{
    "0": {
        "acceleration": [
            0.010794508270919323,
            0.007684933952987194,
            -0.33112430572509766
        ],
        "angular_velocity": [
            -0.01974753476679325,
            -0.02771613933146,
            -0.000810398196335882
        ],
        "forward_vector": [
            -0.9995344877243042,
            -0.004349530208855867,
            -0.03019767627120018
        ],
        "right_vector": [
            0.004351177252829075,
            -0.9999905228614807,
            1.1180170076841023e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.72509765625
        ],
        "rotation": [
            -0.0006408687913790345,
            -1.7304624319076538,
            -179.75067138671875
        ],
        "velocity": [
            -0.0017958157695829868,
            0.00015621885540895164,
            0.055275823920965195
        ],
        "speed": 0.0018025977391165834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0009116174769587815,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            51.00292528820881,
            0.0002229222170615497
        ],
        "target_point_next": [
            102.0029219790626,
            0.0007027316169452846
        ]
    },
    "5": {
        "acceleration": [
            0.002589368959888816,
            -0.00745069794356823,
            -0.08527938276529312
        ],
        "angular_velocity": [
            0.04304562509059906,
            -0.007192540448158979,
            0.0010123016545549035
        ],
        "forward_vector": [
            -0.999532163143158,
            -0.004348567221313715,
            -0.030274411663413048
        ],
        "right_vector": [
            0.004350906703621149,
            -0.9999905228614807,
            -1.1406568773963954e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.7326354980469
        ],
        "rotation": [
            0.0006538479356095195,
            -1.734861135482788,
            -179.750732421875
        ],
        "velocity": [
            -0.0005167430499568582,
            -0.0003255748306401074,
            0.014599574729800224
        ],
        "speed": 0.0006107555566878214,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00682258605957,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1972.2955322265625,
                4065.96875,
                362.3058166503906
            ],
            "velocity": [
                0.007568694185465574,
                0.0002841028617694974,
                -0.23445017635822296
            ],
            "speed_kmh": 0.8444609484665486,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2036.4818115234375,
                        "y": 4072.18896484375,
                        "z": 359.9897155761719
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2036.4677734375,
                        "y": 4068.93896484375,
                        "z": 359.9897155761719
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.424732506275177,
                "transform": {
                    "location": {
                        "x": -1927.2823486328125,
                        "y": 4062.914794921875,
                        "z": 363.5494079589844
                    },
                    "rotation": {
                        "roll": 0.001706478069536388,
                        "pitch": -1.4758535623550415,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.010812906548380852,
                    "y": 7.691200880799443e-05,
                    "z": -0.42459481954574585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45893892645835876,
                "transform": {
                    "location": {
                        "x": -1942.281494140625,
                        "y": 4062.849609375,
                        "z": 363.16064453125
                    },
                    "rotation": {
                        "roll": 0.0003123471396975219,
                        "pitch": -1.5483081340789795,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.01230448205024004,
                    "y": -6.068373841117136e-05,
                    "z": -0.4587739408016205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4168689548969269,
                "transform": {
                    "location": {
                        "x": -1972.2816162109375,
                        "y": 4062.71875,
                        "z": 362.2581481933594
                    },
                    "rotation": {
                        "roll": -0.00015258821076713502,
                        "pitch": -1.8744770288467407,
                        "yaw": -179.75003051757812
                    }
                },
                "velocity": {
                    "x": 0.013559473678469658,
                    "y": 0.00028425134951248765,
                    "z": -0.416648268699646
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45566290616989136,
                "transform": {
                    "location": {
                        "x": -1987.2802734375,
                        "y": 4062.6533203125,
                        "z": 361.75286865234375
                    },
                    "rotation": {
                        "roll": -0.0018005366437137127,
                        "pitch": -2.019010543823242,
                        "yaw": -179.75027465820312
                    }
                },
                "velocity": {
                    "x": 0.015841040760278702,
                    "y": 0.0002047725865850225,
                    "z": -0.4553874135017395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4429180324077606,
                "transform": {
                    "location": {
                        "x": -1927.2960205078125,
                        "y": 4066.164794921875,
                        "z": 363.5685119628906
                    },
                    "rotation": {
                        "roll": 0.0004177600785624236,
                        "pitch": -1.4875195026397705,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.010907189920544624,
                    "y": -2.1085124899400398e-05,
                    "z": -0.4427837133407593
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3589321970939636,
                "transform": {
                    "location": {
                        "x": -1942.2962646484375,
                        "y": 4066.099609375,
                        "z": 363.1649169921875
                    },
                    "rotation": {
                        "roll": 0.00032901225495152175,
                        "pitch": -1.567412257194519,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.009295771829783916,
                    "y": 0.0001792959519661963,
