                        "pitch": 2.7992162704467773,
                        "yaw": -1.064605712890625
                    }
                },
                "velocity": {
                    "x": 7.556870460510254,
                    "y": -0.15355557203292847,
                    "z": 0.3149648904800415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.7925896644592285,
                "transform": {
                    "location": {
                        "x": -1271.9273681640625,
                        "y": 3097.41650390625,
                        "z": 347.50042724609375
                    },
                    "rotation": {
                        "roll": 0.00640767952427268,
                        "pitch": 2.366544246673584,
                        "yaw": -1.17767333984375
                    }
                },
                "velocity": {
                    "x": 7.784136772155762,
                    "y": -0.16144448518753052,
                    "z": 0.32496848702430725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.8341064453125,
                        "y": 3075.79736328125,
                        "z": 355.4030456542969
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.00546646118164,
                "transform": {
                    "location": {
                        "x": -1231.0262451171875,
                        "y": 3100.011474609375,
                        "z": 349.45416259765625
                    },
                    "rotation": {
                        "roll": 0.0009796505328267813,
                        "pitch": 2.9436542987823486,
                        "yaw": -1.274261474609375
                    }
                },
                "velocity": {
                    "x": 7.9930315017700195,
                    "y": -0.17862898111343384,
                    "z": 0.40868276357650757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028687477111816,
                "transform": {
                    "location": {
                        "x": -1229.6285400390625,
                        "y": 3103.48095703125,
                        "z": 349.5246887207031
                    },
                    "rotation": {
                        "roll": -0.00015258813800755888,
                        "pitch": 2.906013011932373,
                        "yaw": -1.266509771347046
                    }
                },
                "velocity": {
                    "x": 8.016395568847656,
                    "y": -0.1748485118150711,
                    "z": 0.4082343876361847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.000048637390137,
                "transform": {
                    "location": {
                        "x": -1230.0755615234375,
                        "y": 3096.4892578125,
                        "z": 349.50146484375
                    },
                    "rotation": {
                        "roll": 0.000800944457296282,
                        "pitch": 2.9739599227905273,
                        "yaw": -1.271331787109375
                    }
                },
                "velocity": {
                    "x": 7.987654685974121,
                    "y": -0.1783837080001831,
                    "z": 0.40783706307411194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.978085994720459,
                "transform": {
                    "location": {
                        "x": -1229.4375,
                        "y": 3106.97802734375,
                        "z": 349.5213928222656
                    },
                    "rotation": {
                        "roll": 0.001574456226080656,
                        "pitch": 2.9231841564178467,
                        "yaw": -1.2740172147750854
                    }
                },
                "velocity": {
                    "x": 7.965737819671631,
                    "y": -0.17787525057792664,
                    "z": 0.406491219997406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1126.4381103515625,
                        "y": 3076.570556640625,
                        "z": 354.20013427734375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.966507434844971,
                "transform": {
                    "location": {
                        "x": -1188.6131591796875,
                        "y": 3106.06640625,
                        "z": 351.7053527832031
                    },
                    "rotation": {
                        "roll": -0.001220697769895196,
                        "pitch": 2.811237335205078,
                        "yaw": -1.279998779296875
                    }
                },
                "velocity": {
                    "x": 7.954577922821045,
                    "y": -0.18024836480617523,
                    "z": 0.39678922295570374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005974769592285,
                "transform": {
                    "location": {
                        "x": -1188.964599609375,
                        "y": 3102.573486328125,
                        "z": 351.68377685546875
                    },
                    "rotation": {
                        "roll": 1.6095399359983276e-06,
                        "pitch": 2.88804292678833,
                        "yaw": -1.2588499784469604
                    }
                },
                "velocity": {
                    "x": 7.994029998779297,
                    "y": -0.17644952237606049,
                    "z": 0.3999801576137543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006382942199707,
                "transform": {
                    "location": {
                        "x": -1189.071044921875,
                        "y": 3099.0751953125,
                        "z": 351.7207336425781
                    },
                    "rotation": {
                        "roll": -0.0009460437577217817,
                        "pitch": 2.841542959213257,
                        "yaw": -1.29254150390625
                    }
                },
                "velocity": {
                    "x": 7.994373798370361,
                    "y": -0.17879608273506165,
                    "z": 0.4002413749694824
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020947456359863,
                "transform": {
                    "location": {
                        "x": -1189.1812744140625,
                        "y": 3095.576171875,
                        "z": 351.68890380859375
                    },
                    "rotation": {
                        "roll": -0.00012206898827571422,
                        "pitch": 2.8670058250427246,
                        "yaw": -1.2826231718063354
                    }
                },
                "velocity": {
                    "x": 8.00899600982666,
                    "y": -0.17906151711940765,
                    "z": 0.399393230676651
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1160.717041015625,
                        "y": 3077.33642578125,
                        "z": 352.9488525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39788246154785,
                "transform": {
                    "location": {
                        "x": -1203.5718994140625,
                        "y": 3078.2939453125,
                        "z": 350.9465637207031
                    },
                    "rotation": {
                        "roll": 0.0006285422132350504,
                        "pitch": -3.1757850646972656,
                        "yaw": 178.7186279296875
                    }
                },
                "velocity": {
                    "x": -16.369182586669922,
                    "y": 0.3674640953540802,
                    "z": -0.8974211812019348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.87708854675293,
                "transform": {
                    "location": {
                        "x": -1269.640869140625,
                        "y": 3079.76904296875,
                        "z": 347.6041259765625
                    },
                    "rotation": {
                        "roll": 0.0002626363420858979,
                        "pitch": -2.5383918285369873,
                        "yaw": 178.71710205078125
                    }
                },
                "velocity": {
                    "x": -15.85802936553955,
                    "y": 0.3547843396663666,
                    "z": -0.69207364320755
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.443349838256836,
                "transform": {
                    "location": {
                        "x": -1300.2371826171875,
                        "y": 3080.550048828125,
                        "z": 346.4565124511719
                    },
                    "rotation": {
                        "roll": 0.07294968515634537,
                        "pitch": -1.9187297821044922,
                        "yaw": 178.0026092529297
                    }
                },
                "velocity": {
                    "x": -16.42473602294922,
                    "y": 0.5646082162857056,
                    "z": -0.5413146018981934
                },
                "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": -0.01593945547938347,
        "expert_target_speed": 15.807625739908165,
        "target_point": [
            40.98226579242519,
            -0.83976103895696
        ],
        "target_point_next": [
            91.96499042163977,
            -3.2596842963966566
        ]
    },
    "445": {
        "acceleration": [
            -0.5023002624511719,
            0.5145864486694336,
            -0.032297372817993164
        ],
        "angular_velocity": [
            0.3174067735671997,
            -0.031791090965270996,
            -1.9733431339263916
        ],
        "forward_vector": [
            -0.9987929463386536,
            0.009432791732251644,
            -0.04820528253912926
        ],
        "right_vector": [
            -0.009354373440146446,
            -0.9999545216560364,
            -0.001852086978033185
        ],
        "location": [
            -1253.745849609375,
            3079.40771484375,
            348.3443603515625
        ],
        "rotation": [
            0.10624033957719803,
            -2.7630300521850586,
            179.4589080810547
        ],
        "velocity": [
            -15.448888778686523,
            0.14256207644939423,
            -0.7490930557250977
        ],
        "speed": 15.449546544862342,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.885982513427734,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1273.60595703125,
                3079.858154296875,
                347.4357604980469
            ],
            "velocity": [
                -15.854663848876953,
                0.35452574491500854,
                -0.6567642092704773
            ],
            "speed_kmh": 57.1399949216561,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.175294876098633,
                "transform": {
                    "location": {
                        "x": -1311.984130859375,
                        "y": 3102.044189453125,
                        "z": 346.0667419433594
                    },
                    "rotation": {
                        "roll": -0.04510498046875,
                        "pitch": 1.4840565919876099,
                        "yaw": -2.145660638809204
                    }
                },
                "velocity": {
                    "x": 8.165717124938965,
                    "y": -0.28096434473991394,
                    "z": 0.27850326895713806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.568593502044678,
                "transform": {
                    "location": {
                        "x": -1310.8878173828125,
                        "y": 3105.50146484375,
                        "z": 346.10302734375
                    },
                    "rotation": {
                        "roll": 0.036189623177051544,
                        "pitch": 1.6383368968963623,
                        "yaw": -2.074493646621704
                    }
                },
                "velocity": {
                    "x": 6.563298225402832,
                    "y": -0.19877669215202332,
                    "z": 0.17327836155891418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.935358047485352,
                "transform": {
                    "location": {
                        "x": -1310.9202880859375,
                        "y": 3098.5087890625,
                        "z": 346.0933837890625
                    },
                    "rotation": {
                        "roll": 0.009457709267735481,
                        "pitch": 1.5642361640930176,
                        "yaw": -1.897430658340454
                    }
                },
                "velocity": {
                    "x": 7.927816390991211,
                    "y": -0.2479982078075409,
                    "z": 0.24109487235546112
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1066.943603515625,
                        "y": 3075.241455078125,
                        "z": 356.0255126953125
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7833333015441895,
                "transform": {
                    "location": {
                        "x": -1270.5982666015625,
                        "y": 3100.889404296875,
                        "z": 347.54974365234375
                    },
                    "rotation": {
                        "roll": 0.012233461253345013,
                        "pitch": 2.415024995803833,
                        "yaw": -1.212799072265625
                    }
                },
                "velocity": {
                    "x": 7.774386405944824,
                    "y": -0.16423974931240082,
                    "z": 0.3349871039390564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.529620170593262,
                "transform": {
                    "location": {
                        "x": -1270.1968994140625,
                        "y": 3104.38232421875,
                        "z": 347.5703125
                    },
                    "rotation": {
                        "roll": 0.010430118069052696,
                        "pitch": 2.666935920715332,
                        "yaw": -1.07342529296875
                    }
                },
                "velocity": {
                    "x": 8.519855499267578,
                    "y": -0.17476722598075867,
                    "z": 0.36870384216308594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.111466407775879,
                "transform": {
                    "location": {
                        "x": -1269.9471435546875,
                        "y": 3097.375244140625,
                        "z": 347.5848388671875
                    },
                    "rotation": {
                        "roll": 0.005538856144994497,
                        "pitch": 2.515619993209839,
                        "yaw": -1.2040096521377563
                    }
                },
                "velocity": {
                    "x": 8.10224437713623,
                    "y": -0.16997626423835754,
                    "z": 0.347328245639801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.9600830078125,
                        "y": 3075.8896484375,
                        "z": 355.27642822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013250350952148,
                "transform": {
                    "location": {
                        "x": -1229.028076171875,
                        "y": 3099.967041015625,
                        "z": 349.55621337890625
                    },
                    "rotation": {
                        "roll": -0.00042724653030745685,
                        "pitch": 2.950866937637329,
                        "yaw": -1.2723692655563354
                    }
                },
                "velocity": {
                    "x": 8.000701904296875,
                    "y": -0.17768044769763947,
                    "z": 0.41157066822052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.963846683502197,
                "transform": {
                    "location": {
                        "x": -1227.6324462890625,
                        "y": 3103.4365234375,
                        "z": 349.6272888183594
                    },
                    "rotation": {
                        "roll": 0.001315065543167293,
                        "pitch": 2.9434425830841064,
                        "yaw": -1.2731322050094604
                    }
                },
                "velocity": {
                    "x": 7.950976848602295,
                    "y": -0.1783025860786438,
                    "z": 0.4159693121910095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002497673034668,
                "transform": {
                    "location": {
                        "x": -1228.0780029296875,
                        "y": 3096.44482421875,
                        "z": 349.60400390625
                    },
                    "rotation": {
                        "roll": 0.0008176853880286217,
                        "pitch": 3.009394884109497,
                        "yaw": -1.2733460664749146
                    }
                },
                "velocity": {
                    "x": 7.989743709564209,
                    "y": -0.17760632932186127,
                    "z": 0.4152335226535797
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.012897491455078,
                "transform": {
                    "location": {
                        "x": -1227.4412841796875,
                        "y": 3106.933349609375,
                        "z": 349.62432861328125
                    },
                    "rotation": {
                        "roll": 1.223610252054641e-05,
                        "pitch": 2.9728944301605225,
                        "yaw": -1.2800902128219604
                    }
                },
                "velocity": {
                    "x": 8.000020980834961,
                    "y": -0.17867997288703918,
                    "z": 0.4174426198005676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1130.5633544921875,
                        "y": 3076.662353515625,
                        "z": 354.0497131347656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1186.5841064453125,
                        "y": 3105.99462890625,
                        "z": 351.8044128417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004544258117676,
                "transform": {
                    "location": {
                        "x": -1186.96630859375,
                        "y": 3102.529052734375,
                        "z": 351.7824401855469
                    },
                    "rotation": {
                        "roll": 0.0004948839196003973,
                        "pitch": 2.8661248683929443,
                        "yaw": -1.2880859375
                    }
                },
                "velocity": {
                    "x": 7.992909908294678,
                    "y": -0.17909127473831177,
                    "z": 0.3924795389175415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003252983093262,
                "transform": {
                    "location": {
                        "x": -1187.07275390625,
                        "y": 3099.030517578125,
                        "z": 351.81939697265625
                    },
                    "rotation": {
                        "roll": 0.0004222275747451931,
                        "pitch": 2.8259360790252686,
                        "yaw": -1.266968011856079
                    }
                },
                "velocity": {
                    "x": 7.991647243499756,
                    "y": -0.17701050639152527,
                    "z": 0.3928157091140747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052392959594727,
                "transform": {
                    "location": {
                        "x": -1187.1754150390625,
                        "y": 3095.531494140625,
                        "z": 351.78851318359375
                    },
                    "rotation": {
                        "roll": -3.051946623600088e-05,
                        "pitch": 2.824624538421631,
                        "yaw": -1.2769774198532104
                    }
                },
                "velocity": {
                    "x": 8.040695190429688,
                    "y": -0.18007585406303406,
                    "z": 0.3947547972202301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1164.8118896484375,
                        "y": 3077.427978515625,
                        "z": 352.7911376953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.398130416870117,
                "transform": {
                    "location": {
                        "x": -1207.6641845703125,
                        "y": 3078.385498046875,
                        "z": 350.72076416015625
                    },
                    "rotation": {
                        "roll": 0.00037758308462798595,
                        "pitch": -3.172581672668457,
                        "yaw": 178.72247314453125
                    }
                },
                "velocity": {
                    "x": -16.369142532348633,
                    "y": 0.36541640758514404,
                    "z": -0.9035252332687378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.872220039367676,
                "transform": {
                    "location": {
                        "x": -1273.60595703125,
                        "y": 3079.858154296875,
                        "z": 347.4357604980469
                    },
                    "rotation": {
                        "roll": 1.668958971023926e-09,
                        "pitch": -2.3739278316497803,
                        "yaw": 178.71063232421875
                    }
                },
                "velocity": {
                    "x": -15.854663848876953,
                    "y": 0.35452574491500854,
                    "z": -0.6567642092704773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.44230842590332,
                "transform": {
                    "location": {
                        "x": -1304.34326171875,
                        "y": 3080.699951171875,
                        "z": 346.32147216796875
                    },
                    "rotation": {
                        "roll": 0.09431901574134827,
                        "pitch": -1.8955072164535522,
                        "yaw": 177.79051208496094
                    }
                },
                "velocity": {
                    "x": -16.421796798706055,
                    "y": 0.6248679161071777,
                    "z": -0.5325736403465271
                },
                "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": -0.025290008634328842,
        "expert_target_speed": 15.917292858901725,
        "target_point": [
            37.141123872149706,
            -0.4979088147085375
        ],
        "target_point_next": [
            88.1431075105278,
            -2.4706997668461117
        ]
    },
    "450": {
        "acceleration": [
            -0.48351287841796875,
            0.2868318557739258,
            0.08834600448608398
        ],
        "angular_velocity": [
            -0.0426502525806427,
            0.17139509320259094,
            -0.8309752941131592
        ],
        "forward_vector": [
            -0.998792290687561,
            0.014706256799399853,
            -0.04687950387597084
        ],
        "right_vector": [
            -0.014633703976869583,
            -0.9998911619186401,
            -0.0018904897151514888
        ],
        "location": [
            -1257.6248779296875,
            3079.453125,
            348.1584167480469
        ],
        "rotation": [
            0.10843636840581894,
            -2.6869826316833496,
            179.15643310546875
        ],
        "velocity": [
            -15.57108211517334,
            0.22250469028949738,
            -0.7364799976348877
        ],
        "speed": 15.572671786648296,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.970252990722656,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1277.5693359375,
                3079.94677734375,
                347.2718811035156
            ],
            "velocity": [
                -15.852200508117676,
                0.35683977603912354,
                -0.6432474851608276
            ],
            "speed_kmh": 57.12933032354172,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.877671241760254,
                "transform": {
                    "location": {
                        "x": -1309.980224609375,
                        "y": 3101.975830078125,
                        "z": 346.13372802734375
                    },
                    "rotation": {
                        "roll": -0.002136229770258069,
                        "pitch": 1.635406732559204,
                        "yaw": -1.8368834257125854
                    }
                },
                "velocity": {
                    "x": 7.8698625564575195,
                    "y": -0.24683278799057007,
                    "z": 0.24908529222011566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.565803527832031,
                "transform": {
                    "location": {
                        "x": -1309.2471923828125,
                        "y": 3105.450927734375,
                        "z": 346.1483459472656
                    },
                    "rotation": {
                        "roll": 0.03874849155545235,
                        "pitch": 1.6617918014526367,
                        "yaw": -1.8327027559280396
                    }
                },
                "velocity": {
                    "x": 6.560367107391357,
                    "y": -0.19207866489887238,
                    "z": 0.18563571572303772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.600833415985107,
                "transform": {
                    "location": {
                        "x": -1308.9609375,
                        "y": 3098.447509765625,
                        "z": 346.1505432128906
                    },
                    "rotation": {
                        "roll": 0.015903761610388756,
                        "pitch": 1.6608833074569702,
                        "yaw": -1.777801752090454
                    }
                },
                "velocity": {
                    "x": 7.593966484069824,
                    "y": -0.23298028111457825,
                    "z": 0.22373734414577484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.0706787109375,
                        "y": 3075.333251953125,
                        "z": 355.938232421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.175045013427734,
                "transform": {
                    "location": {
                        "x": -1268.59619140625,
                        "y": 3100.846923828125,
                        "z": 347.63568115234375
                    },
                    "rotation": {
                        "roll": 0.009538816288113594,
                        "pitch": 2.6681859493255615,
                        "yaw": -1.200225591659546
                    }
                },
                "velocity": {
                    "x": 8.165493965148926,
                    "y": -0.1746627241373062,
                    "z": 0.3543356955051422
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.027989387512207,
                "transform": {
                    "location": {
                        "x": -1268.1358642578125,
                        "y": 3104.34033203125,
                        "z": 347.6622314453125
                    },
                    "rotation": {
                        "roll": 0.007584062404930592,
                        "pitch": 2.4445929527282715,
                        "yaw": -1.205505132675171
                    }
                },
                "velocity": {
                    "x": 8.018401145935059,
                    "y": -0.17203114926815033,
                    "z": 0.35250943899154663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043755531311035,
                "transform": {
                    "location": {
                        "x": -1267.9183349609375,
                        "y": 3097.331787109375,
                        "z": 347.6728820800781
                    },
                    "rotation": {
                        "roll": 0.00291608483530581,
                        "pitch": 2.5726590156555176,
                        "yaw": -1.2267457246780396
                    }
                },
                "velocity": {
                    "x": 8.033940315246582,
                    "y": -0.1729649007320404,
                    "z": 0.35761335492134094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.086181640625,
                        "y": 3075.9814453125,
                        "z": 355.14361572265625
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02171802520752,
                "transform": {
                    "location": {
                        "x": -1227.0252685546875,
                        "y": 3099.9228515625,
                        "z": 349.6600341796875
                    },
                    "rotation": {
                        "roll": 0.0004971882444806397,
                        "pitch": 3.016505002975464,
                        "yaw": -1.27197265625
                    }
                },
                "velocity": {
                    "x": 8.008919715881348,
                    "y": -0.1778363436460495,
                    "z": 0.4165899455547333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02409839630127,
                "transform": {
                    "location": {
                        "x": -1225.63671875,
                        "y": 3103.39208984375,
                        "z": 349.7313537597656
                    },
                    "rotation": {
                        "roll": 0.000820461253169924,
                        "pitch": 3.0057475566864014,
                        "yaw": -1.2708740234375
                    }
                },
                "velocity": {
                    "x": 8.011099815368652,
                    "y": -0.17755964398384094,
                    "z": 0.4206119477748871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011054992675781,
                "transform": {
                    "location": {
                        "x": -1226.078125,
                        "y": 3096.400146484375,
                        "z": 349.7078857421875
                    },
                    "rotation": {
                        "roll": 0.00020824052626267076,
                        "pitch": 3.0756545066833496,
                        "yaw": -1.2760926485061646
                    }
                },
                "velocity": {
                    "x": 7.998136043548584,
                    "y": -0.1781073361635208,
                    "z": 0.41844892501831055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.976516246795654,
                "transform": {
                    "location": {
                        "x": -1225.445556640625,
                        "y": 3106.888916015625,
                        "z": 349.7282409667969
                    },
                    "rotation": {
                        "roll": 0.0002571607183199376,
                        "pitch": 3.0248241424560547,
                        "yaw": -1.2776488065719604
                    }
                },
                "velocity": {
                    "x": 7.963525772094727,
                    "y": -0.17758220434188843,
                    "z": 0.4189684987068176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1134.68896484375,
                        "y": 3076.7548828125,
                        "z": 353.8993225097656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4587,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.5059814453125,
                        "y": 3105.8828125,
                        "z": 351.9039001464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4586,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.8892822265625,
                        "y": 3102.403564453125,
                        "z": 351.8877258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.0111083984375,
                        "y": 3098.910888671875,
                        "z": 351.89556884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.1275634765625,
                        "y": 3095.419921875,
                        "z": 351.88604736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.7430858612060547,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1168.936767578125,
                        "y": 3077.51953125,
                        "z": 352.6246337890625
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.396989822387695,
                "transform": {
                    "location": {
                        "x": -1211.7569580078125,
                        "y": 3078.476806640625,
                        "z": 350.4970703125
                    },
                    "rotation": {
                        "roll": -0.0007019018521532416,
                        "pitch": -3.1200575828552246,
                        "yaw": 178.72804260253906
                    }
                },
                "velocity": {
                    "x": -16.368858337402344,
                    "y": 0.36410945653915405,
                    "z": -0.8883757591247559
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.869258880615234,
                "transform": {
                    "location": {
                        "x": -1277.5693359375,
                        "y": 3079.94677734375,
                        "z": 347.2718811035156
                    },
                    "rotation": {
                        "roll": 0.000452433101600036,
                        "pitch": -2.3689827919006348,
                        "yaw": 178.7189178466797
                    }
                },
                "velocity": {
                    "x": -15.852200508117676,
                    "y": 0.35683977603912354,
                    "z": -0.6432474851608276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.438161849975586,
                "transform": {
                    "location": {
                        "x": -1308.4495849609375,
                        "y": 3080.86376953125,
                        "z": 346.1921691894531
                    },
                    "rotation": {
                        "roll": 0.10903193056583405,
                        "pitch": -1.743706226348877,
                        "yaw": 177.5905303955078
                    }
                },
                "velocity": {
                    "x": -16.41656494140625,
                    "y": 0.6846415400505066,
                    "z": -0.49079450964927673
                },
                "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": -0.0326479934155941,
        "expert_target_speed": 16.020186905716724,
        "target_point": [
            33.263958362138666,
            -0.3135353182695695
        ],
        "target_point_next": [
            84.27564576897673,
            -2.017057286798532
        ]
    },
    "455": {
        "acceleration": [
            -0.4702949523925781,
            0.062105655670166016,
            -0.01069784164428711
        ],
        "angular_velocity": [
            -0.24623000621795654,
            -0.01926429383456707,
            -0.4378238916397095
        ],
        "forward_vector": [
            -0.9987415671348572,
            0.017877381294965744,
            -0.04685818776488304
        ],
        "right_vector": [
            -0.017827030271291733,
            -0.9998399615287781,
            -0.001492232782766223
        ],
        "location": [
            -1261.533203125,
            3079.515625,
            347.9743957519531
        ],
        "rotation": [
            0.08559269458055496,
            -2.685760021209717,
            178.97451782226562
        ],
        "velocity": [
            -15.689495086669922,
            0.2747618556022644,
            -0.7374467849731445
        ],
        "speed": 15.691900781993672,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.024377822875977,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1281.5323486328125,
                3080.035888671875,
                347.1145935058594
            ],
            "velocity": [
                -15.844650268554688,
                0.36193016171455383,
                -0.6126841306686401
            ],
            "speed_kmh": 57.09823774642171,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020501136779785,
                "transform": {
                    "location": {
                        "x": -1307.993408203125,
                        "y": 3101.912841796875,
                        "z": 346.1916809082031
                    },
                    "rotation": {
                        "roll": 0.024035831913352013,
                        "pitch": 1.714595913887024,
                        "yaw": -1.77056884765625
                    }
                },
                "velocity": {
                    "x": 8.012866020202637,
                    "y": -0.25825461745262146,
                    "z": 0.2360631674528122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.399057388305664,
                "transform": {
                    "location": {
                        "x": -1307.628662109375,
                        "y": 3105.39990234375,
                        "z": 346.1960144042969
                    },
                    "rotation": {
                        "roll": 0.02109021320939064,
                        "pitch": 1.7065021991729736,
                        "yaw": -1.828338623046875
                    }
                },
                "velocity": {
                    "x": 6.392602920532227,
                    "y": -0.2093231976032257,
                    "z": 0.196839839220047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.72220516204834,
                "transform": {
                    "location": {
                        "x": -1307.385009765625,
                        "y": 3098.3955078125,
                        "z": 346.19873046875
                    },
                    "rotation": {
                        "roll": 0.01601995714008808,
                        "pitch": 1.6359531879425049,
                        "yaw": -1.8590087890625
                    }
                },
                "velocity": {
                    "x": 5.71610164642334,
                    "y": -0.19265706837177277,
                    "z": 0.18082113564014435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.197509765625,
                        "y": 3075.425537109375,
                        "z": 355.8441467285156
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.952010154724121,
                "transform": {
                    "location": {
                        "x": -1266.5784912109375,
                        "y": 3100.803466796875,
                        "z": 347.7253723144531
                    },
                    "rotation": {
                        "roll": 0.007506099063903093,
                        "pitch": 2.591865301132202,
                        "yaw": -1.253936767578125
                    }
                },
                "velocity": {
                    "x": 7.942163467407227,
                    "y": -0.17342303693294525,
                    "z": 0.3555664122104645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.871975898742676,
                "transform": {
                    "location": {
                        "x": -1266.1650390625,
                        "y": 3104.2978515625,
                        "z": 347.7496337890625
                    },
                    "rotation": {
                        "roll": 0.0059143295511603355,
                        "pitch": 2.497096538543701,
                        "yaw": -1.2415771484375
                    }
                },
                "velocity": {
                    "x": 7.862268924713135,
                    "y": -0.17154961824417114,
                    "z": 0.3511431813240051
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9748616218566895,
                "transform": {
                    "location": {
                        "x": -1265.9268798828125,
                        "y": 3097.28857421875,
                        "z": 347.76177978515625
                    },
                    "rotation": {
                        "roll": 0.0013447831152006984,
                        "pitch": 2.556833267211914,
                        "yaw": -1.248443603515625
                    }
                },
                "velocity": {
                    "x": 7.965088844299316,
                    "y": -0.1732776165008545,
                    "z": 0.35461920499801636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.2117919921875,
                        "y": 3076.07373046875,
                        "z": 355.0046081542969
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007523536682129,
                "transform": {
                    "location": {
                        "x": -1225.0250244140625,
                        "y": 3099.878173828125,
                        "z": 349.7646484375
                    },
                    "rotation": {
                        "roll": 0.001092042657546699,
                        "pitch": 3.0434911251068115,
                        "yaw": -1.284027099609375
                    }
                },
                "velocity": {
                    "x": 7.994474411010742,
                    "y": -0.17911775410175323,
                    "z": 0.42038512229919434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965187072753906,
                "transform": {
                    "location": {
                        "x": -1223.6414794921875,
                        "y": 3103.34765625,
                        "z": 349.8365173339844
                    },
                    "rotation": {
                        "roll": 0.0007985839620232582,
                        "pitch": 3.0022027492523193,
                        "yaw": -1.2758787870407104
                    }
                },
                "velocity": {
                    "x": 7.952122688293457,
                    "y": -0.17708562314510345,
                    "z": 0.42022764682769775
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.994606018066406,
                "transform": {
                    "location": {
                        "x": -1224.0811767578125,
                        "y": 3096.35595703125,
                        "z": 349.8132019042969
                    },
                    "rotation": {
                        "roll": 0.0006477402057498693,
                        "pitch": 3.076214551925659,
                        "yaw": -1.2770689725875854
                    }
                },
                "velocity": {
                    "x": 7.981536865234375,
                    "y": -0.1791008710861206,
                    "z": 0.4203738272190094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.010817527770996,
                "transform": {
                    "location": {
                        "x": -1223.450439453125,
                        "y": 3106.8447265625,
                        "z": 349.83349609375
                    },
                    "rotation": {
                        "roll": 0.0008410461596213281,
                        "pitch": 3.0178301334381104,
                        "yaw": -1.275054931640625
                    }
                },
                "velocity": {
                    "x": 7.997716903686523,
                    "y": -0.17880983650684357,
                    "z": 0.421609103679657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1138.814208984375,
                        "y": 3076.846923828125,
                        "z": 353.7489013671875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4585,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1182.9310302734375,
                        "y": 3098.843994140625,
                        "z": 351.9873046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.6210849285125732,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4584,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1183.0479736328125,
                        "y": 3095.348388671875,
                        "z": 351.98370361328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.6210849285125732,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1173.0611572265625,
                        "y": 3077.612060546875,
                        "z": 352.45123291015625
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.396745681762695,
                "transform": {
                    "location": {
                        "x": -1215.8492431640625,
                        "y": 3078.567626953125,
                        "z": 350.2752380371094
                    },
                    "rotation": {
                        "roll": 0.0003979588218498975,
                        "pitch": -3.1218881607055664,
                        "yaw": 178.7234344482422
                    }
                },
                "velocity": {
                    "x": -16.36858367919922,
                    "y": 0.36428388953208923,
                    "z": -0.8888257145881653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.860621452331543,
                "transform": {
                    "location": {
                        "x": -1281.5323486328125,
                        "y": 3080.035888671875,
                        "z": 347.1145935058594
                    },
                    "rotation": {
                        "roll": 0.02786870114505291,
                        "pitch": -2.2192375659942627,
                        "yaw": 178.70111083984375
                    }
                },
                "velocity": {
                    "x": -15.844650268554688,
                    "y": 0.36193016171455383,
                    "z": -0.6126841306686401
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.431785583496094,
                "transform": {
                    "location": {
                        "x": -1312.5548095703125,
                        "y": 3081.04150390625,
                        "z": 346.0758972167969
                    },
                    "rotation": {
                        "roll": 0.09785623848438263,
                        "pitch": -1.5408905744552612,
                        "yaw": 177.39100646972656
                    }
                },
                "velocity": {
                    "x": -16.40921401977539,
                    "y": 0.7446272373199463,
                    "z": -0.43222036957740784
                },
                "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": -0.03882923349738121,
        "expert_target_speed": 16.118699298614516,
        "target_point": [
            29.355968342127184,
            -0.21538399893936644
        ],
        "target_point_next": [
            80.37280697112966,
            -1.756946677697934
        ]
    },
    "460": {
        "acceleration": [
            -0.4493522644042969,
            -0.4410192370414734,
            0.1577293872833252
        ],
        "angular_velocity": [
            -0.5844948291778564,
            0.24095825850963593,
            2.0662055015563965
        ],
        "forward_vector": [
            -0.9989433884620667,
            0.013137228786945343,
            -0.04403918236494064
        ],
        "right_vector": [
            -0.013188260607421398,
            -0.999912679195404,
            0.0008684122585691512
        ],
        "location": [
            -1265.4718017578125,
            3079.576171875,
            347.7942810058594
        ],
        "rotation": [
            -0.0498046837747097,
            -2.524075746536255,
            179.2465362548828
        ],
        "velocity": [
            -15.802719116210938,
            0.19779250025749207,
            -0.7042791843414307
        ],
        "speed": 15.803956888672428,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.045822143554688,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1285.4927978515625,
                3080.126708984375,
                346.962646484375
            ],
            "velocity": [
                -15.835933685302734,
                0.36691275238990784,
                -0.5856900811195374
            ],
            "speed_kmh": 57.06362867602138,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1042.94677734375,
                        "y": 3074.705322265625,
                        "z": 356.46002197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.710525035858154,
                "transform": {
                    "location": {
                        "x": -1306.029541015625,
                        "y": 3101.849365234375,
                        "z": 346.2507629394531
                    },
                    "rotation": {
                        "roll": 0.01982647366821766,
                        "pitch": 1.8039690256118774,
                        "yaw": -1.8499754667282104
                    }
                },
                "velocity": {
                    "x": 7.702583312988281,
                    "y": -0.2542206645011902,
                    "z": 0.24037350714206696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.891703128814697,
                "transform": {
                    "location": {
                        "x": -1306.110595703125,
                        "y": 3105.350341796875,
                        "z": 346.2427673339844
                    },
                    "rotation": {
                        "roll": 0.03876432403922081,
                        "pitch": 1.8327240943908691,
                        "yaw": -1.8595885038375854
                    }
                },
                "velocity": {
                    "x": 5.885688781738281,
                    "y": -0.19072116911411285,
                    "z": 0.1856435388326645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.063230037689209,
                "transform": {
                    "location": {
                        "x": -1305.9368896484375,
                        "y": 3098.347412109375,
                        "z": 346.2429504394531
                    },
                    "rotation": {
                        "roll": 0.010700390674173832,
                        "pitch": 1.8222397565841675,
                        "yaw": -1.9286195039749146
                    }
                },
                "velocity": {
                    "x": 6.05679178237915,
                    "y": -0.20528283715248108,
                    "z": 0.18944892287254333
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1079.2940673828125,
                        "y": 3075.51708984375,
                        "z": 355.7455749511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.983494281768799,
                "transform": {
                    "location": {
                        "x": -1264.599365234375,
                        "y": 3100.760009765625,
                        "z": 347.8138122558594
                    },
                    "rotation": {
                        "roll": 0.004871913231909275,
                        "pitch": 2.5861144065856934,
                        "yaw": -1.23736572265625
                    }
                },
                "velocity": {
                    "x": 7.973720550537109,
                    "y": -0.17425605654716492,
                    "z": 0.3543975055217743
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.134298324584961,
                "transform": {
                    "location": {
                        "x": -1264.1617431640625,
                        "y": 3104.253662109375,
                        "z": 347.8379211425781
                    },
                    "rotation": {
                        "roll": 0.00140623957850039,
                        "pitch": 2.633549928665161,
                        "yaw": -1.291107177734375
                    }
                },
                "velocity": {
                    "x": 8.124229431152344,
                    "y": -0.18176698684692383,
                    "z": 0.36146658658981323
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062384605407715,
                "transform": {
                    "location": {
                        "x": -1263.9212646484375,
                        "y": 3097.24462890625,
                        "z": 347.85107421875
                    },
                    "rotation": {
                        "roll": 0.0005122360889799893,
                        "pitch": 2.570746421813965,
                        "yaw": -1.255981206893921
                    }
                },
                "velocity": {
                    "x": 8.052505493164062,
                    "y": -0.17684097588062286,
                    "z": 0.35768234729766846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.337158203125,
                        "y": 3076.16552734375,
                        "z": 354.85955810546875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019611358642578,
                "transform": {
                    "location": {
                        "x": -1223.0247802734375,
                        "y": 3099.8330078125,
                        "z": 349.87005615234375
                    },
                    "rotation": {
                        "roll": -0.0006103547639213502,
                        "pitch": 3.0427534580230713,
                        "yaw": -1.282623291015625
                    }
                },
                "velocity": {
                    "x": 8.006596565246582,
                    "y": -0.17845095694065094,
                    "z": 0.4203937351703644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.024523735046387,
                "transform": {
                    "location": {
                        "x": -1221.6458740234375,
                        "y": 3103.303466796875,
                        "z": 349.9416809082031
                    },
                    "rotation": {
                        "roll": 0.000721880467608571,
                        "pitch": 2.999115467071533,
                        "yaw": -1.2724303007125854
                    }
                },
                "velocity": {
                    "x": 8.011421203613281,
                    "y": -0.17787818610668182,
                    "z": 0.4224548935890198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014660835266113,
                "transform": {
                    "location": {
                        "x": -1222.0830078125,
                        "y": 3096.311279296875,
                        "z": 349.91845703125
                    },
                    "rotation": {
                        "roll": 0.0004971721791662276,
                        "pitch": 3.075688600540161,
                        "yaw": -1.2771605253219604
                    }
                },
                "velocity": {
                    "x": 8.001605987548828,
                    "y": -0.1784237027168274,
                    "z": 0.421017050743103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.976755142211914,
                "transform": {
                    "location": {
                        "x": -1221.4554443359375,
                        "y": 3106.800048828125,
                        "z": 349.9386291503906
                    },
                    "rotation": {
                        "roll": 0.0007599840173497796,
                        "pitch": 3.016054391860962,
                        "yaw": -1.281188726425171
                    }
                },
                "velocity": {
                    "x": 7.963691234588623,
                    "y": -0.17819194495677948,
                    "z": 0.42010724544525146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1142.9395751953125,
                        "y": 3076.939208984375,
                        "z": 353.5984802246094
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1177.1851806640625,
                        "y": 3077.7041015625,
                        "z": 352.2708435058594
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39544677734375,
                "transform": {
                    "location": {
                        "x": -1219.942138671875,
                        "y": 3078.659423828125,
                        "z": 350.05499267578125
                    },
                    "rotation": {
                        "roll": -0.001220703823491931,
                        "pitch": -3.0376853942871094,
                        "yaw": 178.7200927734375
                    }
                },
                "velocity": {
                    "x": -16.36800193786621,
                    "y": 0.36370840668678284,
                    "z": -0.875738799571991
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.851008415222168,
                "transform": {
                    "location": {
                        "x": -1285.4927978515625,
                        "y": 3080.126708984375,
                        "z": 346.962646484375
                    },
                    "rotation": {
                        "roll": 0.009691696614027023,
                        "pitch": -2.1688854694366455,
                        "yaw": 178.66819763183594
                    }
                },
                "velocity": {
                    "x": -15.835933685302734,
                    "y": 0.36691275238990784,
                    "z": -0.5856900811195374
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.425939559936523,
                "transform": {
                    "location": {
                        "x": -1316.6578369140625,
                        "y": 3081.232421875,
                        "z": 345.97320556640625
                    },
                    "rotation": {
                        "roll": 0.07908222824335098,
                        "pitch": -1.376283049583435,
                        "yaw": 177.2379150390625
                    }
                },
                "velocity": {
                    "x": -16.402198791503906,
                    "y": 0.796302080154419,
                    "z": -0.38112011551856995
                },
                "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": -0.06772691756486893,
        "expert_target_speed": 16.208536009225824,
        "target_point": [
            25.41556075450761,
            -0.3459955405436356
        ],
        "target_point_next": [
            76.42450611009842,
            -2.129736805573976
        ]
    },
    "465": {
        "acceleration": [
            -0.4245758056640625,
            -0.3808678686618805,
            0.13239741325378418
        ],
        "angular_velocity": [
            -0.21611233055591583,
            0.24318289756774902,
            1.789313793182373
        ],
        "forward_vector": [
            -0.9990272521972656,
            0.003512227674946189,
            -0.04395617917180061
        ],
        "right_vector": [
            -0.003648825455456972,
            -0.9999887347221375,
            0.0030277431942522526
        ],
        "location": [
            -1269.4368896484375,
            3079.60986328125,
            347.619140625
        ],
        "rotation": [
            -0.1736450046300888,
            -2.519315242767334,
            179.79856872558594
        ],
        "velocity": [
            -15.911444664001465,
            0.07152482122182846,
            -0.6947706937789917
        ],
        "speed": 15.911605421692416,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.039752960205078,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1289.451171875,
                3080.225341796875,
                346.81829833984375
            ],
            "velocity": [
                -15.826395988464355,
                0.4134955108165741,
                -0.5686438083648682
            ],
            "speed_kmh": 57.03122048626624,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1344.6441650390625,
                        "y": 3107.472412109375,
                        "z": 345.7938537597656
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -4.147340297698975
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1344.9029541015625,
                        "y": 3103.981689453125,
                        "z": 345.79437255859375
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -4.147340297698975
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1345.1612548828125,
                        "y": 3100.491455078125,
                        "z": 345.7948303222656
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -4.147340297698975
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.0733642578125,
                        "y": 3074.79736328125,
                        "z": 356.3768005371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.724290370941162,
                "transform": {
                    "location": {
                        "x": -1304.312255859375,
                        "y": 3101.79345703125,
                        "z": 346.3079528808594
                    },
                    "rotation": {
                        "roll": 0.01009775698184967,
                        "pitch": 1.4868364334106445,
                        "yaw": -1.9700322151184082
                    }
                },
                "velocity": {
                    "x": 5.717959403991699,
                    "y": -0.1919662058353424,
                    "z": 0.18864750862121582
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.320806980133057,
                "transform": {
                    "location": {
                        "x": -1304.60595703125,
                        "y": 3105.30126953125,
                        "z": 346.2908935546875
                    },
                    "rotation": {
                        "roll": 0.013948585838079453,
                        "pitch": 1.8185651302337646,
                        "yaw": -1.8919371366500854
                    }
                },
                "velocity": {
                    "x": 6.3141069412231445,
                    "y": -0.2061917632818222,
                    "z": 0.20527677237987518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.806777000427246,
                "transform": {
                    "location": {
                        "x": -1304.280517578125,
                        "y": 3098.291259765625,
                        "z": 346.2950744628906
                    },
                    "rotation": {
                        "roll": 0.007086249999701977,
                        "pitch": 1.9533315896987915,
                        "yaw": -1.97784423828125
                    }
                },
                "velocity": {
                    "x": 7.798159599304199,
                    "y": -0.2660253345966339,
                    "z": 0.25238892436027527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1083.42041015625,
                        "y": 3075.609375,
                        "z": 355.6395263671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.057050704956055,
                "transform": {
                    "location": {
                        "x": -1262.5880126953125,
                        "y": 3100.7158203125,
                        "z": 347.9043273925781
                    },
                    "rotation": {
                        "roll": 0.002479531103745103,
                        "pitch": 2.6726529598236084,
                        "yaw": -1.27459716796875
                    }
                },
                "velocity": {
                    "x": 8.046558380126953,
                    "y": -0.17843064665794373,
                    "z": 0.3703134059906006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064703941345215,
                "transform": {
                    "location": {
                        "x": -1262.1341552734375,
                        "y": 3104.208251953125,
                        "z": 347.9301452636719
                    },
                    "rotation": {
                        "roll": -3.051849125768058e-05,
                        "pitch": 2.655529499053955,
                        "yaw": -1.2685545682907104
                    }
                },
                "velocity": {
                    "x": 8.054056167602539,
                    "y": -0.17970463633537292,
                    "z": 0.3732627034187317
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.008687973022461,
                "transform": {
                    "location": {
                        "x": -1261.9140625,
                        "y": 3097.2001953125,
                        "z": 347.94268798828125
                    },
                    "rotation": {
                        "roll": 0.0006410363712348044,
                        "pitch": 2.67055606842041,
                        "yaw": -1.2691038846969604
                    }
                },
                "velocity": {
                    "x": 7.998368740081787,
                    "y": -0.17698104679584503,
                    "z": 0.3658680021762848
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.4320068359375,
                        "y": 3076.25732421875,
                        "z": 354.7108154296875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013152122497559,
                "transform": {
                    "location": {
                        "x": -1221.0238037109375,
                        "y": 3099.788330078125,
                        "z": 349.9754333496094
                    },
                    "rotation": {
                        "roll": 0.00043641909724101424,
                        "pitch": 3.040526866912842,
                        "yaw": -1.2779844999313354
                    }
                },
                "velocity": {
                    "x": 8.000154495239258,
                    "y": -0.17842744290828705,
                    "z": 0.41987717151641846
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.964617729187012,
                "transform": {
                    "location": {
                        "x": -1219.65087890625,
                        "y": 3103.2587890625,
                        "z": 350.0467224121094
                    },
                    "rotation": {
                        "roll": -0.001037599053233862,
                        "pitch": 2.9993135929107666,
                        "yaw": -1.2808531522750854
                    }
                },
                "velocity": {
                    "x": 7.951614856719971,
                    "y": -0.17783869802951813,
                    "z": 0.41872739791870117
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.994538307189941,
                "transform": {
                    "location": {
                        "x": -1220.085205078125,
                        "y": 3096.266845703125,
                        "z": 350.02374267578125
                    },
                    "rotation": {
                        "roll": -0.00018310740415472537,
                        "pitch": 3.071918487548828,
                        "yaw": -1.2763365507125854
                    }
                },
                "velocity": {
                    "x": 7.981522560119629,
                    "y": -0.17770089209079742,
                    "z": 0.4199543595314026
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.012049674987793,
                "transform": {
                    "location": {
                        "x": -1219.4600830078125,
                        "y": 3106.755126953125,
                        "z": 350.0436706542969
                    },
                    "rotation": {
                        "roll": 0.000428089959314093,
                        "pitch": 3.015678644180298,
                        "yaw": -1.2806395292282104
                    }
                },
                "velocity": {
                    "x": 7.998961448669434,
                    "y": -0.17892414331436157,
                    "z": 0.4213685393333435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1147.0645751953125,
                        "y": 3077.03125,
                        "z": 353.4480285644531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1181.308837890625,
                        "y": 3077.796142578125,
                        "z": 352.0834655761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.39446258544922,
                "transform": {
                    "location": {
                        "x": -1224.033935546875,
                        "y": 3078.75048828125,
                        "z": 349.8396301269531
                    },
                    "rotation": {
                        "roll": -0.00039672746788710356,
                        "pitch": -3.0260262489318848,
                        "yaw": 178.71865844726562
                    }
                },
                "velocity": {
                    "x": -16.36789321899414,
                    "y": 0.36608535051345825,
                    "z": -0.8581638336181641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.842005729675293,
                "transform": {
                    "location": {
                        "x": -1289.451171875,
                        "y": 3080.225341796875,
                        "z": 346.81829833984375
                    },
                    "rotation": {
                        "roll": 0.005479614250361919,
                        "pitch": -2.061760902404785,
                        "yaw": 178.50233459472656
                    }
                },
                "velocity": {
                    "x": -15.826395988464355,
                    "y": 0.4134955108165741,
                    "z": -0.5686438083648682
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.42003059387207,
                "transform": {
                    "location": {
                        "x": -1320.7591552734375,
                        "y": 3081.436767578125,
                        "z": 345.8828430175781
                    },
                    "rotation": {
                        "roll": 0.0734785944223404,
                        "pitch": -1.1967105865478516,
                        "yaw": 177.0420379638672
                    }
                },
                "velocity": {
                    "x": -16.39521026611328,
                    "y": 0.8403568863868713,
                    "z": -0.329060822725296
                },
                "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": -0.11851364374160767,
        "expert_target_speed": 16.294361692580793,
        "target_point": [
            21.445865635216094,
            -0.5711008740732549
        ],
        "target_point_next": [
            72.4352573300646,
            -2.8462214817631972
        ]
    },
    "470": {
        "acceleration": [
            -0.3934478759765625,
            0.5137975215911865,
            0.11482954025268555
        ],
        "angular_velocity": [
            0.8643112778663635,
            0.1442524939775467,
            -2.6724324226379395
        ],
        "forward_vector": [
            -0.9991284608840942,
            0.006785213015973568,
            -0.0411858856678009
        ],
        "right_vector": [
            -0.006819754373282194,
            -0.9999765157699585,
            0.0006982204504311085
        ],
        "location": [
            -1273.4293212890625,
            3079.63232421875,
            347.4488525390625
        ],
        "rotation": [
            -0.0400390587747097,
            -2.360445022583008,
            179.61090087890625
        ],
        "velocity": [
            -16.011383056640625,
            0.13492241501808167,
            -0.665165364742279
        ],
        "speed": 16.011951518929628,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.005056381225586,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1293.4072265625,
                3080.334716796875,
                346.6792907714844
            ],
            "velocity": [
                -15.81717586517334,
                0.46729859709739685,
                -0.5418499708175659
            ],
            "speed_kmh": 57.000065627026416,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1342.582275390625,
                        "y": 3107.32373046875,
                        "z": 345.6327209472656
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1342.841064453125,
                        "y": 3103.833251953125,
                        "z": 345.63348388671875
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1343.0989990234375,
                        "y": 3100.342529296875,
                        "z": 345.6342468261719
                    },
                    "rotation": {
                        "roll": -1.6675831826518106e-09,
                        "pitch": 0.4717884659767151,
                        "yaw": -3.905580520629883
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1051.2000732421875,
                        "y": 3074.889892578125,
                        "z": 356.3133850097656
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.266566753387451,
                "transform": {
                    "location": {
                        "x": -1302.9598388671875,
                        "y": 3101.7490234375,
                        "z": 346.352294921875
                    },
                    "rotation": {
                        "roll": 0.0020124162547290325,
                        "pitch": 1.6511844396591187,
                        "yaw": -2.057861328125
                    }
                },
                "velocity": {
                    "x": 5.260590553283691,
                    "y": -0.17571020126342773,
                    "z": 0.17899049818515778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.935999393463135,
                "transform": {
                    "location": {
                        "x": -1302.9193115234375,
                        "y": 3105.245849609375,
                        "z": 346.3468017578125
                    },
                    "rotation": {
                        "roll": 0.015641294419765472,
                        "pitch": 1.8445812463760376,
                        "yaw": -1.903625249862671
                    }
                },
                "velocity": {
                    "x": 6.928294658660889,
                    "y": -0.22819654643535614,
                    "z": 0.23397572338581085
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.292387962341309,
                "transform": {
                    "location": {
                        "x": -1302.2193603515625,
                        "y": 3098.22216796875,
                        "z": 346.36334228515625
                    },
                    "rotation": {
                        "roll": 0.003500483464449644,
                        "pitch": 1.968617558479309,
                        "yaw": -1.917022943496704
                    }
                },
                "velocity": {
                    "x": 8.283275604248047,
                    "y": -0.2736302614212036,
                    "z": 0.2759728729724884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1087.5465087890625,
                        "y": 3075.701904296875,
                        "z": 355.5271301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.963223457336426,
                "transform": {
                    "location": {
                        "x": -1260.5902099609375,
                        "y": 3100.671875,
                        "z": 347.99639892578125
                    },
                    "rotation": {
                        "roll": 0.0025809674989432096,
                        "pitch": 2.7449777126312256,
                        "yaw": -1.2477418184280396
                    }
                },
                "velocity": {
                    "x": 7.952542781829834,
                    "y": -0.17530593276023865,
                    "z": 0.3731801509857178
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.986156940460205,
                "transform": {
                    "location": {
                        "x": -1260.1339111328125,
                        "y": 3104.16357421875,
                        "z": 348.0228576660156
                    },
                    "rotation": {
                        "roll": 0.0006362468702718616,
                        "pitch": 2.718080520629883,
                        "yaw": -1.295654535293579
                    }
                },
                "velocity": {
                    "x": 7.9753098487854,
                    "y": -0.17942138016223907,
                    "z": 0.37542831897735596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02142333984375,
                "transform": {
                    "location": {
                        "x": -1259.913818359375,
                        "y": 3097.15576171875,
                        "z": 348.0357360839844
                    },
                    "rotation": {
                        "roll": 0.0007736868574284017,
                        "pitch": 2.7304224967956543,
                        "yaw": -1.2716675996780396
                    }
                },
                "velocity": {
                    "x": 8.01042366027832,
                    "y": -0.17888464033603668,
                    "z": 0.37994614243507385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.556884765625,
                        "y": 3076.349853515625,
                        "z": 354.5604553222656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013848304748535,
                "transform": {
                    "location": {
                        "x": -1219.023681640625,
                        "y": 3099.743896484375,
                        "z": 350.0809631347656
                    },
                    "rotation": {
                        "roll": -0.000579831306822598,
                        "pitch": 3.0525684356689453,
                        "yaw": -1.2745360136032104
                    }
                },
                "velocity": {
                    "x": 8.000518798828125,
                    "y": -0.17803417146205902,
                    "z": 0.42634397745132446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023478507995605,
                "transform": {
                    "location": {
                        "x": -1217.6553955078125,
                        "y": 3103.21435546875,
                        "z": 350.1530456542969
                    },
                    "rotation": {
                        "roll": -0.0008850127342157066,
                        "pitch": 3.04595685005188,
                        "yaw": -1.2803648710250854
                    }
                },
                "velocity": {
                    "x": 8.009774208068848,
                    "y": -0.1814977079629898,
                    "z": 0.43218421936035156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010903358459473,
                "transform": {
                    "location": {
                        "x": -1218.0875244140625,
                        "y": 3096.22216796875,
                        "z": 350.1297912597656
                    },
                    "rotation": {
                        "roll": -0.0006713861366733909,
                        "pitch": 3.1125853061676025,
                        "yaw": -1.2779541015625
                    }
                },
                "velocity": {
                    "x": 7.9974517822265625,
                    "y": -0.17726169526576996,
                    "z": 0.4288608431816101
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.974708080291748,
                "transform": {
                    "location": {
                        "x": -1217.465087890625,
                        "y": 3106.7109375,
                        "z": 350.1499938964844
                    },
                    "rotation": {
                        "roll": 0.0010914673330262303,
                        "pitch": 3.0754358768463135,
                        "yaw": -1.2794188261032104
                    }
                },
                "velocity": {
                    "x": 7.961162567138672,
                    "y": -0.1779230386018753,
                    "z": 0.42918524146080017
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1151.1593017578125,
                        "y": 3077.122314453125,
                        "z": 353.2987365722656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1185.4320068359375,
                        "y": 3077.888427734375,
                        "z": 351.88916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.393747329711914,
                "transform": {
                    "location": {
                        "x": -1228.1259765625,
                        "y": 3078.842041015625,
                        "z": 349.6252136230469
                    },
                    "rotation": {
                        "roll": 0.000502312439493835,
                        "pitch": -2.9971892833709717,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -16.36758804321289,
                    "y": 0.36620765924453735,
                    "z": -0.850229799747467
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.833351135253906,
                "transform": {
                    "location": {
                        "x": -1293.4072265625,
                        "y": 3080.334716796875,
                        "z": 346.6792907714844
                    },
                    "rotation": {
                        "roll": 0.0240484569221735,
                        "pitch": -1.959075689315796,
                        "yaw": 178.30528259277344
                    }
                },
                "velocity": {
                    "x": -15.81717586517334,
                    "y": 0.46729859709739685,
                    "z": -0.5418499708175659
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.41427993774414,
                "transform": {
                    "location": {
                        "x": -1324.8587646484375,
                        "y": 3081.65625,
                        "z": 345.80523681640625
                    },
                    "rotation": {
                        "roll": 0.08404909074306488,
                        "pitch": -1.0182240009307861,
                        "yaw": 176.81658935546875
                    }
                },
                "velocity": {
                    "x": -16.386991500854492,
                    "y": 0.9043141007423401,
                    "z": -0.2780618667602539
                },
                "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": -0.13263864815235138,
        "expert_target_speed": 16.37218977913097,
        "target_point": [
            17.455129061812297,
            -0.5055047494593331
        ],
        "target_point_next": [
            68.45169914855042,
            -2.613603081755136
        ]
    },
    "475": {
        "acceleration": [
            -0.35457611083984375,
            0.8746242523193359,
            0.18762946128845215
        ],
        "angular_velocity": [
            0.7886603474617004,
            0.3948017954826355,
            -3.3362114429473877
        ],
        "forward_vector": [
            -0.9989443421363831,
            0.020623568445444107,
            -0.04104747623205185
        ],
        "right_vector": [
            -0.020526576787233353,
            -0.9997854828834534,
            -0.0027830395847558975
        ],
        "location": [
            -1277.4447021484375,
            3079.6875,
            347.2831115722656
        ],
        "rotation": [
            0.15959113836288452,
            -2.352508306503296,
            178.81727600097656
        ],
        "velocity": [
            -16.104515075683594,
            0.32330650091171265,
            -0.6546915173530579
        ],
        "speed": 16.10776002169302,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.944608688354492,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1297.36083984375,
                3080.45654296875,
                346.5458984375
            ],
            "velocity": [
                -15.808671951293945,
                0.5231847167015076,
                -0.5253177285194397
            ],
            "speed_kmh": 56.97377217774859,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017862319946289,
                "transform": {
                    "location": {
                        "x": -1340.516845703125,
                        "y": 3107.18017578125,
                        "z": 345.62860107421875
                    },
                    "rotation": {
                        "roll": -0.010131836868822575,
                        "pitch": 0.45699426531791687,
                        "yaw": -3.8412795066833496
                    }
                },
                "velocity": {
                    "x": 8.002714157104492,
                    "y": -0.4892595708370209,
                    "z": -0.05753525719046593
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.046444416046143,
                "transform": {
                    "location": {
                        "x": -1340.8004150390625,
                        "y": 3103.689697265625,
                        "z": 345.6291198730469
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": 0.44929665327072144,
                        "yaw": -3.9063732624053955
                    }
                },
                "velocity": {
                    "x": 7.028900146484375,
                    "y": -0.4927574396133423,
                    "z": -0.06429452449083328
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.219532012939453,
                "transform": {
                    "location": {
                        "x": -1341.0399169921875,
                        "y": 3100.20263671875,
                        "z": 345.62896728515625
                    },
                    "rotation": {
                        "roll": -0.04559326171875,
                        "pitch": 0.4381224513053894,
                        "yaw": -3.7349560260772705
                    }
                },
                "velocity": {
                    "x": 8.203941345214844,
                    "y": -0.5054147243499756,
                    "z": -0.024450097233057022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1055.3568115234375,
                        "y": 3074.982666015625,
                        "z": 356.2434997558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.803957462310791,
                "transform": {
                    "location": {
                        "x": -1301.4564208984375,
                        "y": 3101.698974609375,
                        "z": 346.3977355957031
                    },
                    "rotation": {
                        "roll": -0.0003051724925171584,
                        "pitch": 2.2658331394195557,
                        "yaw": -2.069854736328125
                    }
                },
                "velocity": {
                    "x": 6.796360492706299,
                    "y": -0.22927190363407135,
                    "z": 0.2252897471189499
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.467066764831543,
                "transform": {
                    "location": {
                        "x": -1300.906494140625,
                        "y": 3105.179931640625,
                        "z": 346.414794921875
                    },
                    "rotation": {
                        "roll": 0.003557485295459628,
                        "pitch": 1.8133399486541748,
                        "yaw": -1.8828736543655396
                    }
                },
                "velocity": {
                    "x": 8.457672119140625,
                    "y": -0.2779698371887207,
                    "z": 0.2858884036540985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.858191967010498,
                "transform": {
                    "location": {
                        "x": -1300.2122802734375,
                        "y": 3098.155517578125,
                        "z": 346.4310607910156
                    },
                    "rotation": {
                        "roll": 0.002766044344753027,
                        "pitch": 1.9318301677703857,
                        "yaw": -1.8963927030563354
                    }
                },
                "velocity": {
                    "x": 7.849387168884277,
                    "y": -0.2599485218524933,
                    "z": 0.26593971252441406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1091.70263671875,
                        "y": 3075.794677734375,
                        "z": 355.4068603515625
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02638053894043,
                "transform": {
                    "location": {
                        "x": -1258.5948486328125,
                        "y": 3100.628173828125,
                        "z": 348.0906982421875
                    },
                    "rotation": {
                        "roll": 0.003370946040377021,
                        "pitch": 2.7715609073638916,
                        "yaw": -1.2779541015625
                    }
                },
                "velocity": {
                    "x": 8.015355110168457,
                    "y": -0.1784670054912567,
                    "z": 0.38080495595932007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0536527633667,
                "transform": {
                    "location": {
                        "x": -1258.1317138671875,
                        "y": 3104.11865234375,
                        "z": 348.11761474609375
                    },
                    "rotation": {
                        "roll": 0.0005580744473263621,
                        "pitch": 2.752060651779175,
                        "yaw": -1.268585205078125
                    }
                },
                "velocity": {
                    "x": 8.04261302947998,
                    "y": -0.17991110682487488,
                    "z": 0.38122183084487915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.030795097351074,
                "transform": {
                    "location": {
                        "x": -1257.90869140625,
                        "y": 3097.111083984375,
                        "z": 348.1307373046875
                    },
                    "rotation": {
                        "roll": 0.00045010074973106384,
                        "pitch": 2.7248356342315674,
                        "yaw": -1.2748106718063354
                    }
                },
                "velocity": {
                    "x": 8.019845008850098,
                    "y": -0.17811039090156555,
                    "z": 0.37952399253845215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.7117919921875,
                        "y": 3076.4423828125,
                        "z": 354.4089660644531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.014806747436523,
                "transform": {
                    "location": {
                        "x": -1217.0228271484375,
                        "y": 3099.69921875,
                        "z": 350.18798828125
                    },
                    "rotation": {
                        "roll": 0.0003832354850601405,
                        "pitch": 3.1202762126922607,
                        "yaw": -1.278228759765625
                    }
                },
                "velocity": {
                    "x": 8.001372337341309,
                    "y": -0.17849712073802948,
                    "z": 0.428141713142395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9636616706848145,
                "transform": {
                    "location": {
                        "x": -1215.660400390625,
                        "y": 3103.169677734375,
                        "z": 350.2602233886719
                    },
                    "rotation": {
                        "roll": 0.0008635488920845091,
                        "pitch": 3.1007485389709473,
                        "yaw": -1.2773436307907104
                    }
                },
                "velocity": {
                    "x": 7.950031757354736,
                    "y": -0.17554789781570435,
                    "z": 0.43137243390083313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.995630741119385,
                "transform": {
                    "location": {
                        "x": -1216.0892333984375,
                        "y": 3096.177490234375,
                        "z": 350.2370300292969
                    },
                    "rotation": {
                        "roll": -0.0010375992860645056,
                        "pitch": 3.1741116046905518,
                        "yaw": -1.2762451171875
                    }
                },
                "velocity": {
                    "x": 7.981980323791504,
                    "y": -0.17778731882572174,
                    "z": 0.43185102939605713
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.009450912475586,
                "transform": {
                    "location": {
                        "x": -1215.4700927734375,
                        "y": 3106.666259765625,
                        "z": 350.25732421875
                    },
                    "rotation": {
                        "roll": 0.0009566177031956613,
                        "pitch": 3.1168951988220215,
                        "yaw": -1.27972412109375
                    }
                },
                "velocity": {
                    "x": 7.995630264282227,
                    "y": -0.17960551381111145,
                    "z": 0.4346729815006256
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1155.2838134765625,
                        "y": 3077.21484375,
                        "z": 353.1483154296875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1189.5242919921875,
                        "y": 3077.97998046875,
                        "z": 351.6885986328125
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.392391204833984,
                "transform": {
                    "location": {
                        "x": -1232.2183837890625,
                        "y": 3078.93359375,
                        "z": 349.41510009765625
                    },
                    "rotation": {
                        "roll": 0.0013278902042657137,
                        "pitch": -2.9303557872772217,
                        "yaw": 178.72036743164062
                    }
                },
                "velocity": {
                    "x": -16.36709976196289,
                    "y": 0.366632878780365,
                    "z": -0.8331282734870911
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.826047897338867,
                "transform": {
                    "location": {
                        "x": -1297.36083984375,
                        "y": 3080.45654296875,
                        "z": 346.5458984375
                    },
                    "rotation": {
                        "roll": 0.012852389365434647,
                        "pitch": -1.9101169109344482,