                    "z": -0.35881176590919495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23457248508930206,
                "transform": {
                    "location": {
                        "x": -1972.2955322265625,
                        "y": 4065.96875,
                        "z": 362.3058166503906
                    },
                    "rotation": {
                        "roll": 0.000358071003574878,
                        "pitch": -1.8777145147323608,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.007568694185465574,
                    "y": 0.0002841028617694974,
                    "z": -0.23445017635822296
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5135192275047302,
                "transform": {
                    "location": {
                        "x": -1987.294677734375,
                        "y": 4065.9033203125,
                        "z": 361.7423095703125
                    },
                    "rotation": {
                        "roll": 0.0005478881648741663,
                        "pitch": -2.029693126678467,
                        "yaw": -179.75027465820312
                    }
                },
                "velocity": {
                    "x": 0.01809733919799328,
                    "y": 0.0002083108847727999,
                    "z": -0.5132001638412476
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0009155187290161848,
        "expert_target_speed": 1.0132889236408353,
        "target_point": [
            51.002925287973014,
            0.0002715623969703762
        ],
        "target_point_next": [
            102.00292197834604,
            0.0008000091838348267
        ]
    },
    "10": {
        "acceleration": [
            0.002479112008586526,
            -0.0029683185275644064,
            -0.06291624158620834
        ],
        "angular_velocity": [
            0.050805799663066864,
            0.006270038429647684,
            0.001125890645198524
        ],
        "forward_vector": [
            -0.9995314478874207,
            -0.004346180707216263,
            -0.03029836155474186
        ],
        "right_vector": [
            0.0043489402160048485,
            -0.9999905228614807,
            -2.5173116227961145e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.7342834472656
        ],
        "rotation": [
            0.0014429757138714194,
            -1.7362339496612549,
            -179.75086975097656
        ],
        "velocity": [
            -8.744477963773534e-05,
            -0.00016074614541139454,
            0.001626372803002596
        ],
        "speed": 0.0001829915646977021,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00693416595459,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1972.29541015625,
                4065.96875,
                362.29931640625
            ],
            "velocity": [
                -0.0008773091249167919,
                0.00019328456255607307,
                0.024385962635278702
            ],
            "speed_kmh": 0.08784901457717689,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2034.4002685546875,
                        "y": 4072.197998046875,
                        "z": 359.8961486816406
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2034.3863525390625,
                        "y": 4068.947998046875,
                        "z": 359.8962097167969
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05172029882669449,
                "transform": {
                    "location": {
                        "x": -1927.281982421875,
                        "y": 4062.914794921875,
                        "z": 363.5403747558594
                    },
                    "rotation": {
                        "roll": 0.0001860642951214686,
                        "pitch": -1.4781689643859863,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -0.0013825958594679832,
                    "y": -0.00016260106349363923,
                    "z": 0.051701560616493225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09488184005022049,
                "transform": {
                    "location": {
                        "x": -1942.28125,
                        "y": 4062.849609375,
                        "z": 363.1533508300781
                    },
                    "rotation": {
                        "roll": 0.000919160433113575,
                        "pitch": -1.5477890968322754,
                        "yaw": -179.7503204345703
                    }
                },
                "velocity": {
                    "x": -0.0026192646473646164,
                    "y": -9.006867003336083e-07,
                    "z": 0.09484568238258362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.051021941006183624,
                "transform": {
                    "location": {
                        "x": -1972.28125,
                        "y": 4062.71875,
                        "z": 362.2493591308594
                    },
                    "rotation": {
                        "roll": 0.0013349020155146718,
                        "pitch": -1.8756040334701538,
                        "yaw": -179.75015258789062
                    }
                },
                "velocity": {
                    "x": -0.001735001802444458,
                    "y": -6.116480653872713e-05,
                    "z": 0.05099239572882652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09454157948493958,
                "transform": {
                    "location": {
                        "x": -1987.27978515625,
                        "y": 4062.6533203125,
                        "z": 361.7456970214844
                    },
                    "rotation": {
                        "roll": 3.1355175451608375e-05,
                        "pitch": -2.017426013946533,
                        "yaw": -179.75033569335938
                    }
                },
                "velocity": {
                    "x": -0.0033898300025612116,
                    "y": -3.6076751712244004e-05,
                    "z": 0.09448078274726868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02816939353942871,
                "transform": {
                    "location": {
                        "x": -1927.29541015625,
                        "y": 4066.164794921875,
                        "z": 363.54388427734375
                    },
                    "rotation": {
                        "roll": 0.0004875622980762273,
                        "pitch": -1.4987483024597168,
                        "yaw": -179.7502899169922
                    }
                },
                "velocity": {
                    "x": -0.0008691066177561879,
                    "y": 0.0001993073965422809,
                    "z": 0.02815527841448784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04433886334300041,