                        "yaw": 178.11634826660156
                    }
                },
                "velocity": {
                    "x": -15.808671951293945,
                    "y": 0.5231847167015076,
                    "z": -0.5253177285194397
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4541,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 16.408353805541992,
                "transform": {
                    "location": {
                        "x": -1328.9560546875,
                        "y": 3081.889892578125,
                        "z": 345.7402648925781
                    },
                    "rotation": {
                        "roll": 0.0865427777171135,
                        "pitch": -0.8402361869812012,
                        "yaw": 176.6087646484375
                    }
                },
                "velocity": {
                    "x": -16.37839126586914,
                    "y": 0.9645852446556091,
                    "z": -0.22791941463947296
                },
                "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": -0.1033463254570961,
        "expert_target_speed": 16.445724075321007,
        "target_point": [
            13.444792116685216,
            -0.2913984351481814
        ],
        "target_point_next": [
            64.46566966753,
            -1.6929308578645026
        ]
    },
    "480": {
        "acceleration": [
            -0.3226470947265625,
            0.9049332141876221,
            0.08705735206604004
        ],
        "angular_velocity": [
            0.5479034185409546,
            0.14524389803409576,
            -3.211599588394165
        ],
        "forward_vector": [
            -0.9986351132392883,
            0.03526616096496582,
            -0.03852522373199463
        ],
        "right_vector": [
            -0.03507690131664276,
            -0.9993690252304077,
            -0.00557777239009738
        ],
        "location": [
            -1281.483154296875,
            3079.796142578125,
            347.1222229003906
        ],
        "rotation": [
            0.31982189416885376,
            -2.207879066467285,
            177.97747802734375
        ],
        "velocity": [
            -16.18737030029297,
            0.5535920262336731,
            -0.6280444264411926
        ],
        "speed": 16.196833683480126,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.85759925842285,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1301.312255859375,
                3080.59033203125,
                346.4149475097656
            ],
            "velocity": [
                -15.81065845489502,
                0.5683313012123108,
                -0.5229126811027527
            ],
            "speed_kmh": 56.98623282485617,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.040261268615723,
                "transform": {
                    "location": {
                        "x": -1338.5125732421875,
                        "y": 3107.06591796875,
                        "z": 345.6246032714844
                    },
                    "rotation": {
                        "roll": -0.008666993118822575,
                        "pitch": 0.46941837668418884,
                        "yaw": -3.2166450023651123
                    }
                },
                "velocity": {
                    "x": 8.029343605041504,
                    "y": -0.4179992973804474,
                    "z": 0.026865996420383453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.696562767028809,
                "transform": {
                    "location": {
                        "x": -1339.0985107421875,
                        "y": 3103.580810546875,
                        "z": 345.62249755859375
                    },
                    "rotation": {
                        "roll": -0.006622314918786287,
                        "pitch": 0.45113396644592285,
                        "yaw": -3.5619208812713623
                    }
                },
                "velocity": {
                    "x": 6.68587064743042,
                    "y": -0.37773481011390686,
                    "z": 0.02012799307703972
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.998342990875244,
                "transform": {
                    "location": {
                        "x": -1339.0172119140625,
                        "y": 3100.08642578125,
                        "z": 345.63323974609375
                    },
                    "rotation": {
                        "roll": -0.0371398888528347,
                        "pitch": 0.459125280380249,
                        "yaw": -3.248138904571533
                    }
                },
                "velocity": {
                    "x": 7.98627233505249,
                    "y": -0.4369789659976959,
                    "z": 0.044629886746406555
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1059.48291015625,
                        "y": 3075.07470703125,
                        "z": 356.16839599609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.961552143096924,
                "transform": {
                    "location": {
                        "x": -1299.6395263671875,
                        "y": 3101.6376953125,
                        "z": 346.4586181640625
                    },
                    "rotation": {
                        "roll": -0.0020141610875725746,
                        "pitch": 2.271987199783325,
                        "yaw": -2.035797357559204
                    }
                },
                "velocity": {
                    "x": 7.952534198760986,
                    "y": -0.26700547337532043,
                    "z": 0.2687395215034485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987228870391846,
                "transform": {
                    "location": {
                        "x": -1298.849853515625,
                        "y": 3105.112548828125,
                        "z": 346.4835510253906
                    },
                    "rotation": {
                        "roll": 0.0015716562047600746,
                        "pitch": 1.9600046873092651,
                        "yaw": -1.8763734102249146
                    }
                },
                "velocity": {
                    "x": 7.978339195251465,
                    "y": -0.2613692283630371,
                    "z": 0.2713245451450348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070621490478516,
                "transform": {
                    "location": {
                        "x": -1298.2327880859375,
                        "y": 3098.091064453125,
                        "z": 346.4978332519531
                    },
                    "rotation": {
                        "roll": -0.0021667536348104477,
                        "pitch": 1.9465423822402954,
                        "yaw": -1.8518983125686646
                    }
                },
                "velocity": {
                    "x": 8.062201499938965,
                    "y": -0.2492525279521942,
                    "z": 0.27149975299835205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1095.85791015625,
                        "y": 3075.88720703125,
                        "z": 355.2795104980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007441520690918,
                "transform": {
                    "location": {
                        "x": -1256.5911865234375,
                        "y": 3100.5830078125,
                        "z": 348.1856689453125
                    },
                    "rotation": {
                        "roll": 0.0019356634002178907,
                        "pitch": 2.760646104812622,
                        "yaw": -1.2641295194625854
                    }
                },
                "velocity": {
                    "x": 7.996491432189941,
                    "y": -0.17730827629566193,
                    "z": 0.37921324372291565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054216384887695,
                "transform": {
                    "location": {
                        "x": -1256.118896484375,
                        "y": 3104.073974609375,
                        "z": 348.2130126953125
                    },
                    "rotation": {
                        "roll": -0.001586916041560471,
                        "pitch": 2.738284111022949,
                        "yaw": -1.2935791015625
                    }
                },
                "velocity": {
                    "x": 8.04316520690918,
                    "y": -0.18001088500022888,
                    "z": 0.38144949078559875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01657772064209,
                "transform": {
                    "location": {
                        "x": -1255.906005859375,
                        "y": 3097.06689453125,
                        "z": 348.2256164550781
                    },
                    "rotation": {
                        "roll": 0.00024993225815705955,
                        "pitch": 2.729404926300049,
                        "yaw": -1.274078369140625
                    }
                },
                "velocity": {
                    "x": 8.00552749633789,
                    "y": -0.1782331019639969,
                    "z": 0.38115066289901733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.866455078125,
                        "y": 3076.53515625,
                        "z": 354.2574462890625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01421070098877,
                "transform": {
                    "location": {
                        "x": -1215.0224609375,
                        "y": 3099.654541015625,
                        "z": 350.2961120605469
                    },
                    "rotation": {
                        "roll": 0.0002003603003686294,
                        "pitch": 3.1382462978363037,
                        "yaw": -1.2766722440719604
                    }
                },
                "velocity": {
                    "x": 8.000386238098145,
                    "y": -0.17726297676563263,
                    "z": 0.4358570873737335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.648681640625,
                        "y": 3103.115966796875,
                        "z": 350.36920166015625
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010844230651855,
                "transform": {
                    "location": {
                        "x": -1214.0919189453125,
                        "y": 3096.1328125,
                        "z": 350.3455810546875
                    },
                    "rotation": {
                        "roll": -0.0010376004502177238,
                        "pitch": 3.1718509197235107,
                        "yaw": -1.28106689453125
                    }
                },
                "velocity": {
                    "x": 7.997018337249756,
                    "y": -0.17764072120189667,
                    "z": 0.435627818107605
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1213.44189453125,
                        "y": 3106.61181640625,
                        "z": 350.3679504394531
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1159.4080810546875,
                        "y": 3077.306884765625,
                        "z": 352.9972839355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1193.6463623046875,
                        "y": 3078.07177734375,
                        "z": 351.47882080078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.392261505126953,
                "transform": {
                    "location": {
                        "x": -1236.3101806640625,
                        "y": 3079.025146484375,
                        "z": 349.206787109375
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -2.935608386993408,
                        "yaw": 178.72328186035156
                    }
                },
                "velocity": {
                    "x": -16.367021560668945,
                    "y": 0.36437273025512695,
                    "z": -0.8331224918365479
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.829508781433105,
                "transform": {
                    "location": {
                        "x": -1301.312255859375,
                        "y": 3080.59033203125,
                        "z": 346.4149475097656
                    },
                    "rotation": {
                        "roll": 0.005713793449103832,
                        "pitch": -1.9007185697555542,
                        "yaw": 177.98545837402344
                    }
                },
                "velocity": {
                    "x": -15.81065845489502,
                    "y": 0.5683313012123108,
                    "z": -0.5229126811027527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06346525996923447,
        "expert_target_speed": 16.51258582431715,
        "target_point": [
            9.40784827888245,
            -0.12826358524144654
        ],
        "target_point_next": [
            60.44378711891405,
            -0.7818581895458911
        ]
    },
    "485": {
        "acceleration": [
            -0.281982421875,
            0.8810329437255859,
            0.15635371208190918
        ],
        "angular_velocity": [
            0.3247651755809784,
            0.7755237221717834,
            -3.005035638809204
        ],
        "forward_vector": [
            -0.998112678527832,
            0.04861387982964516,
            -0.03751887008547783
        ],
        "right_vector": [
            -0.04840075224637985,
            -0.998806357383728,
            -0.00656870799139142
        ],
        "location": [
            -1285.54052734375,
            3079.961181640625,
            346.966796875
        ],
        "rotation": [
            0.3766271471977234,
            -2.150177478790283,
            177.21156311035156
        ],
        "velocity": [
            -16.262611389160156,
            0.7764784097671509,
            -0.6067461371421814
        ],
        "speed": 16.281137795488256,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.805517196655273,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1305.3189697265625,
                3080.73876953125,
                346.28338623046875
            ],
            "velocity": [
                -16.258909225463867,
                0.6243255734443665,
                -0.5213932394981384
            ],
            "speed_kmh": 58.605275892508836,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.939186096191406,
                "transform": {
                    "location": {
                        "x": -1336.5186767578125,
                        "y": 3106.954345703125,
                        "z": 345.6365966796875
                    },
                    "rotation": {
                        "roll": 0.006322920322418213,
                        "pitch": 0.4761529564857483,
                        "yaw": -3.174744129180908
                    }
                },
                "velocity": {
                    "x": 7.926337718963623,
                    "y": -0.4471820592880249,
                    "z": 0.062274303287267685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.882676601409912,
                "transform": {
                    "location": {
                        "x": -1337.40283203125,
                        "y": 3103.483154296875,
                        "z": 345.6336669921875
                    },
                    "rotation": {
                        "roll": 0.0029452391900122166,
                        "pitch": 0.473181813955307,
                        "yaw": -3.163971424102783
                    }
                },
                "velocity": {
                    "x": 6.871922492980957,
                    "y": -0.380414754152298,
                    "z": 0.056614577770233154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.151076316833496,
                "transform": {
                    "location": {
                        "x": -1337.0006103515625,
                        "y": 3099.97265625,
                        "z": 345.6477355957031
                    },
                    "rotation": {
                        "roll": -0.0020751964766532183,
                        "pitch": 0.4829353392124176,
                        "yaw": -3.221252918243408
                    }
                },
                "velocity": {
                    "x": 8.137815475463867,
                    "y": -0.459715873003006,
                    "z": 0.06834857910871506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1063.6090087890625,
                        "y": 3075.166748046875,
                        "z": 356.0904541015625
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.452559471130371,
                "transform": {
                    "location": {
                        "x": -1297.5093994140625,
                        "y": 3101.567138671875,
                        "z": 346.5318298339844
                    },
                    "rotation": {
                        "roll": -0.01379394717514515,
                        "pitch": 2.148149013519287,
                        "yaw": -1.803650140762329
                    }
                },
                "velocity": {
                    "x": 8.443573951721191,
                    "y": -0.2637651860713959,
                    "z": 0.28679749369621277
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.873994827270508,
                "transform": {
                    "location": {
                        "x": -1296.8883056640625,
                        "y": 3105.051513671875,
                        "z": 346.55023193359375
                    },
                    "rotation": {
                        "roll": 0.004765938501805067,
                        "pitch": 1.9461257457733154,
                        "yaw": -1.7863770723342896
                    }
                },
                "velocity": {
                    "x": 7.865874290466309,
                    "y": -0.23755693435668945,
                    "z": 0.2671744227409363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074551582336426,
                "transform": {
                    "location": {
                        "x": -1296.205322265625,
                        "y": 3098.028564453125,
                        "z": 346.5666198730469
                    },
                    "rotation": {
                        "roll": 0.0008252350380644202,
                        "pitch": 1.9537891149520874,
                        "yaw": -1.7595518827438354
                    }
                },
                "velocity": {
                    "x": 8.066108703613281,
                    "y": -0.24431154131889343,
                    "z": 0.2767455279827118
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1099.952392578125,
                        "y": 3075.978759765625,
                        "z": 355.1479187011719
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9935455322265625,
                "transform": {
                    "location": {
                        "x": -1254.595703125,
                        "y": 3100.53857421875,
                        "z": 348.2808837890625
                    },
                    "rotation": {
                        "roll": -0.0011291534174233675,
                        "pitch": 2.7900774478912354,
                        "yaw": -1.290496587753296
                    }
                },
                "velocity": {
                    "x": 7.982337474822998,
                    "y": -0.17793957889080048,
                    "z": 0.3839224874973297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.022490501403809,
                "transform": {
                    "location": {
                        "x": -1254.11279296875,
                        "y": 3104.029052734375,
                        "z": 348.30908203125
                    },
                    "rotation": {
                        "roll": 0.000500028021633625,
                        "pitch": 2.768903970718384,
                        "yaw": -1.2629088163375854
                    }
                },
                "velocity": {
                    "x": 8.011248588562012,
                    "y": -0.1783072054386139,
                    "z": 0.38529685139656067
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025063514709473,
                "transform": {
                    "location": {
                        "x": -1253.903076171875,
                        "y": 3097.022216796875,
                        "z": 348.3214416503906
                    },
                    "rotation": {
                        "roll": -0.0003051760431844741,
                        "pitch": 2.791764497756958,
                        "yaw": -1.27996826171875
                    }
                },
                "velocity": {
                    "x": 8.013887405395508,
                    "y": -0.17890840768814087,
                    "z": 0.38373884558677673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.9906005859375,
                        "y": 3076.627685546875,
                        "z": 354.1070556640625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.959716796875,
                        "y": 3099.582763671875,
                        "z": 350.40771484375
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4591,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.5703125,
                        "y": 3103.025146484375,
                        "z": 350.48016357421875
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1212.02978515625,
                        "y": 3096.04736328125,
                        "z": 350.45916748046875
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4589,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1211.3636474609375,
                        "y": 3106.52001953125,
                        "z": 350.4830017089844
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1163.531982421875,
                        "y": 3077.39892578125,
                        "z": 352.84014892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1197.7679443359375,
                        "y": 3078.16357421875,
                        "z": 351.2620544433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.390438079833984,
                "transform": {
                    "location": {
                        "x": -1240.4027099609375,
                        "y": 3079.116455078125,
                        "z": 349.0013732910156
                    },
                    "rotation": {
                        "roll": 0.0013000642647966743,
                        "pitch": -2.8351430892944336,
                        "yaw": 178.718994140625
                    }
                },
                "velocity": {
                    "x": -16.366331100463867,
                    "y": 0.3667512536048889,
                    "z": -0.8094303011894226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.27924346923828,
                "transform": {
                    "location": {
                        "x": -1305.3189697265625,
                        "y": 3080.73876953125,
                        "z": 346.28338623046875
                    },
                    "rotation": {
                        "roll": 0.02689445950090885,
                        "pitch": -1.8168028593063354,
                        "yaw": 177.778564453125
                    }
                },
                "velocity": {
                    "x": -16.258909225463867,
                    "y": 0.6243255734443665,
                    "z": -0.5213932394981384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.007152003701776266,
        "expert_target_speed": 16.606259704781408,
        "target_point": [
            56.388240135814414,
            -0.006359177920977288
        ],
        "target_point_next": [
            87.83735840140436,
            -1.0731529287107007
        ]
    },
    "490": {
        "acceleration": [
            -0.3101348876953125,
            0.09135723114013672,
            0.020862817764282227
        ],
        "angular_velocity": [
            -0.6801550388336182,
            -0.015077144838869572,
            0.1270548552274704
        ],
        "forward_vector": [
            -0.9978311657905579,
            0.055310264229774475,
            -0.03568892180919647
        ],
        "right_vector": [
            -0.055173102766275406,
            -0.9984651803970337,
            -0.004817539360374212
        ],
        "location": [
            -1289.6168212890625,
            3080.169677734375,
            346.81787109375
        ],
        "rotation": [
            0.27620169520378113,
            -2.0452589988708496,
            176.8273162841797
        ],
        "velocity": [
            -16.33733367919922,
            0.8747573494911194,
            -0.5851112008094788
        ],
        "speed": 16.36073568535308,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.824100494384766,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1309.416259765625,
                3080.9052734375,
                346.1575012207031
            ],
            "velocity": [
                -16.428709030151367,
                0.6951764225959778,
                -0.4767334759235382
            ],
            "speed_kmh": 59.22115171119333,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.088022708892822,
                "transform": {
                    "location": {
                        "x": -1334.6871337890625,
                        "y": 3106.85107421875,
                        "z": 345.65338134765625
                    },
                    "rotation": {
                        "roll": 0.005415522027760744,
                        "pitch": 0.4466192126274109,
                        "yaw": -3.2272350788116455
                    }
                },
                "velocity": {
                    "x": 6.077975749969482,
                    "y": -0.34493207931518555,
                    "z": 0.05707324668765068
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.628355979919434,
                "transform": {
                    "location": {
                        "x": -1335.717529296875,
                        "y": 3103.389404296875,
                        "z": 345.64892578125
                    },
                    "rotation": {
                        "roll": 0.005868634209036827,
                        "pitch": 0.5215190649032593,
                        "yaw": -3.0543525218963623
                    }
                },
                "velocity": {
                    "x": 6.618131637573242,
                    "y": -0.36246711015701294,
                    "z": 0.0636671781539917
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.930178642272949,
                "transform": {
                    "location": {
                        "x": -1334.994384765625,
                        "y": 3099.85888671875,
                        "z": 345.66558837890625
                    },
                    "rotation": {
                        "roll": 0.0027285863179713488,
                        "pitch": 0.5433278679847717,
                        "yaw": -3.2460944652557373
                    }
                },
                "velocity": {
                    "x": 7.917134761810303,
                    "y": -0.44900476932525635,
                    "z": 0.07144313305616379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1067.734619140625,
                        "y": 3075.2587890625,
                        "z": 356.0086975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.954050540924072,
                "transform": {
                    "location": {
                        "x": -1295.470703125,
                        "y": 3101.503662109375,
                        "z": 346.6043701171875
                    },
                    "rotation": {
                        "roll": -0.005371094215661287,
                        "pitch": 1.8349370956420898,
                        "yaw": -1.712738037109375
                    }
                },
                "velocity": {
                    "x": 7.945672035217285,
                    "y": -0.23994161188602448,
                    "z": 0.27502962946891785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.122058868408203,
                "transform": {
                    "location": {
                        "x": -1294.880615234375,
                        "y": 3104.990478515625,
                        "z": 346.61932373046875
                    },
                    "rotation": {
                        "roll": 0.012759502977132797,
                        "pitch": 1.9461803436279297,
                        "yaw": -1.74017333984375
                    }
                },
                "velocity": {
                    "x": 8.113505363464355,
                    "y": -0.2441290020942688,
                    "z": 0.2815292179584503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.953135013580322,
                "transform": {
                    "location": {
                        "x": -1294.2120361328125,
                        "y": 3097.968017578125,
                        "z": 346.6350402832031
                    },
                    "rotation": {
                        "roll": -0.0015869112685322762,
                        "pitch": 1.9896749258041382,
                        "yaw": -1.733856201171875
                    }
                },
                "velocity": {
                    "x": 7.944811820983887,
                    "y": -0.23854337632656097,
                    "z": 0.27463093400001526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.0765380859375,
                        "y": 3076.07080078125,
                        "z": 355.0091247558594
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016647338867188,
                "transform": {
                    "location": {
                        "x": -1252.595458984375,
                        "y": 3100.494384765625,
                        "z": 348.3771057128906
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": 2.8486053943634033,
                        "yaw": -1.257293462753296
                    }
                },
                "velocity": {
                    "x": 8.005276679992676,
                    "y": -0.1765652745962143,
                    "z": 0.38859161734580994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.037446975708008,
                "transform": {
                    "location": {
                        "x": -1252.10791015625,
                        "y": 3103.984619140625,
                        "z": 348.40545654296875
                    },
                    "rotation": {
                        "roll": 0.0007301959558390081,
                        "pitch": 2.823695659637451,
                        "yaw": -1.2909241914749146
                    }
                },
                "velocity": {
                    "x": 8.026021003723145,
                    "y": -0.1789991855621338,
                    "z": 0.38921791315078735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023259162902832,
                "transform": {
                    "location": {
                        "x": -1251.8995361328125,
                        "y": 3096.9775390625,
                        "z": 348.4185791015625
                    },
                    "rotation": {
                        "roll": 0.0004648226604331285,
                        "pitch": 2.80423641204834,
                        "yaw": -1.274993896484375
                    }
                },
                "velocity": {
                    "x": 8.011834144592285,
                    "y": -0.1784900575876236,
                    "z": 0.38903379440307617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.083984375,
                        "y": 3076.71875,
                        "z": 353.9577941894531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4592,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.88134765625,
                        "y": 3099.4931640625,
                        "z": 350.5201416015625
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4590,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1209.9515380859375,
                        "y": 3095.951904296875,
                        "z": 350.57415771484375
                    },
                    "rotation": {
                        "roll": -3.340083987168896e-09,
                        "pitch": 3.1450560092926025,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1167.6552734375,
                        "y": 3077.491455078125,
                        "z": 352.6761169433594
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1201.8887939453125,
                        "y": 3078.256103515625,
                        "z": 351.03912353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.389986038208008,
                "transform": {
                    "location": {
                        "x": -1244.494140625,
                        "y": 3079.2080078125,
                        "z": 348.7998352050781
                    },
                    "rotation": {
                        "roll": 0.0013929859269410372,
                        "pitch": -2.840784788131714,
                        "yaw": 178.72018432617188
                    }
                },
                "velocity": {
                    "x": -16.366046905517578,
                    "y": 0.3657059073448181,
                    "z": -0.8064590096473694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.450319290161133,
                "transform": {
                    "location": {
                        "x": -1309.416259765625,
                        "y": 3080.9052734375,
                        "z": 346.1575012207031
                    },
                    "rotation": {
                        "roll": 0.030709946528077126,
                        "pitch": -1.6428515911102295,
                        "yaw": 177.5542449951172
                    }
                },
                "velocity": {
                    "x": -16.428709030151367,
                    "y": 0.6951764225959778,
                    "z": -0.4767334759235382
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.042675454169511795,
        "expert_target_speed": 16.680699832283047,
        "target_point": [
            52.30542923490594,
            0.3543905230484805
        ],
        "target_point_next": [
            83.76099483976458,
            -0.5014605552481033
        ]
    },
    "495": {
        "acceleration": [
            -0.301513671875,
            -0.19046425819396973,
            0.10786056518554688
        ],
        "angular_velocity": [
            -0.4896237254142761,
            0.2659911513328552,
            1.0556564331054688
        ],
        "forward_vector": [
            -0.9980915188789368,
            0.05157795175909996,
            -0.033956196159124374
        ],
        "right_vector": [
            -0.05153679475188255,
            -0.9986688494682312,
            -0.002086651511490345
        ],
        "location": [
            -1293.7119140625,
            3080.385986328125,
            346.67449951171875
        ],
        "rotation": [
            0.11962539702653885,
            -1.9459208250045776,
            177.04177856445312
        ],
        "velocity": [
            -16.412841796875,
            0.8488724827766418,
            -0.5622630715370178
        ],
        "speed": 16.43477898668742,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.82788848876953,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1313.5174560546875,
                3081.0859375,
                346.04541015625
            ],
            "velocity": [
                -16.367300033569336,
                0.756184995174408,
                -0.4200677275657654
            ],
            "speed_kmh": 59.00451430262655,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.678064823150635,
                "transform": {
                    "location": {
                        "x": -1333.25244140625,
                        "y": 3106.770263671875,
                        "z": 345.6667175292969
                    },
                    "rotation": {
                        "roll": 0.0035674183163791895,
                        "pitch": 0.5177624821662903,
                        "yaw": -3.240234851837158
                    }
                },
                "velocity": {
                    "x": 5.668587684631348,
                    "y": -0.323017418384552,
                    "z": 0.05649298429489136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.106538772583008,
                "transform": {
                    "location": {
                        "x": -1334.134033203125,
                        "y": 3103.302978515625,
                        "z": 345.6636962890625
                    },
                    "rotation": {
                        "roll": 0.0037126056849956512,
                        "pitch": 0.5555607080459595,
                        "yaw": -3.0626838207244873
                    }
                },
                "velocity": {
                    "x": 6.097208499908447,
                    "y": -0.3322215974330902,
                    "z": 0.05908702686429024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.078821182250977,
                "transform": {
                    "location": {
                        "x": -1332.9952392578125,
                        "y": 3099.74560546875,
                        "z": 345.68505859375
                    },
                    "rotation": {
                        "roll": 0.005146780516952276,
                        "pitch": 0.5852993726730347,
                        "yaw": -3.2583625316619873
                    }
                },
                "velocity": {
                    "x": 8.065176963806152,
                    "y": -0.46063685417175293,
                    "z": 0.08994089066982269
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1071.8594970703125,
                        "y": 3075.35107421875,
                        "z": 355.9215393066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.920934677124023,
                "transform": {
                    "location": {
                        "x": -1293.501953125,
                        "y": 3101.445556640625,
                        "z": 346.671630859375
                    },
                    "rotation": {
                        "roll": -0.009857182390987873,
                        "pitch": 1.9567945003509521,
                        "yaw": -1.6421204805374146
                    }
                },
                "velocity": {
                    "x": 7.91306209564209,
                    "y": -0.22139790654182434,
                    "z": 0.27501678466796875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9488701820373535,
                "transform": {
                    "location": {
                        "x": -1292.8741455078125,
                        "y": 3104.932373046875,
                        "z": 346.6886291503906
                    },
                    "rotation": {
                        "roll": 0.017230497673153877,
                        "pitch": 1.996484637260437,
                        "yaw": -1.652801513671875
                    }
                },
                "velocity": {
                    "x": 7.941097736358643,
                    "y": -0.21556924283504486,
                    "z": 0.27754223346710205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.092856407165527,
                "transform": {
                    "location": {
                        "x": -1292.204345703125,
                        "y": 3097.911376953125,
                        "z": 346.7047119140625
                    },
                    "rotation": {
                        "roll": -0.004425049759447575,
                        "pitch": 1.9996265172958374,
                        "yaw": -1.598541498184204
                    }
                },
                "velocity": {
                    "x": 8.085005760192871,
                    "y": -0.21811799705028534,
                    "z": 0.28185170888900757
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1108.2000732421875,
                        "y": 3076.162841796875,
                        "z": 354.8642883300781
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.999759197235107,
                "transform": {
                    "location": {
                        "x": -1250.596435546875,
                        "y": 3100.44970703125,
                        "z": 348.4744873046875
                    },
                    "rotation": {
                        "roll": 0.0002470703620929271,
                        "pitch": 2.838360071182251,
                        "yaw": -1.29071044921875
                    }
                },
                "velocity": {
                    "x": 7.98833703994751,
                    "y": -0.17806567251682281,
                    "z": 0.3884739577770233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.044693946838379,
                "transform": {
                    "location": {
                        "x": -1250.0999755859375,
                        "y": 3103.939208984375,
                        "z": 348.5032043457031
                    },
                    "rotation": {
                        "roll": 0.0010207962477579713,
                        "pitch": 2.8174049854278564,
                        "yaw": -1.2697752714157104
                    }
                },
                "velocity": {
                    "x": 8.033111572265625,
                    "y": -0.17926645278930664,
                    "z": 0.3925318121910095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021623611450195,
                "transform": {
                    "location": {
                        "x": -1249.8970947265625,
                        "y": 3096.932861328125,
                        "z": 348.5160217285156
                    },
                    "rotation": {
                        "roll": -0.00012207214604131877,
                        "pitch": 2.8019142150878906,
                        "yaw": -1.280731201171875
                    }
                },
                "velocity": {
                    "x": 8.0101900100708,
                    "y": -0.17883996665477753,
                    "z": 0.3889907896518707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.2073974609375,
                        "y": 3076.810791015625,
                        "z": 353.8074035644531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1171.74755859375,
                        "y": 3077.58251953125,
                        "z": 352.5065612792969
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1206.00927734375,
                        "y": 3078.34814453125,
                        "z": 350.81268310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.38947105407715,
                "transform": {
                    "location": {
                        "x": -1248.585693359375,
                        "y": 3079.299560546875,
                        "z": 348.59869384765625
                    },
                    "rotation": {
                        "roll": 0.0009386928868480027,
                        "pitch": -2.806791067123413,
                        "yaw": 178.71766662597656
                    }
                },
                "velocity": {
                    "x": -16.3657169342041,
                    "y": 0.36604177951812744,
                    "z": -0.8025450706481934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.3901424407959,
                "transform": {
                    "location": {
                        "x": -1313.5174560546875,
                        "y": 3081.0859375,
                        "z": 346.04541015625
                    },
                    "rotation": {
                        "roll": 0.009597491472959518,
                        "pitch": -1.4575759172439575,
                        "yaw": 177.34521484375
                    }
                },
                "velocity": {
                    "x": -16.367300033569336,
                    "y": 0.756184995174408,
                    "z": -0.4200677275657654
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06723878532648087,
        "expert_target_speed": 16.735150283985867,
        "target_point": [
            48.20559035881728,
            0.16328294263948928
        ],
        "target_point_next": [
            79.6577320066627,
            -0.8103054476236853
        ]
    },
    "500": {
        "acceleration": [
            -0.27385711669921875,
            0.01381993293762207,
            0.04312753677368164
        ],
        "angular_velocity": [
            -0.13213597238063812,
            0.19384470582008362,
            -0.22792719304561615
        ],
        "forward_vector": [
            -0.9981913566589355,
            0.05021136254072189,
            -0.03305869922041893
        ],
        "right_vector": [
            -0.050211574882268906,
            -0.9987382292747498,
            -0.0008241805480793118
        ],
        "location": [
            -1297.824951171875,
            3080.595947265625,
            346.5359802246094
        ],
        "rotation": [
            0.04724789783358574,
            -1.8944690227508545,
            177.1203155517578
        ],
        "velocity": [
            -16.483417510986328,
            0.8401293754577637,
            -0.5480080842971802
        ],
        "speed": 16.50481354662929,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.80126190185547,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1317.6055908203125,
                3081.2802734375,
                345.9460754394531
            ],
            "velocity": [
                -16.337730407714844,
                0.8143068552017212,
                -0.3706902265548706
            ],
            "speed_kmh": 58.90395882609809,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1376.970947265625,
                        "y": 3110.296142578125,
                        "z": 345.7294006347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1377.324951171875,
                        "y": 3106.81396484375,
                        "z": 345.7298889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1377.679443359375,
                        "y": 3103.331787109375,
                        "z": 345.7303771972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.99966287612915,
                "transform": {
                    "location": {
                        "x": -1331.7757568359375,
                        "y": 3106.686279296875,
                        "z": 345.68212890625
                    },
                    "rotation": {
                        "roll": 0.0036126759368926287,
                        "pitch": 0.6270386576652527,
                        "yaw": -3.2950448989868164
                    }
                },
                "velocity": {
                    "x": 5.989382266998291,
                    "y": -0.34303992986679077,
                    "z": 0.07469386607408524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.53012228012085,
                "transform": {
                    "location": {
                        "x": -1332.5748291015625,
                        "y": 3103.2177734375,
                        "z": 345.67962646484375
                    },
                    "rotation": {
                        "roll": 0.006470366381108761,
                        "pitch": 0.6067871451377869,
                        "yaw": -3.121246814727783
                    }
                },
                "velocity": {
                    "x": 6.519620418548584,
                    "y": -0.3621606230735779,
                    "z": 0.0767030343413353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.34055233001709,
                "transform": {
                    "location": {
                        "x": -1331.2423095703125,
                        "y": 3099.645263671875,
                        "z": 345.7053527832031
                    },
                    "rotation": {
                        "roll": 0.0031994706951081753,
                        "pitch": 0.4491737186908722,
                        "yaw": -3.284241199493408
                    }
                },
                "velocity": {
                    "x": 6.329758167266846,
                    "y": -0.36251071095466614,
                    "z": 0.07316698133945465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1075.984130859375,
                        "y": 3075.443359375,
                        "z": 355.8263854980469
                    },
                    "rotation": {
                        "roll": -1.6680091752263593e-09,
                        "pitch": -1.3783526420593262,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.153199195861816,
                "transform": {
                    "location": {
                        "x": -1291.4854736328125,
                        "y": 3101.389892578125,
                        "z": 346.7409973144531
                    },
                    "rotation": {
                        "roll": -0.008392333984375,
                        "pitch": 2.0973596572875977,
                        "yaw": -1.5746461153030396
                    }
                },
                "velocity": {
                    "x": 8.14514446258545,
                    "y": -0.21830609440803528,
                    "z": 0.2891768515110016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028241157531738,
                "transform": {
                    "location": {
                        "x": -1290.88134765625,
                        "y": 3104.87841796875,
                        "z": 346.75909423828125
                    },
                    "rotation": {
                        "roll": 0.00601257523521781,
                        "pitch": 2.0227673053741455,
                        "yaw": -1.5666807889938354
                    }
                },
                "velocity": {
                    "x": 8.020099639892578,
                    "y": -0.2135687917470932,
                    "z": 0.2916404902935028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.981122970581055,
                "transform": {
                    "location": {
                        "x": -1290.197021484375,
                        "y": 3097.857421875,
                        "z": 346.77593994140625
                    },
                    "rotation": {
                        "roll": -0.0012817386304959655,
                        "pitch": 2.0513856410980225,
                        "yaw": -1.536651611328125
                    }
                },
                "velocity": {
                    "x": 7.973061561584473,
                    "y": -0.2126319259405136,
                    "z": 0.2887890338897705
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1112.32373046875,
                        "y": 3076.255126953125,
                        "z": 354.7147216796875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.006235122680664,
                "transform": {
                    "location": {
                        "x": -1248.598876953125,
                        "y": 3100.4052734375,
                        "z": 348.5716857910156
                    },
                    "rotation": {
                        "roll": 0.0011325428495183587,
                        "pitch": 2.838524103164673,
                        "yaw": -1.2630308866500854
                    }
                },
                "velocity": {
                    "x": 7.994822025299072,
                    "y": -0.17831648886203766,
                    "z": 0.38837432861328125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.034095764160156,
                "transform": {
                    "location": {
                        "x": -1248.0933837890625,
                        "y": 3103.89453125,
                        "z": 348.6011962890625
                    },
                    "rotation": {
                        "roll": -0.00100708135869354,
                        "pitch": 2.8081774711608887,
                        "yaw": -1.29400634765625
                    }
                },
                "velocity": {
                    "x": 8.022482872009277,
                    "y": -0.17923641204833984,
                    "z": 0.3928675055503845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023122787475586,
                "transform": {
                    "location": {
                        "x": -1247.8941650390625,
                        "y": 3096.887939453125,
                        "z": 348.61346435546875
                    },
                    "rotation": {
                        "roll": 0.00013463130744639784,
                        "pitch": 2.8106977939605713,
                        "yaw": -1.276702880859375
                    }
                },
                "velocity": {
                    "x": 8.011533737182617,
                    "y": -0.17885713279247284,
                    "z": 0.39222580194473267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.3311767578125,
                        "y": 3076.90283203125,
                        "z": 353.6571044921875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1175.8699951171875,
                        "y": 3077.675048828125,
                        "z": 352.32879638671875
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1210.0992431640625,
                        "y": 3078.439208984375,
                        "z": 350.5877685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.389020919799805,
                "transform": {
                    "location": {
                        "x": -1252.6771240234375,
                        "y": 3079.390869140625,
                        "z": 348.3997497558594
                    },
                    "rotation": {
                        "roll": -0.0012207046383991838,
                        "pitch": -2.795466423034668,
                        "yaw": 178.7246551513672
                    }
                },
                "velocity": {
                    "x": -16.36567497253418,
                    "y": 0.36396652460098267,
                    "z": -0.795100748538971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.362211227416992,
                "transform": {
                    "location": {
                        "x": -1317.6055908203125,
                        "y": 3081.2802734375,
                        "z": 345.9460754394531
                    },
                    "rotation": {
                        "roll": 0.010446459986269474,
                        "pitch": -1.2952224016189575,
                        "yaw": 177.1565399169922
                    }
                },
                "velocity": {
                    "x": -16.337730407714844,
                    "y": 0.8143068552017212,
                    "z": -0.3706902265548706
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10144893079996109,
        "expert_target_speed": 16.787325383959466,
        "target_point": [
            44.08737741485177,
            0.10026075530548528
        ],
        "target_point_next": [
            75.5381548087962,
            -0.9164446623759246
        ]
    },
    "505": {
        "acceleration": [
            -0.26027679443359375,
            0.09697079658508301,
            -0.004125833511352539
        ],
        "angular_velocity": [
            0.10053468495607376,
            -0.062480151653289795,
            -0.3763352632522583
        ],
        "forward_vector": [
            -0.9981184601783752,
            0.05167669430375099,
            -0.03300055116415024
        ],
        "right_vector": [
            -0.05167776718735695,
            -0.9986634850502014,
            -0.0008210167870856822
        ],
        "location": [
            -1301.9544677734375,
            3080.80712890625,
            346.3994140625
        ],
        "rotation": [
            0.04706643894314766,
            -1.891135811805725,
            177.0362091064453
        ],
        "velocity": [
            -16.54977798461914,
            0.8566058278083801,
            -0.545574426651001
        ],
        "speed": 16.571931839240097,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.755817413330078,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1321.691162109375,
                3081.48779296875,
                345.8591003417969
            ],
            "velocity": [
                -16.33776092529297,
                0.8656467199325562,
                -0.318917840719223
            ],
            "speed_kmh": 58.90962878942761,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1374.8997802734375,
                        "y": 3110.089111328125,
                        "z": 345.6304931640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1375.25390625,
                        "y": 3106.606689453125,
                        "z": 345.63104248046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1375.6083984375,
                        "y": 3103.125244140625,
                        "z": 345.6316223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.326323509216309,
                "transform": {
                    "location": {
                        "x": -1329.8992919921875,
                        "y": 3106.578369140625,
                        "z": 345.7034606933594
                    },
                    "rotation": {
                        "roll": 0.0008198190480470657,
                        "pitch": 0.8709310293197632,
                        "yaw": -3.2945258617401123
                    }
                },
                "velocity": {
                    "x": 8.311930656433105,
                    "y": -0.4784574806690216,
                    "z": 0.10274066776037216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.64841365814209,
                "transform": {
                    "location": {
                        "x": -1330.805908203125,
                        "y": 3103.11962890625,
                        "z": 345.6997985839844
                    },
                    "rotation": {
                        "roll": 0.0043443129397928715,
                        "pitch": 0.7503030896186829,
                        "yaw": -3.196075916290283
                    }
                },
                "velocity": {
                    "x": 7.635829448699951,
                    "y": -0.4288271963596344,
                    "z": 0.09191934019327164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.313714027404785,
                "transform": {
                    "location": {
                        "x": -1329.6727294921875,
                        "y": 3099.55517578125,
                        "z": 345.724365234375
                    },
                    "rotation": {
                        "roll": 0.0028226389549672604,
                        "pitch": 0.6991859078407288,
                        "yaw": -3.290771961212158
                    }
                },
                "velocity": {
                    "x": 6.302756309509277,
                    "y": -0.3624795377254486,
                    "z": 0.08282874524593353
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1080.1396484375,
                        "y": 3075.5361328125,
                        "z": 355.7242431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.4875195026397705,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04993724822998,
                "transform": {
                    "location": {
                        "x": -1289.4593505859375,
                        "y": 3101.3359375,
                        "z": 346.81414794921875
                    },
                    "rotation": {
                        "roll": -0.004516602028161287,
                        "pitch": 2.0975167751312256,
                        "yaw": -1.4931029081344604
                    }
                },
                "velocity": {
                    "x": 8.041860580444336,
                    "y": -0.21002422273159027,
                    "z": 0.29299816489219666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990077018737793,
                "transform": {
                    "location": {
                        "x": -1288.87890625,
                        "y": 3104.824951171875,
                        "z": 346.83172607421875
                    },
                    "rotation": {
                        "roll": -0.004669190384447575,
                        "pitch": 2.0999553203582764,
                        "yaw": -1.5352476835250854
                    }
                },
                "velocity": {
                    "x": 7.981849193572998,
                    "y": -0.2140994817018509,
                    "z": 0.2925386130809784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056365966796875,
                "transform": {
                    "location": {
                        "x": -1288.195068359375,
                        "y": 3097.8056640625,
                        "z": 346.84832763671875
                    },
                    "rotation": {
                        "roll": -0.007141111418604851,
                        "pitch": 2.1161632537841797,
                        "yaw": -1.4683531522750854
                    }
                },
                "velocity": {
                    "x": 8.048495292663574,
                    "y": -0.19826756417751312,
                    "z": 0.2957121431827545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1116.4779052734375,
                        "y": 3076.34814453125,
                        "z": 354.5633544921875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007536888122559,
                "transform": {
                    "location": {
                        "x": -1246.599365234375,
                        "y": 3100.360595703125,
                        "z": 348.6695556640625
                    },
                    "rotation": {
                        "roll": 0.00031378064886666834,
                        "pitch": 2.865612506866455,
                        "yaw": -1.2945555448532104
                    }
                },
                "velocity": {
                    "x": 7.995885848999023,
                    "y": -0.1788714975118637,
                    "z": 0.393025279045105
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035223007202148,
                "transform": {
                    "location": {
                        "x": -1246.0875244140625,
                        "y": 3103.849609375,
                        "z": 348.69952392578125
                    },
                    "rotation": {
                        "roll": 0.0009190598502755165,
                        "pitch": 2.8414063453674316,
                        "yaw": -1.2663270235061646
                    }
                },
                "velocity": {
                    "x": 8.023599624633789,
                    "y": -0.1792561113834381,
                    "z": 0.39308416843414307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022176742553711,
                "transform": {
                    "location": {
                        "x": -1245.8909912109375,
                        "y": 3096.84326171875,
                        "z": 348.711669921875
                    },
                    "rotation": {
                        "roll": 0.00015377216914203018,
                        "pitch": 2.845839023590088,
                        "yaw": -1.275634527206421
                    }
                },
                "velocity": {
                    "x": 8.010601043701172,
                    "y": -0.17812566459178925,
                    "z": 0.39225661754608154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.4547119140625,
                        "y": 3076.995361328125,
                        "z": 353.5067443847656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1179.9923095703125,
                        "y": 3077.76708984375,
                        "z": 352.14404296875
                    },
                    "rotation": {
                        "roll": -3.3385456621459753e-09,
                        "pitch": -2.621091842651367,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1214.2196044921875,
                        "y": 3078.531494140625,
                        "z": 350.3633117675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0971081256866455,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.3876895904541,
                "transform": {
                    "location": {
                        "x": -1256.76904296875,
                        "y": 3079.482421875,
                        "z": 348.20263671875
                    },
                    "rotation": {
                        "roll": 7.202164124464616e-05,
                        "pitch": -2.7211267948150635,
                        "yaw": 178.71865844726562
                    }
                },
                "velocity": {
                    "x": -16.36492347717285,
                    "y": 0.3646409511566162,
                    "z": -0.7827320694923401
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.363786697387695,
                "transform": {
                    "location": {
                        "x": -1321.691162109375,
                        "y": 3081.48779296875,
                        "z": 345.8591003417969
                    },
                    "rotation": {
                        "roll": 0.010652336291968822,
                        "pitch": -1.1215784549713135,
                        "yaw": 176.99819946289062
                    }
                },
                "velocity": {
                    "x": -16.33776092529297,
                    "y": 0.8656467199325562,
                    "z": -0.318917840719223
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13767024874687195,
        "expert_target_speed": 16.838478572160835,
        "target_point": [
            39.952270581938535,
            0.1623726746584777
        ],
        "target_point_next": [
            71.40450678657443,
            -0.8081562108353655
        ]
    },
    "510": {
        "acceleration": [
            -0.23883819580078125,
            0.16111493110656738,
            0.1353168487548828
        ],
        "angular_velocity": [
            0.012060382403433323,
            0.3975744843482971,
            -0.4894833564758301
        ],
        "forward_vector": [
            -0.9980684518814087,
            0.05347280949354172,
            -0.03162297606468201
        ],
        "right_vector": [
            -0.05346127226948738,
            -0.9985691905021667,
            -0.0012110208626836538
        ],
        "location": [
            -1306.100830078125,
            3081.02490234375,
            346.2644348144531
        ],
        "rotation": [
            0.06942111998796463,
            -1.8121651411056519,
            176.93324279785156
        ],
        "velocity": [
            -16.61127471923828,
            0.8884161114692688,
            -0.5292906165122986
        ],
        "speed": 16.635015208442795,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.693756103515625,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1325.77685546875,
                3081.708984375,
                345.78472900390625
            ],
            "velocity": [
                -16.335180282592773,
                0.9045820236206055,
                -0.26936352252960205
            ],
            "speed_kmh": 58.90472871608502,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1043.7952880859375,
                        "y": 3074.723876953125,
                        "z": 356.4415283203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7753903269767761,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1372.8282470703125,
                        "y": 3109.8828125,
                        "z": 345.54852294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1373.182373046875,
                        "y": 3106.400634765625,
                        "z": 345.5491638183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1373.536865234375,
                        "y": 3102.9189453125,
                        "z": 345.54974365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39526301622390747,
                        "yaw": -5.598025798797607
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.12891960144043,
                "transform": {
                    "location": {
                        "x": -1327.81884765625,
                        "y": 3106.459716796875,
                        "z": 345.7322998046875
                    },
                    "rotation": {
                        "roll": -0.0007934588938951492,
                        "pitch": 0.8124167919158936,
                        "yaw": -3.2618112564086914
                    }
                },
                "velocity": {
                    "x": 8.115358352661133,
                    "y": -0.45238977670669556,
                    "z": 0.1250668615102768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.684314727783203,
                "transform": {
                    "location": {
                        "x": -1328.8131103515625,
                        "y": 3103.0078125,
                        "z": 345.7247314453125
                    },
                    "rotation": {
                        "roll": 0.003002613317221403,
                        "pitch": 0.8126353621482849,
                        "yaw": -3.238251209259033
                    }
                },
                "velocity": {
                    "x": 8.669634819030762,
                    "y": -0.4893205463886261,
                    "z": 0.12381722778081894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.266131401062012,
                "transform": {
                    "location": {
                        "x": -1327.868408203125,
                        "y": 3099.45263671875,
                        "z": 345.7502746582031
                    },
                    "rotation": {
                        "roll": -0.005249024834483862,
                        "pitch": 1.1361472606658936,
                        "yaw": -3.242614984512329
                    }
                },
                "velocity": {
                    "x": 8.252304077148438,
                    "y": -0.46215254068374634,
                    "z": 0.12174060195684433
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1084.2950439453125,
                        "y": 3075.62939453125,
                        "z": 355.6158447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.596672773361206,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.998717308044434,
                "transform": {
                    "location": {
                        "x": -1287.4593505859375,
                        "y": 3101.284912109375,
                        "z": 346.8871765136719
                    },
                    "rotation": {
                        "roll": -0.011505127884447575,
                        "pitch": 2.1182942390441895,
                        "yaw": -1.4562987089157104
                    }
                },
                "velocity": {
                    "x": 7.990847110748291,
                    "y": -0.19710424542427063,
                    "z": 0.294944703578949
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028100967407227,
                "transform": {
                    "location": {
                        "x": -1286.87890625,
                        "y": 3104.774658203125,
                        "z": 346.90545654296875
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": 2.1088004112243652,
                        "yaw": -1.4434813261032104
                    }
                },
                "velocity": {
                    "x": 8.020246505737305,
                    "y": -0.19489100575447083,
                    "z": 0.2967741787433624
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00468635559082,
                "transform": {
                    "location": {
                        "x": -1286.18798828125,
                        "y": 3097.755859375,
                        "z": 346.9222106933594
                    },
                    "rotation": {
                        "roll": -0.004455563146620989,
                        "pitch": 2.11334228515625,
                        "yaw": -1.407012701034546
                    }
                },
                "velocity": {
                    "x": 7.996773719787598,
                    "y": -0.19447098672389984,
                    "z": 0.29796844720840454
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1120.6624755859375,
                        "y": 3076.441162109375,
                        "z": 354.4107666015625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002822875976562,
                "transform": {
                    "location": {
                        "x": -1244.60107421875,
                        "y": 3100.31591796875,
                        "z": 348.7678527832031
                    },
                    "rotation": {
                        "roll": 0.0006599872140213847,
                        "pitch": 2.886451482772827,
                        "yaw": -1.2640076875686646
                    }
                },
                "velocity": {
                    "x": 7.991113662719727,
                    "y": -0.17833079397678375,
                    "z": 0.39431220293045044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.038771629333496,
                "transform": {
                    "location": {
                        "x": -1244.08056640625,
                        "y": 3103.804931640625,
                        "z": 348.7979736328125
                    },
                    "rotation": {
                        "roll": -0.0002441410906612873,
                        "pitch": 2.8659744262695312,
                        "yaw": -1.2923887968063354
                    }
                },
                "velocity": {
                    "x": 8.027006149291992,
                    "y": -0.17933078110218048,
                    "z": 0.3960641324520111
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022829055786133,
                "transform": {
                    "location": {
                        "x": -1243.888427734375,
                        "y": 3096.798583984375,
                        "z": 348.810546875
                    },
                    "rotation": {
                        "roll": 0.0014364252565428615,
                        "pitch": 2.8490493297576904,
                        "yaw": -1.27520751953125
                    }
                },
                "velocity": {
                    "x": 8.01097297668457,
                    "y": -0.1793762743473053,
                    "z": 0.3973904252052307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1149.577880859375,
                        "y": 3077.08740234375,
                        "z": 353.35638427734375
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1184.1138916015625,
                        "y": 3077.85888671875,
                        "z": 351.95166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.743065357208252,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1218.3399658203125,
                        "y": 3078.623291015625,
                        "z": 350.1417541503906
                    },
                    "rotation": {
                        "roll": -3.339781340372383e-09,
                        "pitch": -3.049187421798706,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.386978149414062,
                "transform": {
                    "location": {
                        "x": -1260.8604736328125,
                        "y": 3079.57373046875,
                        "z": 348.00970458984375
                    },
                    "rotation": {
                        "roll": 0.0012899250723421574,
                        "pitch": -2.7144126892089844,
                        "yaw": 178.71983337402344
                    }
                },
                "velocity": {
                    "x": -16.364757537841797,
                    "y": 0.36542171239852905,
                    "z": -0.7708443403244019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.362424850463867,
                "transform": {
                    "location": {
                        "x": -1325.77685546875,
                        "y": 3081.708984375,
                        "z": 345.78472900390625
                    },
                    "rotation": {
                        "roll": 0.006514470558613539,
                        "pitch": -0.9504685997962952,
                        "yaw": 176.80470275878906
                    }
                },
                "velocity": {
                    "x": -16.335180282592773,
                    "y": 0.9045820236206055,
                    "z": -0.26936352252960205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17690716683864594,
        "expert_target_speed": 16.88500008683237,
        "target_point": [
            35.79983927340955,
            0.22980820720094552
        ],
        "target_point_next": [
            67.25376891672033,
            -0.6841932060598226
        ]
    },
    "515": {
        "acceleration": [
            -0.228271484375,
            0.18045902252197266,
            0.236053466796875
        ],
        "angular_velocity": [
            -0.05958843603730202,
            0.5545372366905212,
            -0.5450744032859802
        ],
        "forward_vector": [
            -0.9980406165122986,
            0.055798064917325974,
            -0.028308182954788208
        ],
        "right_vector": [
            -0.055781491100788116,
            -0.9984419941902161,
            -0.0013754339888691902
        ],
        "location": [
            -1310.2628173828125,
            3081.251708984375,
            346.1383056640625
        ],
        "rotation": [
            0.07883818447589874,
            -1.6221561431884766,
            176.80006408691406
        ],
        "velocity": [
            -16.667150497436523,
            0.9291629791259766,
            -0.47703009843826294
        ],
        "speed": 16.693029969001337,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.614545822143555,
        "front_vehicle_info": {
            "id": 4549,
            "type": "vehicle.audi.tt",
            "location": [
                -1329.8607177734375,
                3081.944580078125,
                345.7227783203125
            ],
            "velocity": [
                -16.326791763305664,
                0.9706763029098511,
                -0.21640056371688843
            ],
            "speed_kmh": 58.8853894933942,
            "color": "16,44,21"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1047.95068359375,
                        "y": 3074.81689453125,
                        "z": 356.3629455566406
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.61568546295166,
                "transform": {
                    "location": {
                        "x": -1370.8795166015625,
                        "y": 3109.697509765625,
                        "z": 345.5365905761719
                    },
                    "rotation": {
                        "roll": 0.010393308475613594,
                        "pitch": -0.09567045420408249,
                        "yaw": -5.287936687469482
                    }
                },
                "velocity": {
                    "x": 6.590306758880615,
                    "y": -0.5782392024993896,
                    "z": -0.02802102081477642
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.761586666107178,
                "transform": {
                    "location": {
                        "x": -1371.3211669921875,
                        "y": 3106.2275390625,
                        "z": 345.55401611328125
                    },
                    "rotation": {
                        "roll": -0.0223388634622097,
                        "pitch": -0.415897011756897,
                        "yaw": -5.170962810516357
                    }
                },
                "velocity": {
                    "x": 6.737431049346924,
                    "y": -0.5670656561851501,
                    "z": 0.06714984774589539
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.740087032318115,
                "transform": {
                    "location": {
                        "x": -1371.734619140625,
                        "y": 3102.751708984375,
                        "z": 345.5315856933594
                    },
                    "rotation": {
                        "roll": -0.01730346865952015,
                        "pitch": -0.33284875750541687,
                        "yaw": -5.116518974304199
                    }
                },
                "velocity": {
                    "x": 6.716170310974121,
                    "y": -0.5630285143852234,
                    "z": -0.06948591023683548
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.841396808624268,
                "transform": {
                    "location": {
                        "x": -1325.847412109375,
                        "y": 3106.349609375,
                        "z": 345.7623291015625
                    },
                    "rotation": {
                        "roll": -0.00030517252162098885,
                        "pitch": 0.9297047853469849,
                        "yaw": -3.182678461074829
                    }
                },
                "velocity": {
                    "x": 7.82850980758667,
                    "y": -0.4326418936252594,
                    "z": 0.12150270491838455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.32038688659668,
                "transform": {
                    "location": {
                        "x": -1326.6749267578125,
                        "y": 3102.887939453125,
                        "z": 345.7567138671875
                    },
                    "rotation": {
                        "roll": 0.0002673474664334208,
                        "pitch": 0.8996041417121887,
                        "yaw": -3.213379383087158
                    }
                },
                "velocity": {
                    "x": 8.306629180908203,
                    "y": -0.4607270658016205,
                    "z": 0.12832964956760406
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.14578914642334,
                "transform": {
                    "location": {
                        "x": -1325.7730712890625,
                        "y": 3099.336181640625,
                        "z": 345.7814025878906
                    },
                    "rotation": {
                        "roll": -0.0037841806188225746,
                        "pitch": 1.0099526643753052,
                        "yaw": -3.186951160430908
                    }
                },
                "velocity": {
                    "x": 8.13226318359375,
                    "y": -0.450939804315567,
                    "z": 0.12974466383457184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1088.4500732421875,
                        "y": 3075.721435546875,
                        "z": 355.50103759765625
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064711570739746,
                "transform": {
                    "location": {
                        "x": -1285.4522705078125,
                        "y": 3101.235595703125,
                        "z": 346.9619445800781
                    },
                    "rotation": {
                        "roll": -0.0068359375,
                        "pitch": 2.177245616912842,
                        "yaw": -1.3677979707717896
                    }
                },
                "velocity": {
                    "x": 8.056562423706055,
                    "y": -0.19202753901481628,
                    "z": 0.30740034580230713
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.974372863769531,
                "transform": {
                    "location": {
                        "x": -1284.8809814453125,
                        "y": 3104.725830078125,
                        "z": 346.98016357421875
                    },
                    "rotation": {
                        "roll": 0.012097296305000782,
                        "pitch": 2.136442184448242,
                        "yaw": -1.398345947265625
                    }
                },
                "velocity": {
                    "x": 7.96624231338501,
                    "y": -0.19174598157405853,
                    "z": 0.304696261882782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046150207519531,
                "transform": {
                    "location": {
                        "x": -1284.1837158203125,
                        "y": 3097.70751953125,
                        "z": 346.9982604980469
                    },
                    "rotation": {
                        "roll": -0.005462644621729851,
                        "pitch": 2.2095251083374023,
                        "yaw": -1.3849486112594604
                    }
                },
                "velocity": {
                    "x": 8.037914276123047,
                    "y": -0.19288788735866547,
                    "z": 0.30863821506500244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1124.785888671875,
                        "y": 3076.533447265625,
                        "z": 354.2603759765625
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00749683380127,
                "transform": {
                    "location": {
                        "x": -1242.6026611328125,
                        "y": 3100.271240234375,
                        "z": 348.8666076660156
                    },
                    "rotation": {
                        "roll": -0.0018310563173145056,
                        "pitch": 2.886547088623047,
                        "yaw": -1.29345703125
                    }
                },
                "velocity": {
                    "x": 7.995680809020996,
                    "y": -0.17868852615356445,
                    "z": 0.3964385986328125
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1242.059814453125,
                        "y": 3103.74658203125,
                        "z": 348.8974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022221565246582,
                "transform": {
                    "location": {
                        "x": -1241.8856201171875,
                        "y": 3096.753662109375,
                        "z": 348.9095764160156
                    },
                    "rotation": {
                        "roll": -0.00015258709026966244,
                        "pitch": 2.8483457565307617,
                        "yaw": -1.2831417322158813
                    }
                },
                "velocity": {
                    "x": 8.010437965393066,
                    "y": -0.17920081317424774,
                    "z": 0.39598891139030457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1153.7012939453125,
                        "y": 3077.17919921875,
                        "z": 353.2059631347656
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1188.2352294921875,
                        "y": 3077.950927734375,
                        "z": 351.7513122558594
                    },
                    "rotation": {
                        "roll": -3.33922711703849e-09,
                        "pitch": -2.8651139736175537,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1222.460205078125,
                        "y": 3078.71533203125,
                        "z": 349.92291259765625
                    },
                    "rotation": {
                        "roll": 3.339633902754713e-09,
                        "pitch": -3.001253366470337,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.384016036987305,
                "transform": {
                    "location": {
                        "x": -1264.9527587890625,
                        "y": 3079.6650390625,
                        "z": 347.82122802734375
                    },
                    "rotation": {
                        "roll": 0.001450079376809299,
                        "pitch": -2.548309326171875,
                        "yaw": 178.72035217285156
                    }
                },
                "velocity": {
                    "x": -16.36350440979004,
                    "y": 0.3651992976665497,
                    "z": -0.7337357401847839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4549,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.357051849365234,
                "transform": {
                    "location": {
                        "x": -1329.8607177734375,
                        "y": 3081.944580078125,
                        "z": 345.7227783203125
                    },
                    "rotation": {
                        "roll": 0.00833114143460989,
                        "pitch": -0.7750556468963623,
                        "yaw": 176.5792694091797
                    }
                },
                "velocity": {
                    "x": -16.326791763305664,
                    "y": 0.9706763029098511,
                    "z": -0.21640056371688843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2164524346590042,
        "expert_target_speed": 16.925484284247283,
        "target_point": [
            31.631050008296288,
            0.3071408111729488
        ],
        "target_point_next": [
            63.08701893577145,
            -0.5337559860057013
        ]
    },
    "520": {
        "acceleration": [
            -0.2178192138671875,
            0.17409324645996094,
            0.22411644458770752
        ],
        "angular_velocity": [
            0.07626171410083771,
            0.30967986583709717,
            -0.5499290823936462
        ],
        "forward_vector": [
            -0.9979935884475708,
            0.05821482092142105,
            -0.024896908551454544
        ],
        "right_vector": [
            -0.058201536536216736,
            -0.9983041286468506,
            -0.0012585934018716216
        ],
        "location": [
            -1314.438720703125,
            3081.4892578125,
            346.02630615234375
        ],
        "rotation": [
            0.07213447242975235,
            -1.4266351461410522,
            176.66162109375
        ],
        "velocity": [
            -16.722118377685547,
            0.9726653695106506,
            -0.42295530438423157
        ],
        "speed": 16.750382710803176,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 75.85919952392578,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1052.10595703125,
                        "y": 3074.909912109375,
                        "z": 356.29901123046875
                    },
                    "rotation": {
                        "roll": -8.338676416030921e-10,
                        "pitch": -0.9065504670143127,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.684873104095459,
                "transform": {
                    "location": {
                        "x": -1369.2239990234375,
                        "y": 3109.55908203125,
                        "z": 345.5304260253906
                    },
                    "rotation": {
                        "roll": 0.008335696533322334,
                        "pitch": -0.2582426071166992,
                        "yaw": -4.864931106567383
                    }
                },
                "velocity": {
                    "x": 6.663764476776123,
                    "y": -0.5297470092773438,
                    "z": -0.03371061757206917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.549787521362305,
                "transform": {
                    "location": {
                        "x": -1369.6636962890625,
                        "y": 3106.08837890625,
                        "z": 345.55889892578125
                    },
                    "rotation": {
                        "roll": -0.013702393509447575,
                        "pitch": -0.34155726432800293,
                        "yaw": -4.800143241882324
                    }
                },
                "velocity": {
                    "x": 6.528597354888916,
                    "y": -0.526322603225708,
                    "z": -0.010630988515913486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.807988166809082,
                "transform": {
                    "location": {
                        "x": -1370.046875,
                        "y": 3102.611083984375,
                        "z": 345.5182800292969
                    },
                    "rotation": {
                        "roll": -0.010345459915697575,
                        "pitch": -0.3142091631889343,
                        "yaw": -4.765077590942383
                    }
                },
                "velocity": {
                    "x": 6.7857584953308105,
                    "y": -0.5480244159698486,
                    "z": -0.04302700608968735
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.18376350402832,
                "transform": {
                    "location": {
                        "x": -1323.836669921875,
                        "y": 3106.23876953125,
                        "z": 345.7956848144531
                    },
                    "rotation": {
                        "roll": -0.0011901877587661147,
                        "pitch": 0.9847834706306458,
                        "yaw": -3.161438465118408
                    }
                },
                "velocity": {
                    "x": 8.169905662536621,
                    "y": -0.4514164626598358,
                    "z": 0.15118689835071564
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022984504699707,
                "transform": {
                    "location": {
                        "x": -1324.6397705078125,
                        "y": 3102.775146484375,
                        "z": 345.7891845703125
                    },
                    "rotation": {
                        "roll": -0.0006408666376955807,
                        "pitch": 0.9487200379371643,
                        "yaw": -3.1577155590057373
                    }
                },
                "velocity": {
                    "x": 8.009645462036133,
                    "y": -0.4402768909931183,
                    "z": 0.1414935141801834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.801027297973633,
                "transform": {
                    "location": {
                        "x": -1323.80810546875,
                        "y": 3099.227783203125,
                        "z": 345.8154602050781
                    },
                    "rotation": {
                        "roll": -0.007476807106286287,
                        "pitch": 0.9761432409286499,
                        "yaw": -3.152618885040283
                    }
                },
                "velocity": {
                    "x": 7.788372039794922,
                    "y": -0.4209723472595215,
                    "z": 0.14165984094142914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1092.5738525390625,
                        "y": 3075.81396484375,
                        "z": 355.38092041015625
                    },
                    "rotation": {
                        "roll": -1.6682658587896526e-09,
                        "pitch": -1.7058396339416504,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056048393249512,
                "transform": {
                    "location": {
                        "x": -1283.4366455078125,
                        "y": 3101.18798828125,
                        "z": 347.03863525390625
                    },
                    "rotation": {
                        "roll": -0.006713867653161287,
                        "pitch": 2.2562026977539062,
                        "yaw": -1.360015869140625
                    }
                },
                "velocity": {
                    "x": 8.047876358032227,
                    "y": -0.1877441108226776,
                    "z": 0.31041210889816284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036264419555664,
                "transform": {
                    "location": {
                        "x": -1282.880615234375,
                        "y": 3104.677978515625,
                        "z": 347.0564880371094
                    },
                    "rotation": {
                        "roll": 0.017460856586694717,
                        "pitch": 2.212960720062256,
                        "yaw": -1.362548828125
                    }
                },
                "velocity": {
                    "x": 8.028133392333984,
                    "y": -0.18602357804775238,
                    "z": 0.3098512291908264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.004390716552734,
                "transform": {
                    "location": {
                        "x": -1282.17919921875,
                        "y": 3097.66015625,
                        "z": 347.07574462890625
                    },
                    "rotation": {
                        "roll": -0.004791256505995989,
                        "pitch": 2.2410669326782227,
                        "yaw": -1.3432921171188354
                    }
                },
                "velocity": {
                    "x": 7.996153354644775,
                    "y": -0.18585875630378723,
                    "z": 0.31185972690582275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1128.9083251953125,
                        "y": 3076.62548828125,
                        "z": 354.1100769042969
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4596,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1240.5250244140625,
                        "y": 3100.159912109375,
                        "z": 348.9716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4595,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.9818115234375,
                        "y": 3103.63427734375,
                        "z": 348.9969482421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4594,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1239.80908203125,
                        "y": 3096.62158203125,
                        "z": 349.01220703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.8573479652404785,
                        "yaw": -1.2797242403030396
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1157.79296875,
                        "y": 3077.2705078125,
                        "z": 353.0564270019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.133115768432617,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1192.3555908203125,
                        "y": 3078.04296875,
                        "z": 351.5451965332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.987053394317627,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1226.5802001953125,
                        "y": 3078.807861328125,
                        "z": 349.7068786621094
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.382892608642578,
                "transform": {
                    "location": {
                        "x": -1269.0435791015625,
                        "y": 3079.756103515625,
                        "z": 347.6403503417969
                    },
                    "rotation": {
                        "roll": 0.0017630507936701179,
                        "pitch": -2.5524280071258545,
                        "yaw": 178.71205139160156
                    }
                },
                "velocity": {
                    "x": -16.36273956298828,
                    "y": 0.368817001581192,
                    "z": -0.7238216996192932
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2634345591068268,
        "expert_target_speed": 20.0,
        "target_point": [
            27.44756533220833,
            0.3775513147310299
        ],
        "target_point_next": [
            58.90547452641781,
            -0.3873262693687751
        ]
    },
    "525": {
        "acceleration": [
            -0.19451141357421875,
            0.05616188049316406,
            0.2624267339706421
        ],
        "angular_velocity": [
            -0.06112850829958916,
            0.3737121820449829,
            -0.21516261994838715
        ],
        "forward_vector": [
            -0.9979411959648132,
            0.060327958315610886,
            -0.02176959067583084
        ],
        "right_vector": [
            -0.06031819060444832,
            -0.9981786012649536,
            -0.001105689094401896
        ],
        "location": [
            -1318.62744140625,
            3081.737060546875,
            345.9272155761719
        ],
        "rotation": [
            0.0633663460612297,
            -1.2474042177200317,
            176.54054260253906
        ],
        "velocity": [
            -16.7712459564209,
            1.0066213607788086,
            -0.3718698024749756
        ],
        "speed": 16.8014278409527,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 71.66327667236328,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0933837890625,
                3087.047119140625,
                345.7083435058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1056.22998046875,
                        "y": 3075.002197265625,
                        "z": 356.22857666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.03775155544281,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.599128723144531,
                "transform": {
                    "location": {
                        "x": -1367.5692138671875,
                        "y": 3109.425048828125,
                        "z": 345.524169921875
                    },
                    "rotation": {
                        "roll": -0.005371092818677425,
                        "pitch": -0.2236340343952179,
                        "yaw": -4.695986747741699
                    }
                },
                "velocity": {
                    "x": 6.576632499694824,
                    "y": -0.5440801978111267,
                    "z": -0.019542602822184563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.463840007781982,
                "transform": {
                    "location": {
                        "x": -1368.0072021484375,
                        "y": 3105.95361328125,
                        "z": 345.5545959472656
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": -0.24032019078731537,
                        "yaw": -4.649904251098633
                    }
                },
                "velocity": {
                    "x": 6.441933631896973,
                    "y": -0.5315099954605103,
                    "z": -0.014786367304623127
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.021517276763916,
                "transform": {
                    "location": {
                        "x": -1368.39697265625,
                        "y": 3102.476806640625,
                        "z": 345.510498046875
                    },
                    "rotation": {
                        "roll": -0.0020751943811774254,
                        "pitch": -0.28122618794441223,
                        "yaw": -4.654420852661133
                    }
                },
                "velocity": {
                    "x": 6.000721454620361,
                    "y": -0.4996735155582428,
                    "z": -0.01841144450008869
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.961062431335449,
                "transform": {
                    "location": {
                        "x": -1321.8199462890625,
                        "y": 3106.131103515625,
                        "z": 345.8327331542969
                    },
                    "rotation": {
                        "roll": -0.002899173879995942,
                        "pitch": 1.1133617162704468,
                        "yaw": -3.035980701446533
                    }
                },
                "velocity": {
                    "x": 7.948879241943359,
                    "y": -0.41430726647377014,
                    "z": 0.14893294870853424
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.888473987579346,
                "transform": {
                    "location": {
                        "x": -1322.65966796875,
                        "y": 3102.667236328125,
                        "z": 345.8249206542969
                    },
                    "rotation": {
                        "roll": -0.001983641181141138,
                        "pitch": 1.0716087818145752,
                        "yaw": -3.092254638671875
                    }
                },
                "velocity": {
                    "x": 7.875957012176514,
                    "y": -0.41921645402908325,
                    "z": 0.14688794314861298
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.198600769042969,
                "transform": {
                    "location": {
                        "x": -1321.80078125,
                        "y": 3099.12109375,
                        "z": 345.8517761230469
                    },
                    "rotation": {
                        "roll": -0.00845337100327015,
                        "pitch": 1.1853587627410889,
                        "yaw": -3.035797595977783
                    }
                },
                "velocity": {
                    "x": 8.185860633850098,
                    "y": -0.42979758977890015,
                    "z": 0.1549561321735382
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1096.69677734375,
                        "y": 3075.90625,
                        "z": 355.2536926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8150339126586914,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030482292175293,
                "transform": {
                    "location": {
                        "x": -1281.4290771484375,
                        "y": 3101.14111328125,
                        "z": 347.1167907714844
                    },
                    "rotation": {
                        "roll": -0.0035705557093024254,
                        "pitch": 2.2574524879455566,
                        "yaw": -1.30706787109375
                    }
                },
                "velocity": {
                    "x": 8.022225379943848,
                    "y": -0.18328122794628143,
                    "z": 0.3145648241043091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.972550392150879,
                "transform": {
                    "location": {
                        "x": -1280.8818359375,
                        "y": 3104.6318359375,
                        "z": 347.1341247558594
                    },
                    "rotation": {
                        "roll": 0.025524428114295006,
                        "pitch": 2.2236430644989014,
                        "yaw": -1.329681396484375
                    }
                },
                "velocity": {
                    "x": 7.9644060134887695,
                    "y": -0.18198198080062866,
                    "z": 0.31093496084213257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050446510314941,
                "transform": {
                    "location": {
                        "x": -1280.1741943359375,
                        "y": 3097.61328125,
                        "z": 347.1539306640625
                    },
                    "rotation": {
                        "roll": -0.002502440009266138,
                        "pitch": 2.2361013889312744,
                        "yaw": -1.33099365234375
                    }
                },
                "velocity": {
                    "x": 8.042220115661621,
                    "y": -0.1846839338541031,
                    "z": 0.3134761452674866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1133.030517578125,
                        "y": 3076.717529296875,
                        "z": 353.9597473144531
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1161.9149169921875,
                        "y": 3077.363037109375,
                        "z": 352.9021301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.255096197128296,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1196.444580078125,
                        "y": 3078.13427734375,
                        "z": 351.33306884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1230.6998291015625,
                        "y": 3078.89990234375,
                        "z": 349.492919921875
                    },
                    "rotation": {
                        "roll": -3.339488463538487e-09,
                        "pitch": -2.9532439708709717,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.37980842590332,
                "transform": {
                    "location": {
                        "x": -1273.135498046875,
                        "y": 3079.84765625,
                        "z": 347.4649963378906
                    },
                    "rotation": {
                        "roll": -0.0006103508058004081,
                        "pitch": -2.383387565612793,
                        "yaw": 178.7273406982422
                    }
                },
                "velocity": {
                    "x": -16.361581802368164,
                    "y": 0.36556243896484375,
                    "z": -0.680523693561554
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1390.0933837890625,
                        "y": 3087.047119140625,
                        "z": 345.7083435058594
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.726806640625,
                        "y": 3090.5283203125,
                        "z": 345.7084655761719
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.70849609375
                    },
                    "rotation": {
                        "roll": 6.670869634461951e-09,
                        "pitch": 0.8666075468063354,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3127007782459259,
        "expert_target_speed": 20.0,
        "target_point": [
            23.250665584719297,
            0.43013942137233374
        ],
        "target_point_next": [
            54.71012064396645,
            -0.2682701754951502
        ]
    },
    "530": {
        "acceleration": [
            -0.17047882080078125,
            -0.05562782287597656,
            0.26832401752471924
        ],
        "angular_velocity": [
            -0.19047953188419342,
            0.37531065940856934,
            0.3480096459388733
        ],
        "forward_vector": [
            -0.998056173324585,
            0.05948259308934212,
            -0.018590928986668587
        ],
        "right_vector": [
            -0.05948624387383461,
            -0.9982290863990784,
            -0.00035714125260710716
        ],
        "location": [
            -1322.8277587890625,
            3081.988037109375,
            345.8410949707031
        ],
        "rotation": [
            0.02046622522175312,
            -1.065243124961853,
            176.58929443359375
        ],
        "velocity": [
            -16.81507110595703,
            1.000869631767273,
            -0.31953591108322144
        ],
        "speed": 16.844831739087955,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 67.45561981201172,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.09326171875,
                3087.047119140625,
                345.7054748535156
            ],
            "velocity": [
                -0.0003307615115772933,
                9.156019950751215e-05,
                -0.022825665771961212
            ],
            "speed_kmh": 0.08218168472827261,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1060.3536376953125,
                        "y": 3075.09423828125,
                        "z": 356.1522216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0719298124313354,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.52851676940918,
                "transform": {
                    "location": {
                        "x": -1365.91748046875,
                        "y": 3109.2880859375,
                        "z": 345.5183410644531
                    },
                    "rotation": {
                        "roll": -0.0019226078875362873,
                        "pitch": -0.12222623080015182,
                        "yaw": -4.721864700317383
                    }
                },
                "velocity": {
                    "x": 6.506088733673096,
                    "y": -0.5403196215629578,
                    "z": -0.019776683300733566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.292178630828857,
                "transform": {
                    "location": {
                        "x": -1366.6141357421875,
                        "y": 3105.83837890625,
                        "z": 345.5506286621094
                    },
                    "rotation": {
                        "roll": -0.0014343258226290345,
                        "pitch": -0.2256762683391571,
                        "yaw": -4.739870071411133
                    }
                },
                "velocity": {
                    "x": 5.273875713348389,
                    "y": -0.4394548833370209,
                    "z": -0.016315879300236702
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.5444488525390625,
                "transform": {
                    "location": {
                        "x": -1366.986572265625,
                        "y": 3102.359619140625,
                        "z": 345.5052185058594
                    },
                    "rotation": {
                        "roll": -0.0011291499249637127,
                        "pitch": -0.17480501532554626,
                        "yaw": -4.728456497192383
                    }
                },
                "velocity": {
                    "x": 5.525073528289795,
                    "y": -0.46277177333831787,
                    "z": -0.017879990860819817
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057559967041016,
                "transform": {
                    "location": {
                        "x": -1319.8258056640625,
                        "y": 3106.027099609375,
                        "z": 345.8720703125
                    },
                    "rotation": {
                        "roll": -0.001373288338072598,
                        "pitch": 1.1508526802062988,
                        "yaw": -2.974060535430908
                    }
                },
                "velocity": {
                    "x": 8.044974327087402,
                    "y": -0.4158843159675598,
                    "z": 0.17234981060028076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.99167537689209,
                "transform": {
                    "location": {
                        "x": -1320.677734375,
                        "y": 3102.56201171875,
                        "z": 345.8623046875
                    },
                    "rotation": {
                        "roll": -0.0010681184940040112,
                        "pitch": 1.1391047239303589,
                        "yaw": -2.986114740371704
                    }
                },
                "velocity": {
                    "x": 7.979276657104492,
                    "y": -0.4137994647026062,
                    "z": 0.16367687284946442
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.974071979522705,
                "transform": {
                    "location": {
                        "x": -1319.7774658203125,
                        "y": 3099.015625,
                        "z": 345.8929748535156
                    },
                    "rotation": {
                        "roll": -0.004638672806322575,
                        "pitch": 1.1734946966171265,
                        "yaw": -2.983215570449829
                    }
                },
                "velocity": {
                    "x": 7.9615302085876465,
                    "y": -0.4133215546607971,
                    "z": 0.17038612067699432
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1100.8189697265625,
                        "y": 3075.998291015625,
                        "z": 355.1195983886719
                    },
                    "rotation": {
                        "roll": 3.336934728537244e-09,
                        "pitch": -1.9241529703140259,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046891212463379,
                "transform": {
                    "location": {
                        "x": -1279.421875,
                        "y": 3101.09521484375,
                        "z": 347.1952209472656
                    },
                    "rotation": {
                        "roll": -0.0023803687654435635,
                        "pitch": 2.2502124309539795,
                        "yaw": -1.31939697265625
                    }
                },
                "velocity": {
                    "x": 8.038636207580566,
                    "y": -0.1845228523015976,
                    "z": 0.3142343759536743
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033665657043457,
                "transform": {
                    "location": {
                        "x": -1278.8828125,
                        "y": 3104.5859375,
                        "z": 347.21240234375
                    },
                    "rotation": {
                        "roll": 0.005137979052960873,
                        "pitch": 2.2301931381225586,
                        "yaw": -1.3207398653030396
                    }
                },
                "velocity": {
                    "x": 8.02541732788086,
                    "y": -0.18169887363910675,
                    "z": 0.3153492510318756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.996738910675049,
                "transform": {
                    "location": {
                        "x": -1278.1702880859375,
                        "y": 3097.5673828125,
                        "z": 347.2324523925781
                    },
                    "rotation": {
                        "roll": -0.001495362725108862,
                        "pitch": 2.2590713500976562,
                        "yaw": -1.314361572265625
                    }
                },
                "velocity": {
                    "x": 7.98812198638916,
                    "y": -0.18092884123325348,
                    "z": 0.32404959201812744
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1137.152099609375,
                        "y": 3076.809814453125,
                        "z": 353.8094482421875
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1166.0360107421875,
                        "y": 3077.454833984375,
                        "z": 352.74163818359375
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1200.5631103515625,
                        "y": 3078.22607421875,
                        "z": 351.1124572753906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.109067678451538,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1234.787841796875,
                        "y": 3078.990966796875,
                        "z": 349.28424072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.9053027629852295,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.378705978393555,
                "transform": {
                    "location": {
                        "x": -1277.2257080078125,
                        "y": 3079.93896484375,
                        "z": 347.2958984375
                    },
                    "rotation": {
                        "roll": 0.00034149520797654986,
                        "pitch": -2.3787224292755127,
                        "yaw": 178.71632385253906
                    }
                },
                "velocity": {
                    "x": -16.360931396484375,
                    "y": 0.3670230507850647,
                    "z": -0.668762743473053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.022828245535492897,
                "transform": {
                    "location": {
                        "x": -1390.09326171875,
                        "y": 3087.047119140625,
                        "z": 345.7054748535156
                    },
                    "rotation": {
                        "roll": 0.0007019613403826952,
                        "pitch": 0.8434736728668213,
                        "yaw": 173.67666625976562
                    }
                },
                "velocity": {
                    "x": -0.0003307615115772933,
                    "y": 9.156019950751215e-05,
                    "z": -0.022825665771961212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.021376511082053185,
                "transform": {
                    "location": {
                        "x": -1389.7266845703125,
                        "y": 3090.5283203125,
                        "z": 345.7056579589844
                    },
                    "rotation": {
                        "roll": -0.00012206954852445051,
                        "pitch": 0.8447918891906738,
                        "yaw": 173.67666625976562
                    }
                },
                "velocity": {
                    "x": -0.000311682146275416,
                    "y": 1.4573130101780407e-05,
                    "z": -0.021374233067035675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012355012819170952,
                "transform": {
                    "location": {
                        "x": -1389.367431640625,
                        "y": 3094.00927734375,
                        "z": 345.7074890136719
                    },
                    "rotation": {
                        "roll": -0.0009765636641532183,
                        "pitch": 0.8607813715934753,
                        "yaw": 173.67662048339844
                    }
                },
                "velocity": {
                    "x": -0.00042664408101700246,
                    "y": 9.17484940146096e-05,
                    "z": -0.012347303330898285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34067443013191223,
        "expert_target_speed": 20.0,
        "target_point": [
            19.043214277206364,
            0.4110041978612494
        ],
        "target_point_next": [
            50.50206383235102,
            -0.31416699334966136
        ]
    },
    "535": {
        "acceleration": [
            -0.1239013671875,
            0.19888043403625488,
            0.25500059127807617
        ],
        "angular_velocity": [
            0.21028943359851837,
            0.3377611041069031,
            -0.5531603097915649
        ],
        "forward_vector": [
            -0.9981451034545898,
            0.0588851273059845,
            -0.015455225482583046
        ],
        "right_vector": [
            -0.05888964235782623,
            -0.998264491558075,
            -0.00016317618428729475
        ],
        "location": [
            -1327.0380859375,
            3082.237548828125,
            345.7681579589844
        ],
        "rotation": [
            0.009350423701107502,
            -0.8855544924736023,
            176.623779296875
        ],
        "velocity": [
            -16.85053253173828,
            1.0065606832504272,
            -0.2675325572490692
        ],
        "speed": 16.88056903697964,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.238250732421875,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0931396484375,
                3087.047119140625,
                345.70257568359375
            ],
            "velocity": [
                -4.8148482164833695e-05,
                -6.722420948790386e-05,
                -0.004667302127927542
            ],
            "speed_kmh": 0.01680492436613351,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1064.445556640625,
                        "y": 3075.185791015625,
                        "z": 356.0743713378906
                    },
                    "rotation": {
                        "roll": 1.6678640690770408e-09,
                        "pitch": -1.1525875329971313,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.028484344482422,
                "transform": {
                    "location": {
                        "x": -1364.3828125,
                        "y": 3109.160888671875,
                        "z": 345.5144958496094
                    },
                    "rotation": {
                        "roll": -0.00033569312654435635,
                        "pitch": -0.09213241934776306,
                        "yaw": -4.733218193054199
                    }
                },
                "velocity": {
                    "x": 6.007905006408691,
                    "y": -0.49751612544059753,
                    "z": -0.013354205526411533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.626367568969727,
                "transform": {
                    "location": {
                        "x": -1365.2674560546875,
                        "y": 3105.7265625,
                        "z": 345.5466003417969
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": -0.12226037681102753,
                        "yaw": -4.799623966217041
                    }
                },
                "velocity": {
                    "x": 5.606758117675781,
                    "y": -0.46915319561958313,
                    "z": -0.013045549392700195
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.096560955047607,
                "transform": {
                    "location": {
                        "x": -1365.5128173828125,
                        "y": 3102.236083984375,
                        "z": 345.5012512207031
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": -0.11407098174095154,
                        "yaw": -4.732973575592041
                    }
                },
                "velocity": {
                    "x": 6.075249671936035,
                    "y": -0.5091222524642944,
                    "z": -0.013784246519207954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03257942199707,
                "transform": {
                    "location": {
                        "x": -1317.812255859375,
                        "y": 3105.92431640625,
                        "z": 345.9154357910156
                    },
                    "rotation": {
                        "roll": -0.005462646484375,
                        "pitch": 1.2964928150177002,
                        "yaw": -2.906799793243408
                    }
                },
                "velocity": {
                    "x": 8.021088600158691,
                    "y": -0.3921106159687042,
                    "z": 0.1752762347459793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.992319107055664,
                "transform": {
                    "location": {
                        "x": -1318.6805419921875,
                        "y": 3102.458984375,
                        "z": 345.90460205078125
                    },
                    "rotation": {
                        "roll": -0.002166747348383069,
                        "pitch": 1.2516525983810425,
                        "yaw": -2.908844232559204
                    }
                },
                "velocity": {
                    "x": 7.9803032875061035,
                    "y": -0.4016970694065094,
                    "z": 0.17482373118400574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.004291534423828,
                "transform": {
                    "location": {
                        "x": -1317.79150390625,
                        "y": 3098.91455078125,
                        "z": 345.9351806640625
                    },
                    "rotation": {
                        "roll": -0.01275634765625,
                        "pitch": 1.313868761062622,
                        "yaw": -2.886841058731079
                    }
                },
                "velocity": {
                    "x": 7.992654800415039,
                    "y": -0.39457812905311584,
                    "z": 0.1745505928993225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1104.9095458984375,
                        "y": 3076.089599609375,
                        "z": 354.9803466796875
                    },
                    "rotation": {
                        "roll": -1.6685771653257575e-09,
                        "pitch": -2.0333540439605713,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046501159667969,
                "transform": {
                    "location": {
                        "x": -1277.4111328125,
                        "y": 3101.049560546875,
                        "z": 347.2751770019531
                    },
                    "rotation": {
                        "roll": -0.0005493175704032183,
                        "pitch": 2.3182616233825684,
                        "yaw": -1.2837218046188354
                    }
                },
                "velocity": {
                    "x": 8.037806510925293,
                    "y": -0.1801154613494873,
                    "z": 0.32774612307548523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.972244739532471,
                "transform": {
                    "location": {
                        "x": -1276.884033203125,
                        "y": 3104.54052734375,
                        "z": 347.29290771484375
                    },
                    "rotation": {
                        "roll": 0.0027397284284234047,
                        "pitch": 2.322291612625122,
                        "yaw": -1.3038023710250854
                    }
                },
                "velocity": {
                    "x": 7.9634690284729,
                    "y": -0.1794751137495041,
                    "z": 0.3280719816684723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0518798828125,
                "transform": {
                    "location": {
                        "x": -1276.165283203125,
                        "y": 3097.521728515625,
                        "z": 347.3136901855469
                    },
                    "rotation": {
                        "roll": -0.00039672793354839087,
                        "pitch": 2.390333890914917,
                        "yaw": -1.30303955078125
                    }
                },
                "velocity": {
                    "x": 8.043024063110352,
                    "y": -0.1830233931541443,
                    "z": 0.33019599318504333
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1141.2734375,
                        "y": 3076.90185546875,
                        "z": 353.6592102050781
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1170.15673828125,
                        "y": 3077.546875,
                        "z": 352.57421875
                    },
                    "rotation": {
                        "roll": 3.3379254915644196e-09,
                        "pitch": -2.3771309852600098,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1204.68115234375,
                        "y": 3078.318603515625,
                        "z": 350.8859558105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.154447555541992,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1238.9068603515625,
                        "y": 3079.0830078125,
                        "z": 349.076904296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.8573548793792725,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.375953674316406,
                "transform": {
                    "location": {
                        "x": -1281.3170166015625,
                        "y": 3080.030517578125,
                        "z": 347.1327209472656
                    },
                    "rotation": {
                        "roll": 0.023984353989362717,
                        "pitch": -2.2283287048339844,
                        "yaw": 178.71717834472656
                    }
                },
                "velocity": {
                    "x": -16.359508514404297,
                    "y": 0.36816200613975525,
                    "z": -0.6346739530563354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.004668034613132477,
                "transform": {
                    "location": {
                        "x": -1390.0931396484375,
                        "y": 3087.047119140625,
                        "z": 345.70257568359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8216580748558044,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": -4.8148482164833695e-05,
                    "y": -6.722420948790386e-05,
                    "z": -0.004667302127927542
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.19580078125,
                        "y": 3088.205322265625,
                        "z": 345.9356689453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.003914308734238148,
                "transform": {
                    "location": {
                        "x": -1389.7265625,
                        "y": 3090.5283203125,
                        "z": 345.70281982421875
                    },
                    "rotation": {
                        "roll": -0.0004577599174808711,
                        "pitch": 0.8231402039527893,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": -2.4862438294803724e-05,
                    "y": 6.0687612858600914e-05,
                    "z": -0.003913759253919125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.78466796875,
                        "y": 3091.680908203125,
                        "z": 345.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007221312262117863,
                "transform": {
                    "location": {
                        "x": -1389.3673095703125,
                        "y": 3094.00927734375,
                        "z": 345.70501708984375
                    },
                    "rotation": {
                        "roll": -0.0007629433530382812,
                        "pitch": 0.846704363822937,
                        "yaw": 173.6766815185547
                    }
                },
                "velocity": {
                    "x": -0.0001577259536134079,
                    "y": 7.126877608243376e-05,
                    "z": -0.007219237741082907
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.373779296875,
                        "y": 3095.15673828125,
                        "z": 345.93505859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.38468798995018005,
        "expert_target_speed": 20.0,
        "target_point": [
            14.82574437842184,
            0.4006685954398556
        ],
        "target_point_next": [
            46.28415185239466,
            -0.3434334078359069
        ]
    },
    "540": {
        "acceleration": [
            -0.08205413818359375,
            0.37418365478515625,
            0.23707330226898193
        ],
        "angular_velocity": [
            0.27334797382354736,
            0.3264264166355133,
            -1.4800089597702026
        ],
        "forward_vector": [
            -0.9978589415550232,
            0.06423845142126083,
            -0.012287545017898083
        ],
        "right_vector": [
            -0.06422814726829529,
            -0.9979344606399536,
            -0.0012316146166995168
        ],
        "location": [
            -1331.2557373046875,
            3082.497802734375,
            345.7084045410156
        ],
        "rotation": [
            0.070571668446064,
            -0.7040421962738037,
            176.31658935546875
        ],
        "velocity": [
            -16.873926162719727,
            1.0834417343139648,
            -0.21424947679042816
        ],
        "speed": 16.908673222242204,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 59.01301574707031,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0931396484375,
                3087.047119140625,
                345.70245361328125
            ],
            "velocity": [
                -2.6305019673600327e-06,
                -8.686548244440928e-05,
                -0.0014842009404674172
            ],
            "speed_kmh": 0.005352275060562363,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4608,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1068.5675048828125,
                        "y": 3075.27783203125,
                        "z": 355.9911193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.2692198753356934,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.798405647277832,
                "transform": {
                    "location": {
                        "x": -1362.798828125,
                        "y": 3109.030029296875,
                        "z": 345.5124816894531
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.14751841127872467,
                        "yaw": -4.746035099029541
                    }
                },
                "velocity": {
                    "x": 6.774950981140137,
                    "y": -0.5642340779304504,
                    "z": -0.0010202693520113826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.49387264251709,
                "transform": {
                    "location": {
                        "x": -1363.6915283203125,
                        "y": 3105.594970703125,
                        "z": 345.541748046875
                    },
                    "rotation": {
                        "roll": 0.00013164959091227502,
                        "pitch": 0.04419815167784691,
                        "yaw": -4.853762149810791
                    }
                },
                "velocity": {
                    "x": 7.467680931091309,
                    "y": -0.6259530782699585,
                    "z": -0.00738495821133256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.380228996276855,
                "transform": {
                    "location": {
                        "x": -1363.6514892578125,
                        "y": 3102.080322265625,
                        "z": 345.49658203125
                    },
                    "rotation": {
                        "roll": 0.0005823599640280008,
                        "pitch": -0.002868679352104664,
                        "yaw": -4.777407169342041
                    }
                },
                "velocity": {
                    "x": 8.350882530212402,
                    "y": -0.7006882429122925,
                    "z": -0.005410490091890097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038257598876953,
                "transform": {
                    "location": {
                        "x": -1315.80810546875,
                        "y": 3105.826416015625,
                        "z": 345.9612121582031
                    },
                    "rotation": {
                        "roll": -0.0012207076651975513,
                        "pitch": 1.329161524772644,
                        "yaw": -2.781738519668579
                    }
                },
                "velocity": {
                    "x": 8.026538848876953,
                    "y": -0.386442631483078,
                    "z": 0.19727396965026855
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.004253387451172,
                "transform": {
                    "location": {
                        "x": -1316.68310546875,
                        "y": 3102.359619140625,
                        "z": 345.94842529296875
                    },
                    "rotation": {
                        "roll": -0.0015869149938225746,
                        "pitch": 1.3185747861862183,
                        "yaw": -2.792083978652954
                    }
                },
                "velocity": {
                    "x": 7.992764949798584,
                    "y": -0.38654470443725586,
                    "z": 0.1853882521390915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.07634449005127,
                "transform": {
                    "location": {
                        "x": -1315.776123046875,
                        "y": 3098.81640625,
                        "z": 345.9823303222656
                    },
                    "rotation": {
                        "roll": -0.008483885787427425,
                        "pitch": 1.3827580213546753,
                        "yaw": -2.786194324493408
                    }
                },
                "velocity": {
                    "x": 8.064518928527832,
                    "y": -0.38975459337234497,
                    "z": 0.19738388061523438
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4601,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1109.0302734375,
                        "y": 3076.181396484375,
                        "z": 354.8342590332031
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.039238929748535,
                "transform": {
                    "location": {
                        "x": -1275.4014892578125,
                        "y": 3101.00439453125,
                        "z": 347.3567199707031
                    },
                    "rotation": {
                        "roll": -0.002044677035883069,
                        "pitch": 2.4278862476348877,
                        "yaw": -1.3067013025283813
                    }
                },
                "velocity": {
                    "x": 8.030278205871582,
                    "y": -0.18254689872264862,
                    "z": 0.3326714336872101
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031963348388672,
                "transform": {
                    "location": {
                        "x": -1274.885009765625,
                        "y": 3104.494873046875,
                        "z": 347.3750305175781
                    },
                    "rotation": {
                        "roll": -0.00033569103106856346,
                        "pitch": 2.3875675201416016,
                        "yaw": -1.3064271211624146
                    }
                },
                "velocity": {
                    "x": 8.02286434173584,
                    "y": -0.18300575017929077,
                    "z": 0.33554184436798096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99749231338501,
                "transform": {
                    "location": {
                        "x": -1274.1614990234375,
                        "y": 3097.4765625,
                        "z": 347.39715576171875
                    },
                    "rotation": {
                        "roll": -0.0008850099984556437,
                        "pitch": 2.399165391921997,
                        "yaw": -1.2951964139938354
                    }
                },
                "velocity": {
                    "x": 7.988528251647949,
                    "y": -0.17836277186870575,
                    "z": 0.33389052748680115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4597,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1145.3629150390625,
                        "y": 3076.9931640625,
                        "z": 353.51007080078125
                    },
                    "rotation": {
                        "roll": 1.6686352299899454e-09,
                        "pitch": -2.0886855125427246,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4593,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1174.276611328125,
                        "y": 3077.638916015625,
                        "z": 352.3992004394531
                    },
                    "rotation": {
                        "roll": -1.6691140691804662e-09,
                        "pitch": -2.499084234237671,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4588,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1208.798583984375,
                        "y": 3078.41015625,
                        "z": 350.65924072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.1450493335723877,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4583,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1243.025634765625,
                        "y": 3079.175048828125,
                        "z": 348.8722839355469
                    },
                    "rotation": {
                        "roll": -3.3390665787891294e-09,
                        "pitch": -2.809420585632324,
                        "yaw": 178.72027587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4572,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 16.373855590820312,
                "transform": {
                    "location": {
                        "x": -1285.4072265625,
                        "y": 3080.124267578125,
                        "z": 346.97589111328125
                    },
                    "rotation": {
                        "roll": 0.022783124819397926,
                        "pitch": -2.1651015281677246,
                        "yaw": 178.64993286132812
                    }
                },
                "velocity": {
                    "x": -16.35788917541504,
                    "y": 0.3823423683643341,
                    "z": -0.6135156154632568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014867429854348302,
                "transform": {
                    "location": {
                        "x": -1390.0931396484375,
                        "y": 3087.047119140625,
                        "z": 345.70245361328125
                    },
                    "rotation": {
                        "roll": 0.00024361390387639403,
                        "pitch": 0.8202236890792847,
                        "yaw": 173.67672729492188
                    }
                },
                "velocity": {
                    "x": -2.6305019673600327e-06,
                    "y": -8.686548244440928e-05,
                    "z": -0.0014842009404674172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.5821533203125,
                        "y": 3088.2509765625,
                        "z": 345.8877258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001755623146891594,
                "transform": {
                    "location": {
                        "x": -1389.7265625,
                        "y": 3090.5283203125,
                        "z": 345.7027587890625
                    },
                    "rotation": {
                        "roll": -0.0008239696617238224,
                        "pitch": 0.8220200538635254,
                        "yaw": 173.6767120361328
                    }
                },
                "velocity": {
                    "x": 9.503960427537095e-06,
                    "y": 7.19144954928197e-05,
                    "z": -0.0017541238339617848
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1400.1790771484375,
                        "y": 3091.7275390625,
                        "z": 345.88629150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002150462009012699,
                "transform": {
                    "location": {
                        "x": -1389.3671875,
                        "y": 3094.00927734375,
                        "z": 345.70428466796875
                    },
                    "rotation": {
                        "roll": -0.001556393806822598,
                        "pitch": 0.8418890833854675,
                        "yaw": 173.67672729492188
                    }
                },
                "velocity": {
                    "x": -6.470351945608854e-05,
                    "y": 0.00013989683066029102,
                    "z": -0.0021449311170727015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1399.70947265625,
                        "y": 3095.196533203125,
                        "z": 345.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.912875235080719,
                        "yaw": 173.19305419921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4520634412765503,
        "expert_target_speed": 20.0,
        "target_point": [
            10.597724924239799,
            0.46890659739519813
        ],
        "target_point_next": [
            42.0596694947953,
            -0.10653447611331934
        ]
    },
    "545": {
        "acceleration": [
            -0.05275726318359375,
            0.3632521629333496,
            0.2487635612487793
        ],
        "angular_velocity": [
            0.09780431538820267,
            0.3084295690059662,
            -1.3116284608840942
        ],
        "forward_vector": [
            -0.9974526762962341,
            0.0707428827881813,
            -0.009147277101874352
        ],
        "right_vector": [
            -0.07072652876377106,
            -0.99749356508255,
            -0.002099439734593034
        ],
        "location": [
            -1335.4779052734375,
            3082.78125,
            345.6620178222656
        ],
        "rotation": [
            0.12029415369033813,
            -0.5241076946258545,
            175.94317626953125
        ],
        "velocity": [
            -16.887956619262695,
            1.1846476793289185,
            -0.16008326411247253
        ],
        "speed": 16.92945565865123,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.78159713745117,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.0931396484375,
                3087.047119140625,
                345.7024230957031
            ],
            "velocity": [
                2.6501267711864784e-05,
                -2.8308266337262467e-05,
                9.78370153461583e-05
            ],
            "speed_kmh": 0.0003788691157898918,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600640535354614,
                "transform": {
                    "location": {
                        "x": -1302.04248046875,
                        "y": 3080.607421875,
                        "z": 346.5963134765625
                    },
                    "rotation": {
                        "roll": 6.673862351647131e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.93045043945312
                    }
                },
                "velocity": {
                    "x": -0.0018692215671762824,
                    "y": 6.754670903319493e-05,
                    "z": -1.960063099861145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600439071655273,
                "transform": {
                    "location": {
                        "x": -1302.068603515625,
                        "y": 3084.11083984375,
                        "z": 346.59124755859375
                    },
                    "rotation": {
                        "roll": 3.3369311758235654e-09,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.92311096191406
                    }
                },
                "velocity": {
                    "x": -0.0012891155201941729,
                    "y": 4.674880619859323e-05,
                    "z": -1.9600435495376587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.960060715675354,
                "transform": {
                    "location": {
                        "x": -1302.4964599609375,
                        "y": 3087.62841796875,
                        "z": 346.57269287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9224181175231934,
                        "yaw": 177.89637756347656
                    }
                },
                "velocity": {
                    "x": -0.0017744408687576652,
                    "y": 6.517735891975462e-05,
                    "z": -1.9600598812103271
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.793215751647949,
                "transform": {
                    "location": {
                        "x": -1361.016845703125,
                        "y": 3108.881591796875,
                        "z": 345.5118713378906
                    },
                    "rotation": {
                        "roll": 9.133695857599378e-05,
                        "pitch": -0.06713392585515976,
                        "yaw": -4.727022171020508
                    }
                },
                "velocity": {
                    "x": 7.766523838043213,
                    "y": -0.6444520354270935,
                    "z": 0.00024428367032669485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.413866996765137,
                "transform": {
                    "location": {
                        "x": -1361.6492919921875,
                        "y": 3105.423583984375,
                        "z": 345.5404968261719
                    },
                    "rotation": {
                        "roll": 1.7213089904544177e-06,
                        "pitch": 0.1329769492149353,
                        "yaw": -4.815615653991699
                    }
                },
                "velocity": {
                    "x": 8.38454532623291,
                    "y": -0.7018213272094727,
                    "z": -0.0023378562182188034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.09129810333252,
                "transform": {
                    "location": {
                        "x": -1361.57373046875,
                        "y": 3101.90625,
                        "z": 345.49609375
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.04698486998677254,
                        "yaw": -4.786256790161133
                    }
                },
                "velocity": {
                    "x": 8.063207626342773,
                    "y": -0.6736339330673218,
                    "z": -0.0008263206109404564
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017805099487305,
                "transform": {
                    "location": {
                        "x": -1313.803466796875,
                        "y": 3105.730224609375,
                        "z": 346.0106506347656
                    },
                    "rotation": {
                        "roll": -0.0034484881907701492,
                        "pitch": 1.4757510423660278,
                        "yaw": -2.740143299102783
                    }
                },
                "velocity": {
                    "x": 8.006208419799805,
                    "y": -0.3813045024871826,
                    "z": 0.20107987523078918
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.956413269042969,
                "transform": {
                    "location": {
                        "x": -1314.69140625,
                        "y": 3102.263671875,
                        "z": 345.9968566894531
                    },
                    "rotation": {
                        "roll": -0.0016174353659152985,
                        "pitch": 1.4267922639846802,
                        "yaw": -2.704010009765625
                    }
                },
                "velocity": {
                    "x": 7.9449663162231445,
                    "y": -0.3771437704563141,
                    "z": 0.19947174191474915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.98848295211792,
                "transform": {
                    "location": {
                        "x": -1313.7723388671875,
                        "y": 3098.720947265625,
                        "z": 346.03125
                    },
                    "rotation": {
                        "roll": -0.01373290829360485,
                        "pitch": 1.4850127696990967,
                        "yaw": -2.727722644805908
                    }
                },
                "velocity": {
                    "x": 7.977511882781982,
                    "y": -0.3693222403526306,
                    "z": 0.19688507914543152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.041728973388672,
                "transform": {
                    "location": {
                        "x": -1273.3939208984375,
                        "y": 3100.958984375,
                        "z": 347.4407043457031
                    },
                    "rotation": {
                        "roll": -0.00039672633283771574,
                        "pitch": 2.424983501434326,
                        "yaw": -1.2733154296875
                    }
                },
                "velocity": {
                    "x": 8.032659530639648,
                    "y": -0.17934978008270264,
                    "z": 0.33708319067955017
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.971786022186279,
                "transform": {
                    "location": {
                        "x": -1272.886962890625,
                        "y": 3104.44970703125,
                        "z": 347.45867919921875
                    },
                    "rotation": {
                        "roll": -0.0002441460092086345,
                        "pitch": 2.3777594566345215,
                        "yaw": -1.301422119140625
                    }
                },
                "velocity": {
                    "x": 7.9628472328186035,
                    "y": -0.1790718287229538,
                    "z": 0.33222341537475586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050749778747559,
                "transform": {
                    "location": {
                        "x": -1272.1575927734375,
                        "y": 3097.43115234375,
                        "z": 347.4808654785156
                    },
                    "rotation": {
                        "roll": 0.0012081549502909184,
                        "pitch": 2.393673896789551,
                        "yaw": -1.2892454862594604
                    }
                },
                "velocity": {
                    "x": 8.041674613952637,
                    "y": -0.1826823502779007,
                    "z": 0.33567023277282715
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010524142271606252,
                "transform": {
                    "location": {
                        "x": -1390.0931396484375,
                        "y": 3087.047119140625,
                        "z": 345.7024230957031
                    },
                    "rotation": {
                        "roll": 0.00016686643357388675,
                        "pitch": 0.8193767666816711,
                        "yaw": 173.6768035888672
                    }
                },
                "velocity": {
                    "x": 2.6501267711864784e-05,
                    "y": -2.8308266337262467e-05,
                    "z": 9.78370153461583e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3888251781463623,
                "transform": {
                    "location": {
                        "x": -1401.1851806640625,
                        "y": 3088.3193359375,
                        "z": 345.9009704589844
                    },
                    "rotation": {
                        "roll": 0.00197350955568254,
                        "pitch": 0.9033402800559998,
                        "yaw": 173.31271362304688
                    }
                },
                "velocity": {
                    "x": -2.370567798614502,
                    "y": 0.2695470452308655,
                    "z": 0.11932195723056793
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002148280618712306,
                "transform": {
                    "location": {
                        "x": -1389.7265625,
                        "y": 3090.5283203125,
                        "z": 345.70269775390625
                    },
                    "rotation": {
                        "roll": -0.0003967286320403218,
                        "pitch": 0.8207974433898926,
                        "yaw": 173.67681884765625
                    }
                },
                "velocity": {
                    "x": 1.6814023183542304e-05,
                    "y": -0.0001021927673718892,
                    "z": -0.0001882153592305258
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4300358295440674,
                "transform": {
                    "location": {
                        "x": -1400.793212890625,
                        "y": 3091.797119140625,
                        "z": 345.8776550292969
                    },
                    "rotation": {
                        "roll": 0.001052186475135386,
                        "pitch": 0.9025616645812988,
                        "yaw": 173.30813598632812
                    }
                },
                "velocity": {
                    "x": -2.413609266281128,
                    "y": 0.2770250737667084,
                    "z": 0.053112342953681946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00012453921954147518,
                "transform": {
                    "location": {
                        "x": -1389.3671875,
                        "y": 3094.00927734375,
                        "z": 345.7040100097656
                    },
                    "rotation": {
                        "roll": -0.0018615699373185635,
                        "pitch": 0.8400722146034241,
                        "yaw": 173.67681884765625
                    }
                },
                "velocity": {
                    "x": 2.202853465860244e-05,
                    "y": -2.5137960619758815e-05,
                    "z": -0.0001199701800942421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1288671493530273,
                "transform": {
                    "location": {
                        "x": -1400.24951171875,
                        "y": 3095.257080078125,
                        "z": 345.8697509765625
                    },
                    "rotation": {
                        "roll": 0.003112664446234703,
                        "pitch": 0.9103275537490845,
                        "yaw": 173.32574462890625
                    }
                },
                "velocity": {
                    "x": -2.1152048110961914,
                    "y": 0.24028661847114563,
                    "z": 0.01568801887333393
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5524196624755859,
        "expert_target_speed": 20.0,
        "target_point": [
            37.82782902911933,
            0.15162390586722774
        ],
        "target_point_next": [
            42.62860443726959,
            -3.4795112191939404
        ]
    },
    "550": {
        "acceleration": [
            -0.06038665771484375,
            0.02097606658935547,
            0.10873258113861084
        ],
        "angular_velocity": [
            -0.27366599440574646,
            0.1111752912402153,
            0.3136380612850189
        ],
        "forward_vector": [
            -0.9973641037940979,
            0.07215823233127594,
            -0.007619187701493502
        ],
        "right_vector": [
            -0.072150319814682,
            -0.9973929524421692,
            -0.001309189130552113
        ],
        "location": [
            -1339.70263671875,
            3083.08154296875,
            345.6261291503906
        ],
        "rotation": [
            0.07501320540904999,
            -0.4365515112876892,
            175.86192321777344
        ],
        "velocity": [
            -16.902311325073242,
            1.211559534072876,
            -0.13175475597381592
        ],
        "speed": 16.945678051771846,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 50.56488800048828,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.111572265625,
                3087.049072265625,
                345.70257568359375
            ],
            "velocity": [
                -0.42170751094818115,
                0.04140099883079529,
                0.005663070362061262
            ],
            "speed_kmh": 1.5255818754391703,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1260662078857422,
                "transform": {
                    "location": {
                        "x": -1302.03857421875,
                        "y": 3080.607421875,
                        "z": 346.3318176269531
                    },
                    "rotation": {
                        "roll": -0.0018005345482379198,
                        "pitch": -1.9030749797821045,
                        "yaw": 177.93020629882812
                    }
                },
                "velocity": {
                    "x": -0.0042409817688167095,
                    "y": 0.00013931572902947664,
                    "z": 0.12599477171897888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10837047547101974,
                "transform": {
                    "location": {
                        "x": -1302.0655517578125,
                        "y": 3084.11083984375,
                        "z": 346.35345458984375
                    },
                    "rotation": {
                        "roll": 0.0016348016215488315,
                        "pitch": -1.92138671875,
                        "yaw": 177.92327880859375
                    }
                },
                "velocity": {
                    "x": -0.003634201129898429,
                    "y": 1.9756360416067764e-05,
                    "z": 0.10830952227115631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12714366614818573,
                "transform": {
                    "location": {
                        "x": -1302.49267578125,
                        "y": 3087.628173828125,
                        "z": 346.3087463378906
                    },
                    "rotation": {
                        "roll": 0.00024256730102933943,
                        "pitch": -1.8924199342727661,
                        "yaw": 177.8963165283203
                    }
                },
                "velocity": {
                    "x": -0.004232528619468212,
                    "y": 0.0002838795480784029,
                    "z": 0.12707288563251495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.575201988220215,
                "transform": {
                    "location": {
                        "x": -1358.892822265625,
                        "y": 3108.705322265625,
                        "z": 345.51263427734375
                    },
                    "rotation": {
                        "roll": 0.00020501377002801746,
                        "pitch": -0.028775585815310478,
                        "yaw": -4.751283168792725
                    }
                },
                "velocity": {
                    "x": 8.545732498168945,
                    "y": -0.710287868976593,
                    "z": 0.006422033067792654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.855591297149658,
                "transform": {
                    "location": {
                        "x": -1359.625,
                        "y": 3105.25439453125,
                        "z": 345.5422668457031
                    },
                    "rotation": {
                        "roll": 1.0422043783542279e-10,
                        "pitch": 0.03329716995358467,
                        "yaw": -4.760927677154541
                    }
                },
                "velocity": {
                    "x": 7.828454494476318,
                    "y": -0.6523665189743042,
                    "z": 0.005847205873578787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.902585506439209,
                "transform": {
                    "location": {
                        "x": -1359.602294921875,
                        "y": 3101.741455078125,
                        "z": 345.4974670410156
                    },
                    "rotation": {
                        "roll": 0.00013847436639480293,
                        "pitch": 0.037183549255132675,
                        "yaw": -4.780061721801758
                    }
                },
                "velocity": {
                    "x": 7.875094413757324,
                    "y": -0.6585690975189209,
                    "z": 0.0056948852725327015
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056445121765137,
                "transform": {
                    "location": {
                        "x": -1311.795654296875,
                        "y": 3105.638916015625,
                        "z": 346.06268310546875
                    },
                    "rotation": {
                        "roll": -0.0021362327970564365,
                        "pitch": 1.5063912868499756,
                        "yaw": -2.588897466659546
                    }
                },
                "velocity": {
                    "x": 8.045659065246582,
                    "y": -0.3549286127090454,
                    "z": 0.21841971576213837
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9932780265808105,
                "transform": {
                    "location": {
                        "x": -1312.699951171875,
                        "y": 3102.170654296875,
                        "z": 346.0467834472656
                    },
                    "rotation": {
                        "roll": -0.002502444898709655,
                        "pitch": 1.5006675720214844,
                        "yaw": -2.625763177871704
                    }
                },
                "velocity": {
                    "x": 7.982463359832764,
                    "y": -0.36013850569725037,
                    "z": 0.20754095911979675
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042672157287598,
                "transform": {
                    "location": {
                        "x": -1311.7713623046875,
                        "y": 3098.630126953125,
                        "z": 346.0841979980469
                    },
                    "rotation": {
                        "roll": -0.01104736514389515,
                        "pitch": 1.5531644821166992,
                        "yaw": -2.585479974746704
                    }
                },
                "velocity": {
                    "x": 8.0316743850708,
                    "y": -0.35773661732673645,
                    "z": 0.2209218144416809
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.043530464172363,
                "transform": {
                    "location": {
                        "x": -1271.38525390625,
                        "y": 3100.914306640625,
                        "z": 347.52496337890625
                    },
                    "rotation": {
                        "roll": -0.00015258684288710356,
                        "pitch": 2.4094104766845703,
                        "yaw": -1.29571533203125
                    }
                },
                "velocity": {
                    "x": 8.03433609008789,
                    "y": -0.1800326704978943,
                    "z": 0.3397199809551239
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1270.873046875,
                        "y": 3104.383056640625,
                        "z": 347.5421142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.478156328201294,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.994715213775635,
                "transform": {
                    "location": {
                        "x": -1270.1539306640625,
                        "y": 3097.38623046875,
                        "z": 347.5655822753906
                    },
                    "rotation": {
                        "roll": -0.0009765608701854944,
                        "pitch": 2.4454944133758545,
                        "yaw": -1.2886046171188354
                    }
                },
                "velocity": {
                    "x": 7.985008239746094,
                    "y": -0.17962320148944855,
                    "z": 0.35050466656684875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4237727224826813,
                "transform": {
                    "location": {
                        "x": -1390.111572265625,
                        "y": 3087.049072265625,
                        "z": 345.70257568359375
                    },
                    "rotation": {
                        "roll": -0.00021361903054639697,
                        "pitch": 0.8264733552932739,
                        "yaw": 173.6806640625
                    }
                },
                "velocity": {
                    "x": -0.42170751094818115,
                    "y": 0.04140099883079529,
                    "z": 0.005663070362061262
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.391270637512207,
                "transform": {
                    "location": {
                        "x": -1401.7781982421875,
                        "y": 3088.38720703125,
                        "z": 345.9216003417969
                    },
                    "rotation": {
                        "roll": 0.00280417175963521,
                        "pitch": 0.9043033123016357,
                        "yaw": 173.36737060546875
                    }
                },
                "velocity": {
                    "x": -2.3752968311309814,
                    "y": 0.27009832859039307,
                    "z": 0.056453362107276917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3873670697212219,
                "transform": {
                    "location": {
                        "x": -1389.7449951171875,
                        "y": 3090.5302734375,
                        "z": 345.7028503417969
                    },
                    "rotation": {
                        "roll": -0.0004882860812358558,
                        "pitch": 0.8278735280036926,
                        "yaw": 173.68215942382812
                    }
                },
                "velocity": {
                    "x": -0.385476291179657,
                    "y": 0.037845678627491,
                    "z": 0.005383939482271671
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.434530735015869,
                "transform": {
                    "location": {
                        "x": -1401.3974609375,
                        "y": 3091.866455078125,
                        "z": 345.89031982421875
                    },
                    "rotation": {
                        "roll": 0.003931779880076647,
                        "pitch": 0.9069807529449463,
                        "yaw": 173.36265563964844
                    }
                },
                "velocity": {
                    "x": -2.4183261394500732,
                    "y": 0.2766888439655304,
                    "z": 0.045625582337379456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017751266714185476,
                "transform": {
                    "location": {
                        "x": -1389.3671875,
                        "y": 3094.00927734375,
                        "z": 345.7039489746094
                    },
                    "rotation": {
                        "roll": -0.0011901881080120802,
                        "pitch": 0.8396077752113342,
                        "yaw": 173.67681884765625
                    }
                },
                "velocity": {
                    "x": -2.705633596633561e-05,
                    "y": -1.742560380080249e-05,
                    "z": -0.0017748349346220493
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.135255813598633,
                "transform": {
                    "location": {
                        "x": -1400.779052734375,
                        "y": 3095.317626953125,
                        "z": 345.8792419433594
                    },
                    "rotation": {
                        "roll": 0.003982509020715952,
                        "pitch": 0.9099792242050171,
                        "yaw": 173.37303161621094
                    }
                },
                "velocity": {
                    "x": -2.121161699295044,
                    "y": 0.24141019582748413,
                    "z": 0.04136151075363159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6654947400093079,
        "expert_target_speed": 20.0,
        "target_point": [
            33.59218896888188,
            0.1999217126216135
        ],
        "target_point_next": [
            38.398108910514,
            -3.424401718113565
        ]
    },
    "555": {
        "acceleration": [
            -0.0591278076171875,
            -0.01682758331298828,
            -0.01979351043701172
        ],
        "angular_velocity": [
            -0.11063794046640396,
            -0.04091469943523407,
            0.29869699478149414
        ],
        "forward_vector": [
            -0.9974939823150635,
            0.07032204419374466,
            -0.007781664840877056
        ],
        "right_vector": [
            -0.07032201439142227,
            -0.9975243210792542,
            -0.0002772780426312238
        ],
        "location": [
            -1343.93017578125,
            3083.3828125,
            345.5933837890625
        ],
        "rotation": [
            0.015887342393398285,
            -0.4458610713481903,
            175.96739196777344
        ],
        "velocity": [
            -16.91816520690918,
            1.1983519792556763,
            -0.132376566529274
        ],
        "speed": 16.960553099308356,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 46.544891357421875,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.32861328125,
                3087.070556640625,
                345.70556640625
            ],
            "velocity": [
                -1.273094654083252,
                0.12135421484708786,
                0.01835443452000618
            ],
            "speed_kmh": 4.60438976712663,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13628414273262024,
                "transform": {
                    "location": {
                        "x": -1302.040283203125,
                        "y": 3080.607421875,
                        "z": 346.3840637207031
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -1.9040517807006836,
                        "yaw": 177.93017578125
                    }
                },
                "velocity": {
                    "x": -0.004584630951285362,
                    "y": 0.00010365788330091164,
                    "z": 0.1362069696187973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7907806634902954,
                "transform": {
                    "location": {
                        "x": -1302.1026611328125,
                        "y": 3084.11181640625,
                        "z": 346.38385009765625
                    },
                    "rotation": {
                        "roll": -0.00045775939361192286,
                        "pitch": -1.8300193548202515,
                        "yaw": 177.92347717285156
                    }
                },
                "velocity": {
                    "x": -0.7888287901878357,
                    "y": 0.024017369374632835,
                    "z": 0.050063055008649826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13576635718345642,
                "transform": {
                    "location": {
                        "x": -1302.494384765625,
                        "y": 3087.628173828125,
                        "z": 346.3609313964844
                    },
                    "rotation": {
                        "roll": 5.2165411034366116e-05,
                        "pitch": -1.8949265480041504,
                        "yaw": 177.89622497558594
                    }
                },
                "velocity": {
                    "x": -0.004518630914390087,
                    "y": 0.0002248124364996329,
                    "z": 0.13569095730781555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.878657341003418,
                "transform": {
                    "location": {
                        "x": -1356.85107421875,
                        "y": 3108.536865234375,
                        "z": 345.51495361328125
                    },
                    "rotation": {
                        "roll": 0.003924146294593811,
                        "pitch": 0.15055102109909058,
                        "yaw": -4.7041335105896
                    }
                },
                "velocity": {
                    "x": 7.8528313636779785,
                    "y": -0.6369189023971558,
                    "z": 0.02481970749795437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014501571655273,
                "transform": {
                    "location": {
                        "x": -1357.6669921875,
                        "y": 3105.091796875,
                        "z": 345.544677734375
                    },
                    "rotation": {
                        "roll": -0.0036010739859193563,
                        "pitch": 0.09054781496524811,
                        "yaw": -4.749086856842041
                    }
                },
                "velocity": {
                    "x": 7.987912654876709,
                    "y": -0.6519110798835754,
                    "z": 0.022474460303783417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.135575294494629,
                "transform": {
                    "location": {
                        "x": -1357.5955810546875,
                        "y": 3101.5751953125,
                        "z": 345.50006103515625
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": 0.10826532542705536,
                        "yaw": -4.719912052154541
                    }
                },
                "velocity": {
                    "x": 8.108725547790527,
                    "y": -0.6599822044372559,
                    "z": 0.02419384941458702
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00317668914795,
                "transform": {
                    "location": {
                        "x": -1309.7913818359375,
                        "y": 3105.550537109375,
                        "z": 346.1180725097656
                    },
                    "rotation": {
                        "roll": 0.01798473671078682,
                        "pitch": 1.6291502714157104,
                        "yaw": -2.518218994140625
                    }
                },
                "velocity": {
                    "x": 7.992379188537598,
                    "y": -0.34879305958747864,
                    "z": 0.22593961656093597
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.96161413192749,
                "transform": {
                    "location": {
                        "x": -1310.7078857421875,
                        "y": 3102.081298828125,
                        "z": 346.1013488769531
                    },
                    "rotation": {
                        "roll": -0.0032653857488185167,
                        "pitch": 1.5975196361541748,
                        "yaw": -2.513031244277954
                    }
                },
                "velocity": {
                    "x": 7.950873374938965,
                    "y": -0.3476520776748657,
                    "z": 0.22372110188007355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.029027938842773,
                "transform": {
                    "location": {
                        "x": -1309.7620849609375,
                        "y": 3098.54150390625,
                        "z": 346.1395263671875
                    },
                    "rotation": {
                        "roll": -0.008422850631177425,
                        "pitch": 1.6726995706558228,
                        "yaw": -2.524902582168579
                    }
                },
                "velocity": {
                    "x": 8.018301010131836,
                    "y": -0.3516182601451874,
                    "z": 0.22022107243537903
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4600,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1269.3079833984375,
                        "y": 3100.78466796875,
                        "z": 347.6097106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.478156328201294,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4599,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.795166015625,
                        "y": 3104.271728515625,
                        "z": 347.6286926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4598,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1268.0794677734375,
                        "y": 3097.26953125,
                        "z": 347.66339111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.5830066204071045,
                        "yaw": -1.2797240018844604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2789971828460693,
                "transform": {
                    "location": {
                        "x": -1390.32861328125,
                        "y": 3087.070556640625,
                        "z": 345.70556640625
                    },
                    "rotation": {
                        "roll": 6.605780799873173e-05,
                        "pitch": 0.8390613794326782,
                        "yaw": 173.76585388183594
                    }
                },
                "velocity": {
                    "x": -1.273094654083252,
                    "y": 0.12135421484708786,
                    "z": 0.01835443452000618
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6706719398498535,
                "transform": {
                    "location": {
                        "x": -1402.3828125,
                        "y": 3088.456298828125,
                        "z": 345.93310546875
                    },
                    "rotation": {
                        "roll": 0.004209047183394432,
                        "pitch": 0.9292061924934387,
                        "yaw": 173.40817260742188
                    }
                },
                "velocity": {
                    "x": -2.653176784515381,
                    "y": 0.3017885088920593,
                    "z": 0.04543818533420563
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2838879823684692,
                "transform": {
                    "location": {
                        "x": -1389.9609375,
                        "y": 3090.551513671875,
                        "z": 345.7059020996094
                    },
                    "rotation": {
                        "roll": 0.001246286672540009,
                        "pitch": 0.8402020335197449,
                        "yaw": 173.7383575439453
                    }
                },
                "velocity": {
                    "x": -1.277881383895874,
                    "y": 0.12271514534950256,
                    "z": 0.01812121272087097
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.1101629734039307,
                "transform": {
                    "location": {
                        "x": -1402.055908203125,
                        "y": 3091.94189453125,
                        "z": 345.9016418457031
                    },
                    "rotation": {
                        "roll": 0.004964929539710283,
                        "pitch": 1.0175751447677612,
                        "yaw": 173.40731811523438
                    }
                },
                "velocity": {
                    "x": -3.089672088623047,
                    "y": 0.3529501259326935,
                    "z": 0.04965875670313835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0121839046478271,
                "transform": {
                    "location": {
                        "x": -1389.470703125,
                        "y": 3094.019287109375,
                        "z": 345.7043151855469
                    },
                    "rotation": {
                        "roll": -0.012786862440407276,
                        "pitch": 1.099899411201477,
                        "yaw": 173.73582458496094
                    }
                },
                "velocity": {
                    "x": -1.0073623657226562,
                    "y": 0.09763778746128082,
                    "z": 0.014287814497947693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0477116107940674,
                "transform": {
                    "location": {
                        "x": -1401.298095703125,
                        "y": 3095.37744140625,
                        "z": 345.8885192871094
                    },
                    "rotation": {
                        "roll": 0.004655217286199331,
                        "pitch": 0.9097879528999329,
                        "yaw": 173.4077911376953
                    }
                },
                "velocity": {
                    "x": -2.0343053340911865,
                    "y": 0.2314734011888504,
                    "z": 0.033831994980573654
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7931771278381348,
        "expert_target_speed": 17.163036361864457,
        "target_point": [
            29.354241030091877,
            0.14131805152112387
        ],
        "target_point_next": [
            34.15348193615224,
            -3.4918449700828083
        ]
    },
    "560": {
        "acceleration": [
            -0.01277923583984375,
            0.4118061065673828,
            0.06809249520301819
        ],
        "angular_velocity": [
            0.37945103645324707,
            0.43340790271759033,
            -1.6240966320037842
        ],
        "forward_vector": [
            -0.997286319732666,
            0.07324858754873276,
            -0.007391146384179592
        ],
        "right_vector": [
            -0.073244109749794,
            -0.9973136782646179,
            -0.0008742574718780816
        ],
        "location": [
            -1348.1612548828125,
            3083.68701171875,
            345.5603942871094
        ],
        "rotation": [
            0.05009263753890991,
            -0.4234853684902191,
            175.79928588867188
        ],
        "velocity": [
            -16.927051544189453,
            1.254124402999878,
            -0.12422826141119003
        ],
        "speed": 16.973446968658028,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 42.718040466308594,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1390.7415771484375,
                3087.111083984375,
                345.71160888671875
            ],
            "velocity": [
                -2.000495195388794,
                0.1903170794248581,
                0.02997300960123539
            ],
            "speed_kmh": 7.235104421114818,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6533831357955933,
                "transform": {
                    "location": {
                        "x": -1302.1632080078125,
                        "y": 3080.611083984375,
                        "z": 346.39306640625
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -1.8724006414413452,
                        "yaw": 177.952392578125
                    }
                },
                "velocity": {
                    "x": -1.6520702838897705,
                    "y": 0.04651622846722603,
                    "z": -0.04664923995733261
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0568666458129883,
                "transform": {
                    "location": {
                        "x": -1302.47900390625,
                        "y": 3084.122802734375,
                        "z": 346.3808898925781
                    },
                    "rotation": {
                        "roll": -0.0052185021340847015,
                        "pitch": -1.7240830659866333,
                        "yaw": 178.01869201660156
                    }
                },
                "velocity": {
                    "x": -2.055283308029175,
                    "y": 0.06032589450478554,
                    "z": -0.05359174683690071
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6140216588974,
                "transform": {
                    "location": {
                        "x": -1302.614501953125,
                        "y": 3087.6318359375,
                        "z": 346.37005615234375
                    },
                    "rotation": {
                        "roll": -0.002105711493641138,
                        "pitch": -1.8600516319274902,
                        "yaw": 177.9431610107422
                    }
                },
                "velocity": {
                    "x": -1.6128100156784058,
                    "y": 0.0437958799302578,
                    "z": -0.04462658613920212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991953372955322,
                "transform": {
                    "location": {
                        "x": -1354.890380859375,
                        "y": 3108.37744140625,
                        "z": 345.5206298828125
                    },
                    "rotation": {
                        "roll": 0.00041873680311255157,
                        "pitch": 0.22967876493930817,
                        "yaw": -4.6493239402771
                    }
                },
                "velocity": {
                    "x": 7.9658355712890625,
                    "y": -0.6449798345565796,
                    "z": 0.02799174189567566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.127755165100098,
                "transform": {
                    "location": {
                        "x": -1355.636962890625,
                        "y": 3104.92626953125,
                        "z": 345.5494079589844
                    },
                    "rotation": {
                        "roll": -0.001983643975108862,
                        "pitch": 0.23030713200569153,
                        "yaw": -4.63900899887085
                    }
                },
                "velocity": {
                    "x": 8.101287841796875,
                    "y": -0.6548881530761719,
                    "z": 0.025647878646850586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028128623962402,
                "transform": {
                    "location": {
                        "x": -1355.57861328125,
                        "y": 3101.4111328125,
                        "z": 345.50555419921875
                    },
                    "rotation": {
                        "roll": -0.0015869134804233909,
                        "pitch": 0.22245241701602936,
                        "yaw": -4.6467604637146
                    }
                },
                "velocity": {
                    "x": 8.001849174499512,
                    "y": -0.6483966112136841,
                    "z": 0.029041346162557602
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.060158729553223,
                "transform": {
                    "location": {
                        "x": -1307.784912109375,
                        "y": 3105.46484375,
                        "z": 346.17626953125
                    },
                    "rotation": {
                        "roll": 0.0001886172976810485,
                        "pitch": 1.704056978225708,
                        "yaw": -2.414093017578125
                    }
                },
                "velocity": {
                    "x": 8.04986572265625,
                    "y": -0.32529598474502563,
                    "z": 0.24495935440063477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991909027099609,
                "transform": {
                    "location": {
                        "x": -1308.715576171875,
                        "y": 3101.994384765625,
                        "z": 346.1573486328125
                    },
                    "rotation": {
                        "roll": -0.0025939932093024254,
                        "pitch": 1.685888648033142,
                        "yaw": -2.4366455078125
                    }
                },
                "velocity": {
                    "x": 7.981463432312012,
                    "y": -0.335152268409729,
                    "z": 0.2335120588541031
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.015113830566406,
                "transform": {
                    "location": {
                        "x": -1307.7606201171875,
                        "y": 3098.456298828125,
                        "z": 346.1985168457031
                    },
                    "rotation": {
                        "roll": -0.0158996544778347,
                        "pitch": 1.7230380773544312,
                        "yaw": -2.421875
                    }
                },
                "velocity": {
                    "x": 8.004572868347168,
                    "y": -0.3296678066253662,
                    "z": 0.24529798328876495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.009751319885254,
                "transform": {
                    "location": {
                        "x": -1390.7415771484375,
                        "y": 3087.111083984375,
                        "z": 345.71160888671875
                    },
                    "rotation": {
                        "roll": 0.003545309416949749,
                        "pitch": 0.8406323194503784,
                        "yaw": 173.92213439941406
                    }
                },
                "velocity": {
                    "x": -2.000495195388794,
                    "y": 0.1903170794248581,
                    "z": 0.02997300960123539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.945274829864502,
                "transform": {
                    "location": {
                        "x": -1403.2032470703125,
                        "y": 3088.550048828125,
                        "z": 345.94573974609375
                    },
                    "rotation": {
                        "roll": 0.0059117404744029045,
                        "pitch": 1.0175137519836426,
                        "yaw": 173.44691467285156
                    }
                },
                "velocity": {
                    "x": -3.919525384902954,
                    "y": 0.4456479549407959,
                    "z": 0.06254802644252777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.063005208969116,
                "transform": {
                    "location": {
                        "x": -1390.3726806640625,
                        "y": 3090.592041015625,
                        "z": 345.71185302734375
                    },
                    "rotation": {
                        "roll": 0.0034985991660505533,
                        "pitch": 0.842893123626709,
                        "yaw": 173.90196228027344
                    }
                },
                "velocity": {
                    "x": -2.0535531044006348,
                    "y": 0.19484053552150726,
                    "z": 0.030776623636484146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.590889930725098,
                "transform": {
                    "location": {
                        "x": -1403.025390625,
                        "y": 3092.052001953125,
                        "z": 345.9172058105469
                    },
                    "rotation": {
                        "roll": 0.00514858728274703,
                        "pitch": 1.1735562086105347,
                        "yaw": 173.45228576660156
                    }
                },
                "velocity": {
                    "x": -4.56080961227417,
                    "y": 0.5196912884712219,
                    "z": 0.07217460125684738
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8421229124069214,
                "transform": {
                    "location": {
                        "x": -1389.8372802734375,
                        "y": 3094.05517578125,
                        "z": 345.70928955078125
                    },
                    "rotation": {
                        "roll": -0.01202392578125,
                        "pitch": 1.2004876136779785,
                        "yaw": 173.9130096435547
                    }
                },
                "velocity": {
                    "x": -1.8335349559783936,
                    "y": 0.17571137845516205,
                    "z": 0.026297854259610176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8822572231292725,
                "transform": {
                    "location": {
                        "x": -1401.8953857421875,
                        "y": 3095.445556640625,
                        "z": 345.8979187011719
                    },
                    "rotation": {
                        "roll": 0.00582711910828948,
                        "pitch": 0.932163655757904,
                        "yaw": 173.43618774414062
                    }
                },
                "velocity": {
                    "x": -2.8634393215179443,
                    "y": 0.3256870210170746,
                    "z": 0.04527139663696289
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0000793933868408,
        "expert_target_speed": 17.13001594895852,
        "target_point": [
            25.11170469780312,
            0.2208957338983526
        ],
        "target_point_next": [
            29.921584556227,
            -3.398170798162301
        ]
    },
    "565": {
        "acceleration": [
            0.08518218994140625,
            1.2479519844055176,
            0.16932740807533264
        ],
        "angular_velocity": [
            0.9117354154586792,
            0.2439214140176773,
            -4.720859050750732
        ],
        "forward_vector": [
            -0.996168315410614,
            0.087232306599617,
            -0.00626679090783
        ],
        "right_vector": [
            -0.08720920979976654,
            -0.9961824417114258,
            -0.0038685770705342293
        ],
        "location": [
            -1352.3929443359375,
            3084.024658203125,
            345.5314025878906
        ],
        "rotation": [
            0.22165803611278534,
            -0.3590630292892456,
            174.99549865722656
        ],
        "velocity": [
            -16.917362213134766,
            1.4819762706756592,
            -0.10263482481241226
        ],
        "speed": 16.982149390381824,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 38.96540832519531,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.2313232421875,
                3087.162841796875,
                345.7191467285156
            ],
            "velocity": [
                -1.7816190719604492,
                0.18850483000278473,
                0.027916964143514633
            ],
            "speed_kmh": 6.450412397073057,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9362473487854004,
                "transform": {
                    "location": {
                        "x": -1302.7645263671875,
                        "y": 3080.62939453125,
                        "z": 346.3729248046875
                    },
                    "rotation": {
                        "roll": -0.00784301944077015,
                        "pitch": -1.858822226524353,
                        "yaw": 178.12066650390625
                    }
                },
                "velocity": {
                    "x": -2.9334933757781982,
                    "y": 0.08006046712398529,
                    "z": -0.09877370297908783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.571777105331421,
                "transform": {
                    "location": {
                        "x": -1303.1824951171875,
                        "y": 3084.14306640625,
                        "z": 346.35943603515625
                    },
                    "rotation": {
                        "roll": -0.0140380859375,
                        "pitch": -1.659209966659546,
                        "yaw": 178.1975860595703
                    }
                },
                "velocity": {
                    "x": -3.5684523582458496,
                    "y": 0.1019882932305336,
                    "z": -0.1154891848564148
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9167661666870117,
                "transform": {
                    "location": {
                        "x": -1303.21044921875,
                        "y": 3087.6494140625,
                        "z": 346.3501892089844
                    },
                    "rotation": {
                        "roll": -0.00869751162827015,
                        "pitch": -1.8367880582809448,
                        "yaw": 178.08631896972656
                    }
                },
                "velocity": {
                    "x": -2.914097785949707,
                    "y": 0.07745441049337387,
                    "z": -0.09776961803436279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.083118438720703,
                "transform": {
                    "location": {
                        "x": -1352.876953125,
                        "y": 3108.21484375,
                        "z": 345.5285339355469
                    },
                    "rotation": {
                        "roll": 0.0029484916012734175,
                        "pitch": 0.20506276190280914,
                        "yaw": -4.615388870239258
                    }
                },
                "velocity": {
                    "x": 8.058133125305176,
                    "y": -0.6342231035232544,
                    "z": 0.03239545598626137
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.930565357208252,
                "transform": {
                    "location": {
                        "x": -1353.643310546875,
                        "y": 3104.764892578125,
                        "z": 345.55718994140625
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.20895595848560333,
                        "yaw": -4.638429641723633
                    }
                },
                "velocity": {
                    "x": 7.904674530029297,
                    "y": -0.6395910382270813,
                    "z": 0.030114077031612396
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010764122009277,
                "transform": {
                    "location": {
                        "x": -1353.586181640625,
                        "y": 3101.25,
                        "z": 345.5133056640625
                    },
                    "rotation": {
                        "roll": -0.0025939932093024254,
                        "pitch": 0.2195086032152176,
                        "yaw": -4.613831996917725
                    }
                },
                "velocity": {
                    "x": 7.985833168029785,
                    "y": -0.6308026909828186,
                    "z": 0.029983272776007652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.000709533691406,
                "transform": {
                    "location": {
                        "x": -1305.779541015625,
                        "y": 3105.384033203125,
                        "z": 346.2381896972656
                    },
                    "rotation": {
                        "roll": 0.01813073642551899,
                        "pitch": 1.8205389976501465,
                        "yaw": -2.306030511856079
                    }
                },
                "velocity": {
                    "x": 7.9903130531311035,
                    "y": -0.3187955617904663,
                    "z": 0.25421425700187683
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9553327560424805,
                "transform": {
                    "location": {
                        "x": -1306.724609375,
                        "y": 3101.911865234375,
                        "z": 346.2181091308594
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": 1.776252031326294,
                        "yaw": -2.315551280975342
                    }
                },
                "velocity": {
                    "x": 7.945018291473389,
                    "y": -0.318089097738266,
                    "z": 0.25065743923187256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034212112426758,
                "transform": {
                    "location": {
                        "x": -1305.755126953125,
                        "y": 3098.375244140625,
                        "z": 346.2601623535156
                    },
                    "rotation": {
                        "roll": -0.010803217068314552,
                        "pitch": 1.854751467704773,
                        "yaw": -2.310638427734375
                    }
                },
                "velocity": {
                    "x": 8.024025917053223,
                    "y": -0.32031241059303284,
                    "z": 0.2469116747379303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7917811870574951,
                "transform": {
                    "location": {
                        "x": -1391.2313232421875,
                        "y": 3087.162841796875,
                        "z": 345.7191467285156
                    },
                    "rotation": {
                        "roll": 0.0049384478479623795,
                        "pitch": 0.8352842926979065,
                        "yaw": 173.9415283203125
                    }
                },
                "velocity": {
                    "x": -1.7816190719604492,
                    "y": 0.18850483000278473,
                    "z": 0.027916964143514633
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.223395347595215,
                "transform": {
                    "location": {
                        "x": -1404.348388671875,
                        "y": 3088.68017578125,
                        "z": 345.96392822265625
                    },
                    "rotation": {
                        "roll": 0.007564799394458532,
                        "pitch": 1.0424985885620117,
                        "yaw": 173.4803466796875
                    }
                },
                "velocity": {
                    "x": -5.1892313957214355,
                    "y": 0.5901926159858704,
                    "z": 0.08606918156147003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7200530767440796,
                "transform": {
                    "location": {
                        "x": -1390.861572265625,
                        "y": 3090.643798828125,
                        "z": 345.7194519042969
                    },
                    "rotation": {
                        "roll": 0.004667849279940128,
                        "pitch": 0.8378592729568481,
                        "yaw": 173.92845153808594
                    }
                },
                "velocity": {
                    "x": -1.710318684577942,
                    "y": 0.180808424949646,
                    "z": 0.02647295966744423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3259453773498535,
                "transform": {
                    "location": {
                        "x": -1404.30810546875,
                        "y": 3092.198486328125,
                        "z": 345.93792724609375
                    },
                    "rotation": {
                        "roll": 0.006978499237447977,
                        "pitch": 1.0978367328643799,
                        "yaw": 173.4925994873047
                    }
                },
                "velocity": {
                    "x": -5.2910943031311035,
                    "y": 0.6024234890937805,
                    "z": 0.08427722752094269
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3288638591766357,
                "transform": {
                    "location": {
                        "x": -1390.3360595703125,
                        "y": 3094.107177734375,
                        "z": 345.7174072265625
                    },
                    "rotation": {
                        "roll": 0.011482404544949532,
                        "pitch": 0.9871535301208496,
                        "yaw": 173.87033081054688
                    }
                },
                "velocity": {
                    "x": -1.3213610649108887,
                    "y": 0.13945765793323517,
                    "z": 0.020873431116342545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6635076999664307,
                "transform": {
                    "location": {
                        "x": -1402.712646484375,
                        "y": 3095.53857421875,
                        "z": 345.910888671875
                    },
                    "rotation": {
                        "roll": 0.0063097309321165085,
                        "pitch": 0.9372726678848267,
                        "yaw": 173.4658203125
                    }
                },
                "velocity": {
                    "x": -3.6396453380584717,
                    "y": 0.41347259283065796,
                    "z": 0.057553261518478394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998616576194763,
        "expert_target_speed": 20.0,
        "target_point": [
            20.861123121827063,
            0.5403569874239043
        ],
        "target_point_next": [
            25.721298283004934,
            -3.0108800109504505
        ]
    },
    "570": {
        "acceleration": [
            0.15838623046875,
            1.5484809875488281,
            0.14135904610157013
        ],
        "angular_velocity": [
            0.6480734348297119,
            0.05592493712902069,
            -5.546200275421143
        ],
        "forward_vector": [
            -0.99388188123703,
            0.11040195822715759,
            -0.0032106579747051
        ],
        "right_vector": [
            -0.11037655174732208,
            -0.9938635230064392,
            -0.007233568467199802
        ],
        "location": [
            -1356.6202392578125,
            3084.4375,
            345.51123046875
        ],
        "rotation": [
            0.414458692073822,
            -0.18395747244358063,
            173.66148376464844
        ],
        "velocity": [
            -16.883935928344727,
            1.8410086631774902,
            -0.05839577689766884
        ],
        "speed": 16.984010284097938,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 35.210445404052734,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1391.7203369140625,
                3087.214599609375,
                345.7264404296875
            ],
            "velocity": [
                -2.1685304641723633,
                0.22948360443115234,
                0.03215816244482994
            ],
            "speed_kmh": 7.851154523393969,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.773211717605591,
                "transform": {
                    "location": {
                        "x": -1303.608154296875,
                        "y": 3080.6533203125,
                        "z": 346.34503173828125
                    },
                    "rotation": {
                        "roll": 0.002373308874666691,
                        "pitch": -1.8513431549072266,
                        "yaw": 178.2682342529297
                    }
                },
                "velocity": {
                    "x": -3.7698543071746826,
                    "y": 0.10126753896474838,
                    "z": -0.12276262044906616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.061184406280518,
                "transform": {
                    "location": {
                        "x": -1304.2734375,
                        "y": 3084.17333984375,
                        "z": 346.3241271972656
                    },
                    "rotation": {
                        "roll": -0.021820062771439552,
                        "pitch": -1.6123958826065063,
                        "yaw": 178.33023071289062
                    }
                },
                "velocity": {
                    "x": -5.056814193725586,
                    "y": 0.13937455415725708,
                    "z": -0.1574641764163971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7668893337249756,
                "transform": {
                    "location": {
                        "x": -1304.0511474609375,
                        "y": 3087.6728515625,
                        "z": 346.32244873046875
                    },
                    "rotation": {
                        "roll": -0.01489257998764515,
                        "pitch": -1.8238447904586792,
                        "yaw": 178.246337890625
                    }
                },
                "velocity": {
                    "x": -3.763603448867798,
                    "y": 0.09837281703948975,
                    "z": -0.12275390326976776
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020469665527344,
                "transform": {
                    "location": {
                        "x": -1350.871337890625,
                        "y": 3108.057861328125,
                        "z": 345.5389404296875
                    },
                    "rotation": {
                        "roll": 0.0021527735516428947,
                        "pitch": 0.3233206570148468,
                        "yaw": -4.488954067230225
                    }
                },
                "velocity": {
                    "x": 7.996377468109131,
                    "y": -0.6191952228546143,
                    "z": 0.04973281919956207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.06672191619873,
                "transform": {
                    "location": {
                        "x": -1351.65087890625,
                        "y": 3104.607421875,
                        "z": 345.5664367675781
                    },
                    "rotation": {
                        "roll": -0.00390625,
                        "pitch": 0.3045307993888855,
                        "yaw": -4.487154006958008
                    }
                },
                "velocity": {
                    "x": 8.042455673217773,
                    "y": -0.6233440041542053,
                    "z": 0.04855102300643921
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.095040321350098,
                "transform": {
                    "location": {
                        "x": -1351.573974609375,
                        "y": 3101.092041015625,
                        "z": 345.523193359375
                    },
                    "rotation": {
                        "roll": -0.0035400388296693563,
                        "pitch": 0.3147965669631958,
                        "yaw": -4.478975296020508
                    }
                },
                "velocity": {
                    "x": 8.070636749267578,
                    "y": -0.6260985136032104,
                    "z": 0.04991956427693367
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054966926574707,
                "transform": {
                    "location": {
                        "x": -1303.7745361328125,
                        "y": 3105.3037109375,
                        "z": 346.3028869628906
                    },
                    "rotation": {
                        "roll": 0.0006568201933987439,
                        "pitch": 1.88396418094635,
                        "yaw": -2.2813720703125
                    }
                },
                "velocity": {
                    "x": 8.044256210327148,
                    "y": -0.31858596205711365,
                    "z": 0.2663595378398895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986799240112305,
                "transform": {
                    "location": {
                        "x": -1304.733642578125,
                        "y": 3101.83251953125,
                        "z": 346.2802734375
                    },
                    "rotation": {
                        "roll": -0.0014038063818588853,
                        "pitch": 1.86819326877594,
                        "yaw": -2.225525140762329
                    }
                },
                "velocity": {
                    "x": 7.976570129394531,
                    "y": -0.3113722801208496,
                    "z": 0.2575571835041046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020172119140625,
                "transform": {
                    "location": {
                        "x": -1303.750732421875,
                        "y": 3098.296142578125,
                        "z": 346.32489013671875
                    },
                    "rotation": {
                        "roll": -0.0135498046875,
                        "pitch": 1.8792991638183594,
                        "yaw": -2.246796131134033
                    }
                },
                "velocity": {
                    "x": 8.010051727294922,
                    "y": -0.30435711145401,
                    "z": 0.2638072371482849
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1808762550354004,
                "transform": {
                    "location": {
                        "x": -1391.7203369140625,
                        "y": 3087.214599609375,
                        "z": 345.7264404296875
                    },
                    "rotation": {
                        "roll": 0.004435598850250244,
                        "pitch": 0.8592104315757751,
                        "yaw": 173.9442138671875
                    }
                },
                "velocity": {
                    "x": -2.1685304641723633,
                    "y": 0.22948360443115234,
                    "z": 0.03215816244482994
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.4159159660339355,
                "transform": {
                    "location": {
                        "x": -1405.666259765625,
                        "y": 3088.83056640625,
                        "z": 345.9855651855469
                    },
                    "rotation": {
                        "roll": 0.009915707632899284,
                        "pitch": 0.9653652310371399,
                        "yaw": 173.56544494628906
                    }
                },
                "velocity": {
                    "x": -5.380789756774902,
                    "y": 0.6099203824996948,
                    "z": 0.08510692417621613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0637295246124268,
                "transform": {
                    "location": {
                        "x": -1391.3428955078125,
                        "y": 3090.694580078125,
                        "z": 345.7266845703125
                    },
                    "rotation": {
                        "roll": 0.005911410320550203,
                        "pitch": 0.859961748123169,
                        "yaw": 173.9368438720703
                    }
                },
                "velocity": {
                    "x": -2.052076816558838,
                    "y": 0.21677054464817047,
                    "z": 0.031164798885583878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.730872631072998,
                "transform": {
                    "location": {
                        "x": -1405.71044921875,
                        "y": 3092.358154296875,
                        "z": 345.9601135253906
                    },
                    "rotation": {
                        "roll": 0.021261023357510567,
                        "pitch": 0.99737149477005,
                        "yaw": 173.50921630859375
                    }
                },
                "velocity": {
                    "x": -5.691098690032959,
                    "y": 0.6678966879844666,
                    "z": 0.09062900394201279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8266476392745972,
                "transform": {
                    "location": {
                        "x": -1390.4346923828125,
                        "y": 3094.11669921875,
                        "z": 345.72021484375
                    },
                    "rotation": {
                        "roll": 0.007250101771205664,
                        "pitch": 0.6617087125778198,
                        "yaw": 173.7769775390625
                    }
                },
                "velocity": {
                    "x": -0.8218807578086853,
                    "y": 0.08761072903871536,
                    "z": 0.013517236337065697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.543558120727539,
                "transform": {
                    "location": {
                        "x": -1403.7335205078125,
                        "y": 3095.655029296875,
                        "z": 345.9271545410156
                    },
                    "rotation": {
                        "roll": 0.008356932550668716,
                        "pitch": 0.9383859634399414,
                        "yaw": 173.49005126953125
                    }
                },
                "velocity": {
                    "x": -4.514018535614014,
                    "y": 0.5121325254440308,
                    "z": 0.0726419985294342
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.000623106956482,
        "expert_target_speed": 20.0,
        "target_point": [
            16.595856905830573,
            0.9694920298592727
        ],
        "target_point_next": [
            21.537390777860153,
            -2.467633194443387
        ]
    },
    "575": {
        "acceleration": [
            0.240325927734375,
            1.6567277908325195,
            0.19280794262886047
        ],
        "angular_velocity": [
            0.3672626316547394,
            0.6148375272750854,
            -5.629074573516846
        ],
        "forward_vector": [
            -0.9908760786056519,
            0.13477541506290436,
            -0.0005149840726517141
        ],
        "right_vector": [
            -0.1347648650407791,
            -0.9908340573310852,
            -0.009298684075474739
        ],
        "location": [
            -1360.8365478515625,
            3084.94580078125,
            345.5012512207031
        ],
        "rotation": [
            0.5327830910682678,
            -0.029506415128707886,
            172.25436401367188
        ],
        "velocity": [
            -16.831207275390625,
            2.2467706203460693,
            -0.017088642343878746
        ],
        "speed": 16.980504013945303,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 31.45999526977539,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1392.2099609375,
                3087.2666015625,
                345.7338562011719
            ],
            "velocity": [
                -1.8784575462341309,
                0.19902253150939941,
                0.02978123538196087
            ],
            "speed_kmh": 6.801141916892394,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.572761535644531,
                "transform": {
                    "location": {
                        "x": -1304.654052734375,
                        "y": 3080.68212890625,
                        "z": 346.31103515625
                    },
                    "rotation": {
                        "roll": -0.0015869144117459655,
                        "pitch": -1.8210444450378418,
                        "yaw": 178.3607940673828
                    }
                },
                "velocity": {
                    "x": -4.568767547607422,
                    "y": 0.12203063815832138,
                    "z": -0.14704592525959015
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.485143661499023,
                "transform": {
                    "location": {
                        "x": -1305.61376953125,
                        "y": 3084.2119140625,
                        "z": 346.2809753417969
                    },
                    "rotation": {
                        "roll": -0.007537840399891138,
                        "pitch": -1.7155112028121948,
                        "yaw": 178.3173370361328
                    }
                },
                "velocity": {
                    "x": -5.47956657409668,
                    "y": 0.17633618414402008,
                    "z": -0.1733744889497757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.5742340087890625,
                "transform": {
                    "location": {
                        "x": -1305.0972900390625,
                        "y": 3087.701904296875,
                        "z": 346.28839111328125
                    },
                    "rotation": {
                        "roll": -0.018524156883358955,
                        "pitch": -1.7983067035675049,
                        "yaw": 178.34083557128906
                    }
                },
                "velocity": {
                    "x": -4.569525241851807,
                    "y": 0.14807839691638947,
                    "z": -0.14536209404468536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994431495666504,
                "transform": {
                    "location": {
                        "x": -1348.87744140625,
                        "y": 3107.903076171875,
                        "z": 345.5509338378906
                    },
                    "rotation": {
                        "roll": 0.0006029657670296729,
                        "pitch": 0.4021068811416626,
                        "yaw": -4.436708927154541
                    }
                },
                "velocity": {
                    "x": 7.970561504364014,
                    "y": -0.6148640513420105,
                    "z": 0.05499659478664398
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031878471374512,
                "transform": {
                    "location": {
                        "x": -1349.6390380859375,
                        "y": 3104.451416015625,
                        "z": 345.5780029296875
                    },
                    "rotation": {
                        "roll": 0.00021506124176084995,
                        "pitch": 0.4041832387447357,
                        "yaw": -4.449769973754883
                    }
                },
                "velocity": {
                    "x": 8.007637977600098,
                    "y": -0.621147871017456,
                    "z": 0.05464976280927658
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.996068000793457,
                "transform": {
                    "location": {
                        "x": -1349.570068359375,
                        "y": 3100.936279296875,
                        "z": 345.5353088378906
                    },
                    "rotation": {
                        "roll": 0.0005024997517466545,
                        "pitch": 0.40034469962120056,
                        "yaw": -4.433809280395508
                    }
                },
                "velocity": {
                    "x": 7.971927165985107,
                    "y": -0.6183988451957703,
                    "z": 0.05533266067504883
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.003971099853516,
                "transform": {
                    "location": {
                        "x": -1301.7694091796875,
                        "y": 3105.22900390625,
                        "z": 346.3698425292969
                    },
                    "rotation": {
                        "roll": -0.005126957781612873,
                        "pitch": 1.9454631805419922,
                        "yaw": -2.121002197265625
                    }
                },
                "velocity": {
                    "x": 7.994272232055664,
                    "y": -0.28692758083343506,
                    "z": 0.26988422870635986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.953598976135254,
                "transform": {
                    "location": {
                        "x": -1302.74365234375,
                        "y": 3101.756103515625,
                        "z": 346.34600830078125
                    },
                    "rotation": {
                        "roll": -0.002868655836209655,
                        "pitch": 1.9001858234405518,
                        "yaw": -2.147308111190796
                    }
                },
                "velocity": {
                    "x": 7.94374418258667,
                    "y": -0.2923440933227539,
                    "z": 0.2668333947658539
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02340316772461,
                "transform": {
                    "location": {
                        "x": -1301.7476806640625,
                        "y": 3098.222412109375,
                        "z": 346.3910827636719
                    },
                    "rotation": {
                        "roll": -0.011901856400072575,
                        "pitch": 1.9419524669647217,
                        "yaw": -2.104095697402954
                    }
                },
                "velocity": {
                    "x": 8.013830184936523,
                    "y": -0.28942474722862244,
                    "z": 0.2641139328479767
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.889206051826477,
                "transform": {
                    "location": {
                        "x": -1392.2099609375,
                        "y": 3087.2666015625,
                        "z": 345.7338562011719
                    },
                    "rotation": {
                        "roll": 0.004903685767203569,
                        "pitch": 0.8613141179084778,
                        "yaw": 173.94805908203125
                    }
                },
                "velocity": {
                    "x": -1.8784575462341309,
                    "y": 0.19902253150939941,
                    "z": 0.02978123538196087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.882012844085693,
                "transform": {
                    "location": {
                        "x": -1407.15283203125,
                        "y": 3089.005126953125,
                        "z": 346.0085754394531
                    },
                    "rotation": {
                        "roll": 0.019831258803606033,
                        "pitch": 1.024234652519226,
                        "yaw": 173.374267578125
                    }
                },
                "velocity": {
                    "x": -6.83103609085083,
                    "y": 0.8289744853973389,
                    "z": 0.10884273052215576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7679364681243896,
                "transform": {
                    "location": {
                        "x": -1391.782470703125,
                        "y": 3090.740966796875,
                        "z": 345.7333984375
                    },
                    "rotation": {
                        "roll": 0.00762678449973464,
                        "pitch": 0.8646745681762695,
                        "yaw": 173.94403076171875
                    }
                },
                "velocity": {
                    "x": -1.7579749822616577,
                    "y": 0.18547466397285461,
                    "z": 0.026873311027884483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.24310302734375,
                "transform": {
                    "location": {
                        "x": -1407.511962890625,
                        "y": 3092.57373046875,
                        "z": 345.9888610839844
                    },
                    "rotation": {
                        "roll": 0.025995507836341858,
                        "pitch": 1.29367196559906,
                        "yaw": 173.2147979736328
                    }
                },
                "velocity": {
                    "x": -8.182538986206055,
                    "y": 0.9887644648551941,
                    "z": 0.1309855878353119
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.608394980430603,
                "transform": {
                    "location": {
                        "x": -1390.7437744140625,
                        "y": 3094.149658203125,
                        "z": 345.7236328125
                    },
                    "rotation": {
                        "roll": 0.0037386950571089983,
                        "pitch": 1.0442334413528442,
                        "yaw": 173.807373046875
                    }
                },
                "velocity": {
                    "x": -1.5991971492767334,
                    "y": 0.17010654509067535,
                    "z": 0.023809442296624184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.167724132537842,
                "transform": {
                    "location": {
                        "x": -1404.9739990234375,
                        "y": 3095.7958984375,
                        "z": 345.9472961425781
                    },
                    "rotation": {
                        "roll": 0.010070852935314178,
                        "pitch": 0.9359339475631714,
                        "yaw": 173.5071258544922
                    }
                },
                "velocity": {
                    "x": -5.134072780609131,
                    "y": 0.5829951167106628,
                    "z": 0.08236534148454666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.000261664390564,
        "expert_target_speed": 20.0,
        "target_point": [
            12.3206993670689,
            1.3121398357098841
        ],
        "target_point_next": [
            17.34514544672656,
            -2.0026042582687205
        ]
    },
    "580": {
        "acceleration": [
            0.326080322265625,
            1.6726064682006836,
            0.12256603688001633
        ],
        "angular_velocity": [
            0.3248387277126312,
            0.9207512736320496,
            -5.808757781982422
        ],
        "forward_vector": [
            -0.9872088432312012,
            0.15942753851413727,
            0.0012217756593599916
        ],
        "right_vector": [
            -0.15943165123462677,
            -0.9871556162834167,
            -0.010261060670018196
        ],
        "location": [
            -1365.037353515625,
            3085.557373046875,
            345.50164794921875
        ],
        "rotation": [
            0.5879262685775757,
            0.07000260800123215,
            170.82632446289062
        ],
        "velocity": [
            -16.760746002197266,
            2.6652920246124268,
            0.021900977939367294
        ],
        "speed": 16.971340198305914,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.763660430908203,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1392.7437744140625,
                3087.322998046875,
                345.7418212890625
            ],
            "velocity": [
                -2.433339834213257,
                0.2578034996986389,
                0.037545423954725266
            ],
            "speed_kmh": 8.810087120740183,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.265787124633789,
                "transform": {
                    "location": {
                        "x": -1305.8997802734375,
                        "y": 3080.71923828125,
                        "z": 346.2713623046875
                    },
                    "rotation": {
                        "roll": -0.011901850812137127,
                        "pitch": -1.7914766073226929,
                        "yaw": 178.28111267089844
                    }
                },
                "velocity": {
                    "x": -5.260093688964844,
                    "y": 0.18154971301555634,
                    "z": -0.16421528160572052
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.3130669593811035,
                "transform": {
                    "location": {
                        "x": -1307.15673828125,
                        "y": 3084.264404296875,
                        "z": 346.2333984375
                    },
                    "rotation": {
                        "roll": -0.0036926288157701492,
                        "pitch": -1.5079008340835571,
                        "yaw": 178.1058807373047
                    }
                },
                "velocity": {
                    "x": -7.305320739746094,
                    "y": 0.2536357045173645,
                    "z": -0.22115042805671692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.248429775238037,
                "transform": {
                    "location": {
                        "x": -1306.3414306640625,
                        "y": 3087.7431640625,
                        "z": 346.24932861328125
                    },
                    "rotation": {
                        "roll": -0.01293945126235485,
                        "pitch": -1.7990102767944336,
                        "yaw": 178.1653594970703
                    }
                },
                "velocity": {
                    "x": -5.242807388305664,
                    "y": 0.18372857570648193,
                    "z": -0.15882658958435059
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068648338317871,
                "transform": {
                    "location": {
                        "x": -1346.8729248046875,
                        "y": 3107.751708984375,
                        "z": 345.5651550292969
                    },
                    "rotation": {
                        "roll": 0.004802916664630175,
                        "pitch": 0.39359647035598755,
                        "yaw": -4.31515645980835
                    }
                },
                "velocity": {
                    "x": 8.046555519104004,
                    "y": -0.5934482216835022,
                    "z": 0.0620105154812336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.998517990112305,
                "transform": {
                    "location": {
                        "x": -1347.6451416015625,
                        "y": 3104.29833984375,
                        "z": 345.5919494628906
                    },
                    "rotation": {
                        "roll": -0.00796508602797985,
                        "pitch": 0.39240118861198425,
                        "yaw": -4.357057094573975
                    }
                },
                "velocity": {
                    "x": 7.976345539093018,
                    "y": -0.5925359725952148,
                    "z": 0.055724285542964935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079524993896484,
                "transform": {
                    "location": {
                        "x": -1347.5665283203125,
                        "y": 3100.78369140625,
                        "z": 345.5492858886719
                    },
                    "rotation": {
                        "roll": -0.004150392021983862,
                        "pitch": 0.3943272829055786,
                        "yaw": -4.335603713989258
                    }
                },
                "velocity": {
                    "x": 8.057286262512207,
                    "y": -0.5962727069854736,
                    "z": 0.05767850577831268
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.054109573364258,
                "transform": {
                    "location": {
                        "x": -1299.7645263671875,
                        "y": 3105.1572265625,
                        "z": 346.43792724609375
                    },
                    "rotation": {
                        "roll": -0.003326422069221735,
                        "pitch": 1.9523411989212036,
                        "yaw": -2.042816162109375
                    }
                },
                "velocity": {
                    "x": 8.04443359375,
                    "y": -0.28449928760528564,
                    "z": 0.27355119585990906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.985523223876953,
                "transform": {
                    "location": {
                        "x": -1300.753173828125,
                        "y": 3101.683349609375,
                        "z": 346.41229248046875
                    },
                    "rotation": {
                        "roll": -0.002166746649891138,
                        "pitch": 1.9488645792007446,
                        "yaw": -2.032989740371704
                    }
                },
                "velocity": {
                    "x": 7.976020812988281,
                    "y": -0.28145933151245117,
                    "z": 0.2691717743873596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026851654052734,
                "transform": {
                    "location": {
                        "x": -1299.7432861328125,
                        "y": 3098.15087890625,
                        "z": 346.4584045410156
                    },
                    "rotation": {
                        "roll": -0.00830077938735485,
                        "pitch": 1.9526690244674683,
                        "yaw": -2.040496587753296
                    }
                },
                "velocity": {
                    "x": 8.017251968383789,
                    "y": -0.2836657762527466,
                    "z": 0.27118924260139465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4472463130950928,
                "transform": {
                    "location": {
                        "x": -1392.7437744140625,
                        "y": 3087.322998046875,
                        "z": 345.7418212890625
                    },
                    "rotation": {
                        "roll": 0.0061906930059194565,
                        "pitch": 0.8924598097801208,
                        "yaw": 173.9505157470703
                    }
                },
                "velocity": {
                    "x": -2.433339834213257,
                    "y": 0.2578034996986389,
                    "z": 0.037545423954725266
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.852910041809082,
                "transform": {
                    "location": {
                        "x": -1409.1552734375,
                        "y": 3089.2470703125,
                        "z": 346.0396423339844
                    },
                    "rotation": {
                        "roll": 0.010894239880144596,
                        "pitch": 1.109454870223999,
                        "yaw": 173.1087646484375
                    }
                },
                "velocity": {
                    "x": -8.786124229431152,
                    "y": 1.076409101486206,
                    "z": 0.1392671912908554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5028910636901855,
                "transform": {
                    "location": {
                        "x": -1392.3138427734375,
                        "y": 3090.797119140625,
                        "z": 345.7412414550781
                    },
                    "rotation": {
                        "roll": 0.007019684184342623,
                        "pitch": 0.8974663019180298,
                        "yaw": 173.9481964111328
                    }
                },
                "velocity": {
                    "x": -2.4887306690216064,
                    "y": 0.2631061375141144,
                    "z": 0.03819208964705467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.321619987487793,
                "transform": {
                    "location": {
                        "x": -1409.717529296875,
                        "y": 3092.841796875,
                        "z": 346.02392578125
                    },
                    "rotation": {
                        "roll": 0.017910689115524292,
                        "pitch": 1.1870253086090088,
                        "yaw": 173.06057739257812
                    }
                },
                "velocity": {
                    "x": -9.25162410736084,
                    "y": 1.1306232213974,
                    "z": 0.14740541577339172
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.28975510597229,
                "transform": {
                    "location": {
                        "x": -1391.251220703125,
                        "y": 3094.20361328125,
                        "z": 345.7309265136719
                    },
                    "rotation": {
                        "roll": 0.001955287763848901,
                        "pitch": 1.1682491302490234,
                        "yaw": 173.88340759277344
                    }
                },
                "velocity": {
                    "x": -2.2767794132232666,
                    "y": 0.24105453491210938,
                    "z": 0.03386303037405014
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.75015115737915,
                "transform": {
                    "location": {
                        "x": -1406.3092041015625,
                        "y": 3095.952392578125,
                        "z": 345.9686279296875
                    },
                    "rotation": {
                        "roll": 0.011183477006852627,
                        "pitch": 0.9280518889427185,
                        "yaw": 173.33815002441406
                    }
                },
                "velocity": {
                    "x": -5.708232879638672,
                    "y": 0.687160849571228,
                    "z": 0.09013376384973526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9995152354240417,
        "expert_target_speed": 20.0,
        "target_point": [
            8.039594583797838,
            1.5528121771435148
        ],
        "target_point_next": [
            13.145089152412108,
            -1.635684651426872
        ]
    },
    "585": {
        "acceleration": [
            0.5242538452148438,
            1.6626739501953125,
            0.2742859125137329
        ],
        "angular_velocity": [
            0.02497289329767227,
            0.4547119140625,
            -5.80837345123291
        ],
        "forward_vector": [
            -0.9828686118125916,
            0.18428301811218262,
            0.003014917252585292
        ],
        "right_vector": [
            -0.18430477380752563,
            -0.98281329870224,
            -0.010475759394466877
        ],
        "location": [
            -1369.216552734375,
            3086.27294921875,
            345.51123046875
        ],
        "rotation": [
            0.6002305150032043,
            0.1727423071861267,
            169.380615234375
        ],
        "velocity": [
            -16.65477180480957,
            3.0825374126434326,
            0.060368604958057404
        ],
        "speed": 16.93763445025976,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.261903762817383,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1393.451171875,
                3087.397705078125,
                345.75238037109375
            ],
            "velocity": [
                -3.1616244316101074,
                0.33406534790992737,
                0.04831566661596298
            ],
            "speed_kmh": 11.446529966108411,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4613,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1385.4442138671875,
                        "y": 3111.18408203125,
                        "z": 346.06292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7861273884773254,
                        "yaw": -6.199528217315674
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4612,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -1386.2000732421875,
                        "y": 3104.224853515625,
                        "z": 346.06292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.7861273884773254,
                        "yaw": -6.199528217315674
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.047502040863037,
                "transform": {
                    "location": {
                        "x": -1307.2945556640625,
                        "y": 3080.766845703125,
                        "z": 346.22821044921875
                    },
                    "rotation": {
                        "roll": 0.006186021491885185,
                        "pitch": -1.7355577945709229,
                        "yaw": 178.08779907226562
                    }
                },
                "velocity": {
                    "x": -6.04095983505249,
                    "y": 0.2153145670890808,
                    "z": -0.1809021532535553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.501286506652832,
                "transform": {
                    "location": {
                        "x": -1309.1451416015625,
                        "y": 3084.334716796875,
                        "z": 346.1733093261719
                    },
                    "rotation": {
                        "roll": -0.005310059059411287,
                        "pitch": -1.4262117147445679,
                        "yaw": 177.98545837402344
                    }
                },
                "velocity": {
                    "x": -8.491982460021973,
                    "y": 0.30458560585975647,
                    "z": -0.2555873692035675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.044985294342041,
                "transform": {
                    "location": {
                        "x": -1307.7349853515625,
                        "y": 3087.790771484375,
                        "z": 346.2071533203125
                    },
                    "rotation": {
                        "roll": -0.010711669921875,
                        "pitch": -1.701413631439209,
                        "yaw": 178.0381317138672
                    }
                },
                "velocity": {
                    "x": -6.038520812988281,
                    "y": 0.21437762677669525,
                    "z": -0.1793108731508255
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987616539001465,
                "transform": {
                    "location": {
                        "x": -1344.8721923828125,
                        "y": 3107.60400390625,
                        "z": 345.5806884765625
                    },
                    "rotation": {
                        "roll": 0.0020272890105843544,
                        "pitch": 0.459685355424881,
                        "yaw": -4.230592727661133
                    }
                },
                "velocity": {
                    "x": 7.965956211090088,
                    "y": -0.5843450427055359,
                    "z": 0.06402797251939774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046823501586914,
                "transform": {
                    "location": {
                        "x": -1345.64306640625,
                        "y": 3104.149658203125,
                        "z": 345.6070251464844
                    },
                    "rotation": {
                        "roll": -0.004547119606286287,
                        "pitch": 0.4543236792087555,
                        "yaw": -4.2535719871521
                    }
                },
                "velocity": {
                    "x": 8.02493953704834,
                    "y": -0.5896127223968506,
                    "z": 0.06384284794330597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016214370727539,
                "transform": {
                    "location": {
                        "x": -1345.559326171875,
                        "y": 3100.635009765625,
                        "z": 345.5646057128906
                    },
                    "rotation": {
                        "roll": -0.001373290317133069,
                        "pitch": 0.45798465609550476,
                        "yaw": -4.22274923324585
                    }
                },
                "velocity": {
                    "x": 7.994433403015137,
                    "y": -0.5869932174682617,
                    "z": 0.06455609947443008
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.71533203125,
                        "y": 3105.058349609375,
                        "z": 346.5105895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1298.7454833984375,
                        "y": 3101.604736328125,
                        "z": 346.48101806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1297.7098388671875,
                        "y": 3098.060302734375,
                        "z": 346.5271301269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.179591655731201,
                "transform": {
                    "location": {
                        "x": -1393.451171875,
                        "y": 3087.397705078125,
                        "z": 345.75238037109375
                    },
                    "rotation": {
                        "roll": 0.006450969260185957,
                        "pitch": 0.9190701842308044,
                        "yaw": 173.9535369873047
                    }
                },
                "velocity": {
                    "x": -3.1616244316101074,
                    "y": 0.33406534790992737,
                    "z": 0.04831566661596298
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.022960662841797,
                "transform": {
                    "location": {
                        "x": -1411.51220703125,
                        "y": 3089.536376953125,
                        "z": 346.0775451660156
                    },
                    "rotation": {
                        "roll": 0.017499709501862526,
                        "pitch": 1.0597516298294067,
                        "yaw": 172.9813690185547
                    }
                },
                "velocity": {
                    "x": -9.94273567199707,
                    "y": 1.2556204795837402,
                    "z": 0.15865930914878845
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.182318925857544,
                "transform": {
                    "location": {
                        "x": -1393.02392578125,
                        "y": 3090.872314453125,
                        "z": 345.75189208984375
                    },
                    "rotation": {
                        "roll": 0.007001510355621576,
                        "pitch": 0.9223350286483765,
                        "yaw": 173.9490203857422
                    }
                },
                "velocity": {
                    "x": -3.164224147796631,
                    "y": 0.33530595898628235,
                    "z": 0.04908004775643349
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.460100173950195,
                "transform": {
                    "location": {
                        "x": -1412.126220703125,
                        "y": 3093.141845703125,
                        "z": 346.0623474121094
                    },
                    "rotation": {
                        "roll": 0.033461593091487885,
                        "pitch": 1.180666446685791,
                        "yaw": 172.8447723388672
                    }
                },
                "velocity": {
                    "x": -10.375557899475098,
                    "y": 1.3169032335281372,
                    "z": 0.1651262640953064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0982511043548584,
                "transform": {
                    "location": {
                        "x": -1391.7734375,
                        "y": 3094.25927734375,
                        "z": 345.7395935058594
                    },
                    "rotation": {
                        "roll": 0.0033709267154335976,
                        "pitch": 0.9588355422019958,
                        "yaw": 173.89630126953125
                    }
                },
                "velocity": {
                    "x": -2.086313486099243,
                    "y": 0.22104287147521973,
                    "z": 0.03307344391942024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.8043718338012695,
                "transform": {
                    "location": {
                        "x": -1407.87939453125,
                        "y": 3096.140625,
                        "z": 345.9934997558594
                    },
                    "rotation": {
                        "roll": 0.006534246262162924,
                        "pitch": 0.9423201680183411,
                        "yaw": 173.0850372314453
                    }
                },
                "velocity": {
                    "x": -6.753396987915039,
                    "y": 0.8242747783660889,
                    "z": 0.10804181545972824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995101094245911,
        "expert_target_speed": 0,
        "target_point": [
            8.94268105942556,
            -1.3703547995629748
        ],
        "target_point_next": [
            8.94268105942556,
            -1.3703547995629748
        ]
    },
    "590": {
        "acceleration": [
            2.0621109008789062,
            0.7885313034057617,
            0.07119819521903992
        ],
        "angular_velocity": [
            -0.5269623398780823,
            -0.3254426419734955,
            -4.243293762207031
        ],
        "forward_vector": [
            -0.9782189130783081,
            0.20751826465129852,
            0.0048825545236468315
        ],
        "right_vector": [
            -0.2075575590133667,
            -0.9781738519668579,
            -0.009789683856070042
        ],
        "location": [
            -1373.3511962890625,
            3087.0869140625,
            345.53082275390625
        ],
        "rotation": [
            0.5609232187271118,
            0.27975088357925415,
            168.0229034423828
        ],
        "velocity": [
            -16.34366226196289,
            3.410560131072998,
            0.09447616338729858
        ],
        "speed": 16.695724498828273,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 5,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.985807418823242,
        "front_vehicle_info": {
            "id": 4555,
            "type": "vehicle.ford.mustang",
            "location": [
                -1394.331787109375,
                3087.4912109375,
                345.76629638671875
            ],
            "velocity": [
                -3.859621286392212,
                0.4086538255214691,
                0.06157264485955238
            ],
            "speed_kmh": 13.974060052772046,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4614,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9265055656433105,
                "transform": {
                    "location": {
                        "x": -1385.8231201171875,
                        "y": 3107.70458984375,
                        "z": 345.769287109375
                    },
                    "rotation": {
                        "roll": -0.00024413943174295127,
                        "pitch": -0.7960721850395203,
                        "yaw": -6.19940710067749
                    }
                },
                "velocity": {
                    "x": -0.025078844279050827,
                    "y": 0.0036136689595878124,
                    "z": -1.9263389110565186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4613,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8547779321670532,
                "transform": {
                    "location": {
                        "x": -1385.445556640625,
                        "y": 3111.184326171875,
                        "z": 345.6999206542969
                    },
                    "rotation": {
                        "roll": 0.0013796391431242228,
                        "pitch": -0.8291917443275452,
                        "yaw": -6.199345588684082
                    }
                },
                "velocity": {
                    "x": -0.010953675024211407,
                    "y": 0.0013907721731811762,
                    "z": -0.8547066450119019
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4612,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.320789098739624,
                "transform": {
                    "location": {
                        "x": -1386.2015380859375,
                        "y": 3104.224853515625,
                        "z": 345.67132568359375
                    },
                    "rotation": {
                        "roll": 0.0004502841329667717,
                        "pitch": -0.8128675818443298,
                        "yaw": -6.199498653411865
                    }
                },
                "velocity": {
                    "x": -0.019490420818328857,
                    "y": 0.002272119978442788,
                    "z": -1.3206433057785034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.99587869644165,
                "transform": {
                    "location": {
                        "x": -1308.890380859375,
                        "y": 3080.823486328125,
                        "z": 346.1801452636719
                    },
                    "rotation": {
                        "roll": 0.005325339734554291,
                        "pitch": -1.6394296884536743,
                        "yaw": 177.98985290527344
                    }
                },
                "velocity": {
                    "x": -6.988307952880859,
                    "y": 0.25262564420700073,
                    "z": -0.20506232976913452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.76962947845459,
                "transform": {
                    "location": {
                        "x": -1311.4315185546875,
                        "y": 3084.422119140625,
                        "z": 346.10888671875
                    },
                    "rotation": {
                        "roll": 0.012595521286129951,
                        "pitch": -1.3836050033569336,
                        "yaw": 177.7356414794922
                    }
                },
                "velocity": {
                    "x": -9.757996559143066,
                    "y": 0.39718714356422424,
                    "z": -0.26345041394233704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.001593112945557,
                "transform": {
                    "location": {
                        "x": -1309.3336181640625,
                        "y": 3087.847412109375,
                        "z": 346.15887451171875
                    },
                    "rotation": {
                        "roll": -0.013122559525072575,
                        "pitch": -1.6039742231369019,
                        "yaw": 177.96640014648438
                    }
                },
                "velocity": {
                    "x": -6.994126319885254,
                    "y": 0.251566082239151,
                    "z": -0.20301835238933563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057137489318848,
                "transform": {
                    "location": {
                        "x": -1342.871826171875,
                        "y": 3107.45751953125,
                        "z": 345.5969543457031
                    },
                    "rotation": {
                        "roll": 0.00417302967980504,
                        "pitch": 0.47971147298812866,
                        "yaw": -4.183687210083008
                    }
                },
                "velocity": {
                    "x": 8.03684139251709,
                    "y": -0.567413866519928,
                    "z": 0.06842157244682312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015389442443848,
                "transform": {
                    "location": {
                        "x": -1343.6402587890625,
                        "y": 3104.00244140625,
                        "z": 345.623046875
                    },
                    "rotation": {
                        "roll": -0.0028076171875,
                        "pitch": 0.4820747375488281,
                        "yaw": -4.175844192504883
                    }
                },
                "velocity": {
                    "x": 7.9938812255859375,
                    "y": -0.5828771591186523,
                    "z": 0.06771119683980942
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.065330505371094,
                "transform": {
                    "location": {
                        "x": -1343.554931640625,
                        "y": 3100.488037109375,
                        "z": 345.5808410644531
                    },
                    "rotation": {
                        "roll": -0.003509521484375,
                        "pitch": 0.4801076352596283,
                        "yaw": -4.1756911277771
                    }
                },
                "velocity": {
                    "x": 8.04484748840332,
                    "y": -0.57027667760849,
                    "z": 0.06901061534881592
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4604,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.6363525390625,
                        "y": 3104.941162109375,
                        "z": 346.5862731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4603,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1296.66650390625,
                        "y": 3101.490478515625,
                        "z": 346.55474853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4602,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1295.631591796875,
                        "y": 3097.936279296875,
                        "z": 346.5972900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9538984298706055,
                        "yaw": -1.7295531034469604
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.881683349609375,
                "transform": {
                    "location": {
                        "x": -1394.331787109375,
                        "y": 3087.4912109375,
                        "z": 345.76629638671875
                    },
                    "rotation": {
                        "roll": 0.00784508790820837,
                        "pitch": 0.9224169850349426,
                        "yaw": 173.95431518554688
                    }
                },
                "velocity": {
                    "x": -3.859621286392212,
                    "y": 0.4086538255214691,
                    "z": 0.06157264485955238
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.21575927734375,
                "transform": {
                    "location": {
                        "x": -1414.10009765625,
                        "y": 3089.865478515625,
                        "z": 346.1187438964844
                    },
                    "rotation": {
                        "roll": 0.01458748709410429,
                        "pitch": 1.0519310235977173,
                        "yaw": 172.69723510742188
                    }
                },
                "velocity": {
                    "x": -11.121939659118652,
                    "y": 1.436790943145752,
                    "z": 0.1770474761724472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8982253074645996,
                "transform": {
                    "location": {
                        "x": -1393.907470703125,
                        "y": 3090.9658203125,
                        "z": 345.7658996582031
                    },
                    "rotation": {
                        "roll": 0.007952299900352955,
                        "pitch": 0.9247938990592957,
                        "yaw": 173.9539794921875
                    }
                },
                "velocity": {
                    "x": -3.87609601020813,
                    "y": 0.4101724922657013,
                    "z": 0.061641234904527664
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.64215087890625,
                "transform": {
                    "location": {
                        "x": -1414.8802490234375,
                        "y": 3093.494873046875,
                        "z": 346.1062927246094
                    },
                    "rotation": {
                        "roll": 0.02450765296816826,
                        "pitch": 1.1708446741104126,
                        "yaw": 172.64608764648438
                    }
                },
                "velocity": {
                    "x": -11.544710159301758,
                    "y": 1.4918426275253296,
                    "z": 0.183672234416008
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.043492317199707,
                "transform": {
                    "location": {
                        "x": -1392.400390625,
                        "y": 3094.325439453125,
                        "z": 345.7485046386719
                    },
                    "rotation": {
                        "roll": 0.004621939733624458,
                        "pitch": 1.1658449172973633,
                        "yaw": 173.9228973388672
                    }
                },
                "velocity": {
                    "x": -3.0262577533721924,
                    "y": 0.3201500177383423,
                    "z": 0.04597780108451843
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.741585731506348,
                "transform": {
                    "location": {
                        "x": -1409.714599609375,
                        "y": 3096.3642578125,
                        "z": 346.02276611328125
                    },
                    "rotation": {
                        "roll": 0.006580830086022615,
                        "pitch": 0.9425045847892761,
                        "yaw": 172.96414184570312
                    }
                },
                "velocity": {
                    "x": -7.682857990264893,
                    "y": 0.9437899589538574,
                    "z": 0.12289497256278992
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9995009899139404,
        "expert_target_speed": 0,
        "target_point": [
            10.134092068111208,
            -4.161889705582113
        ],
        "target_point_next": [
            12.131906506870227,
            -3.952959863949272
        ]
    },
    "595": {
        "acceleration": [
            3.8666915893554688,
            -0.2298259735107422,
            0.15961021184921265
        ],
        "angular_velocity": [
            -0.7921273708343506,
            0.0014926630537956953,
            -1.3380961418151855
        ],
        "forward_vector": [
            -0.9759993553161621,
            0.21773050725460052,
            0.00431965384632349
        ],
        "right_vector": [
            -0.21775494515895844,
            -0.9759827852249146,
            -0.006353406701236963
        ],
        "location": [
            -1377.3338623046875,
            3087.94140625,
            345.5589904785156
        ],
        "rotation": [
            0.36402925848960876,
            0.24749872088432312,
            167.4241180419922
        ],
        "velocity": [
            -15.487724304199219,
            3.424243450164795,
            0.12709885835647583
        ],
        "speed": 15.861747927920165,
        "speed_limit": 120.0,
        "lane_info": {
            "lane_id": 4,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.911636352539062,
        "front_vehicle_info": {
            "id": 4553,
            "type": "vehicle.ford.mustang",
            "location": [
                -1394.96728515625,
                3091.078125,
                345.78277587890625
            ],
            "velocity": [
                -4.583169937133789,
                0.48484861850738525,
                0.07258487492799759
            ],
            "speed_kmh": 16.593537378082036,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4614,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.09215665608644485,
                "transform": {
                    "location": {
                        "x": -1385.825927734375,
                        "y": 3107.705322265625,
                        "z": 345.57806396484375
                    },
                    "rotation": {
                        "roll": 0.0008513222564943135,
                        "pitch": -0.8329141736030579,
                        "yaw": -6.198949337005615
                    }
                },
                "velocity": {
                    "x": 0.0012977379374206066,
                    "y": -0.00015808410535100847,
                    "z": 0.09214738756418228
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4613,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1295004040002823,
                "transform": {
                    "location": {
                        "x": -1385.4459228515625,
                        "y": 3111.184326171875,
                        "z": 345.69000244140625
                    },
                    "rotation": {
                        "roll": 0.0011865573469549417,
                        "pitch": -0.844272792339325,
                        "yaw": -6.19934606552124
                    }
                },
                "velocity": {
                    "x": 0.0017601328436285257,
                    "y": 5.2028586651431397e-05,
                    "z": 0.12948842346668243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4612,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.24619047343730927,
                "transform": {
                    "location": {
                        "x": -1386.2021484375,
                        "y": 3104.225341796875,
                        "z": 345.6417541503906
                    },
                    "rotation": {
                        "roll": 0.00031349799246527255,
                        "pitch": -0.8314183950424194,
                        "yaw": -6.199528694152832
                    }
                },
                "velocity": {
                    "x": 0.0036084805615246296,
                    "y": -0.00034797831904143095,
                    "z": 0.24616378545761108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4611,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9015936851501465,
                "transform": {
                    "location": {
                        "x": -1310.76025390625,
                        "y": 3080.8916015625,
                        "z": 346.12628173828125
                    },
                    "rotation": {
                        "roll": -0.0021667503751814365,
                        "pitch": -1.5796724557876587,
                        "yaw": 177.90916442871094
                    }
                },
                "velocity": {
                    "x": -7.8926568031311035,
                    "y": 0.30661410093307495,
                    "z": -0.2171098291873932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4610,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.744837760925293,
                "transform": {
                    "location": {
                        "x": -1314.0286865234375,
                        "y": 3084.53173828125,
                        "z": 346.03961181640625
                    },
                    "rotation": {
                        "roll": 0.01047474704682827,
                        "pitch": -1.2791099548339844,
                        "yaw": 177.54052734375
                    }
                },
                "velocity": {
                    "x": -10.731325149536133,
                    "y": 0.4637492001056671,
                    "z": -0.2741082012653351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4609,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9089460372924805,
                "transform": {
                    "location": {
                        "x": -1311.205078125,
                        "y": 3087.917236328125,
                        "z": 346.1063537597656
                    },
                    "rotation": {
                        "roll": -0.005554200150072575,
                        "pitch": -1.5682660341262817,
                        "yaw": 177.8294219970703
                    }
                },
                "velocity": {
                    "x": -7.899678707122803,
                    "y": 0.3204486668109894,
                    "z": -0.20932047069072723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4607,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9967732429504395,
                "transform": {
                    "location": {
                        "x": -1340.8699951171875,
                        "y": 3107.31640625,
                        "z": 345.61383056640625
                    },
                    "rotation": {
                        "roll": 0.002929133828729391,
                        "pitch": 0.4736599326133728,
                        "yaw": -4.037537574768066
                    }
                },
                "velocity": {
                    "x": 7.977303981781006,
                    "y": -0.553580641746521,
                    "z": 0.067496657371521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4606,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02272891998291,
                "transform": {
                    "location": {
                        "x": -1341.641845703125,
                        "y": 3103.86083984375,
                        "z": 345.63983154296875
                    },
                    "rotation": {
                        "roll": -0.006835936568677425,
                        "pitch": 0.4788167178630829,
                        "yaw": -4.058443069458008
                    }
                },
                "velocity": {
                    "x": 8.003080368041992,
                    "y": -0.5570586919784546,
                    "z": 0.06760867685079575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4605,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021008491516113,
                "transform": {
                    "location": {
                        "x": -1341.5491943359375,
                        "y": 3100.346923828125,
                        "z": 345.59759521484375
                    },
                    "rotation": {
                        "roll": -0.0018310555024072528,
                        "pitch": 0.47538796067237854,
                        "yaw": -4.0211501121521
                    }
                },
                "velocity": {
                    "x": 8.001425743103027,
                    "y": -0.556095540523529,
                    "z": 0.06724780797958374
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4555,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.597609043121338,
                "transform": {
                    "location": {
                        "x": -1395.388916015625,
                        "y": 3087.60302734375,
                        "z": 345.7830505371094
                    },
                    "rotation": {
                        "roll": 0.008487020619213581,
                        "pitch": 0.9214470982551575,
                        "yaw": 173.9573516845703
                    }
                },
                "velocity": {
                    "x": -4.571505546569824,
                    "y": 0.4837515652179718,
                    "z": 0.0729975700378418
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4554,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.35556411743164,
                "transform": {
                    "location": {
                        "x": -1417.0357666015625,
                        "y": 3090.247314453125,
                        "z": 346.16552734375
                    },
                    "rotation": {
                        "roll": 0.018152564764022827,
                        "pitch": 1.0425599813461304,
                        "yaw": 172.51502990722656
                    }
                },
                "velocity": {
                    "x": -12.245911598205566,
                    "y": 1.6308491230010986,
                    "z": 0.19479970633983612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 4553,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.609315872192383,
                "transform": {
                    "location": {
                        "x": -1394.96728515625,
                        "y": 3091.078125,
                        "z": 345.78277587890625
                    },
                    "rotation": {
                        "roll": 0.008721791207790375,
                        "pitch": 0.9225535988807678,
                        "yaw": 173.95729064941406
                    }
                },
                "velocity": {
                    "x": -4.583169937133789,
                    "y": 0.48484861850738525,
                    "z": 0.07258487492799759
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4552,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.639330863952637,
                "transform": {
                    "location": {
                        "x": -1417.8951416015625,
                        "y": 3093.891845703125,
                        "z": 346.1544189453125
                    },
                    "rotation": {
                        "roll": 0.0326961874961853,
                        "pitch": 1.1389886140823364,
                        "yaw": 172.41311645507812
                    }
                },
                "velocity": {
                    "x": -12.526643753051758,
                    "y": 1.672109842300415,
                    "z": 0.19981706142425537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4551,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.4218621253967285,
                "transform": {
                    "location": {
                        "x": -1393.3416748046875,
                        "y": 3094.42529296875,
                        "z": 345.7621765136719
                    },
                    "rotation": {
                        "roll": 0.00748172402381897,
                        "pitch": 1.4229947328567505,
                        "yaw": 173.93911743164062
                    }
                },
                "velocity": {
                    "x": -4.396712303161621,
                    "y": 0.4656270444393158,
                    "z": 0.0705433264374733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 4550,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.112086296081543,
                "transform": {
                    "location": {
                        "x": -1411.7984619140625,
                        "y": 3096.62451171875,
                        "z": 346.0559997558594
                    },
                    "rotation": {
                        "roll": 0.00637821014970541,
                        "pitch": 0.9563493728637695,
                        "yaw": 172.80519104003906
                    }
                },
                "velocity": {
                    "x": -9.037666320800781,
                    "y": 1.1532049179077148,
                    "z": 0.14431850612163544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9994953274726868,
        "expert_target_speed": 0,
        "target_point": [
            8.099388433147233,
            -3.859119495783075
        ],
        "target_point_next": [
            8.099388433147233,
            -3.859119495783075
        ]
    }
}