                "transform": {
                    "location": {
                        "x": -1942.2958984375,
                        "y": 4066.099609375,
                        "z": 363.1573486328125
                    },
                    "rotation": {
                        "roll": 0.00025402201572433114,
                        "pitch": -1.570772647857666,
                        "yaw": -179.7502899169922
                    }
                },
                "velocity": {
                    "x": -0.0012373458594083786,
                    "y": 7.10460080881603e-05,
                    "z": 0.044321537017822266
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024402504786849022,
                "transform": {
                    "location": {
                        "x": -1972.29541015625,
                        "y": 4065.96875,
                        "z": 362.29931640625
                    },
                    "rotation": {
                        "roll": 0.0005923928110860288,
                        "pitch": -1.8784111738204956,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -0.0008773091249167919,
                    "y": 0.00019328456255607307,
                    "z": 0.024385962635278702
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10430542379617691,
                "transform": {
                    "location": {
                        "x": -1987.2940673828125,
                        "y": 4065.9033203125,
                        "z": 361.7334289550781
                    },
                    "rotation": {
                        "roll": 1.960157896974124e-05,
                        "pitch": -2.0307857990264893,
                        "yaw": -179.75042724609375
                    }
                },
                "velocity": {
                    "x": -0.0037513284478336573,
                    "y": -2.698562093428336e-05,
                    "z": 0.10423794388771057
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0002451985783409327,
        "expert_target_speed": 1.0001073518577495,
        "target_point": [
            51.00292528718061,
            0.00039316284674134616
        ],
        "target_point_next": [
            102.00292197614877,
            0.0010432031010552123
        ]
    },
    "15": {
        "acceleration": [
            -0.0004498004273045808,
            0.0008951426716521382,
            -0.003939422313123941
        ],
        "angular_velocity": [
            -0.026137281209230423,
            -0.005380786489695311,
            -0.0012104230700060725
        ],
        "forward_vector": [
            -0.9995312690734863,
            -0.0043447501957416534,
            -0.030305275693535805
        ],
        "right_vector": [
            0.004347318317741156,
            -0.9999905824661255,
            -1.885949313873425e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.73468017578125
        ],
        "rotation": [
            0.0010810658568516374,
            -1.7366302013397217,
            -179.75094604492188
        ],
        "velocity": [
            -0.0001303705503232777,
            7.824365457054228e-05,
            0.0018032140797004104
        ],
        "speed": 0.00015204785388866436,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.076478004455566,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1972.364990234375,
                4065.9677734375,
                362.30010986328125
            ],
            "velocity": [
                -0.972290575504303,
                -0.01782473549246788,
                -0.0250580832362175
            ],
            "speed_kmh": 3.5019962752138363,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2032.31884765625,
                        "y": 4072.206787109375,
                        "z": 359.98779296875
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2032.304931640625,
                        "y": 4068.956787109375,
                        "z": 359.98785400390625
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0991569757461548,
                "transform": {
                    "location": {
                        "x": -1927.3734130859375,
                        "y": 4062.9140625,
                        "z": 363.5455322265625
                    },
                    "rotation": {
                        "roll": -0.004425048362463713,
                        "pitch": -1.4143340587615967,
                        "yaw": -179.6693115234375
                    }
                },
                "velocity": {
                    "x": -1.0989878177642822,
                    "y": -0.017152754589915276,
                    "z": -0.008808717131614685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02099287509918213,
                "transform": {
                    "location": {
                        "x": -1942.28125,
                        "y": 4062.849609375,
                        "z": 363.1673889160156
                    },
                    "rotation": {
                        "roll": -0.00012206991232233122,
                        "pitch": -1.546996831893921,
                        "yaw": -179.75039672851562
                    }
                },
                "velocity": {
                    "x": -0.0006408238550648093,
                    "y": 0.00015902762243058532,
                    "z": 0.020982488989830017
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1914113759994507,
                "transform": {
                    "location": {
                        "x": -1972.374755859375,
                        "y": 4062.7177734375,
                        "z": 362.2536315917969
                    },
                    "rotation": {
                        "roll": -0.003875732421875,
                        "pitch": -1.8101775646209717,
                        "yaw": -179.6654510498047
                    }
                },
                "velocity": {
                    "x": -1.1910593509674072,
                    "y": -0.022253602743148804,
                    "z": -0.018531855195760727
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020758885890245438,
                "transform": {
                    "location": {
                        "x": -1987.27978515625,
                        "y": 4062.6533203125,
                        "z": 361.7596740722656
                    },
                    "rotation": {
                        "roll": 0.00012229473213665187,
                        "pitch": -2.018341302871704,
                        "yaw": -179.75042724609375
                    }
                },
                "velocity": {
                    "x": -0.0008122673607431352,
                    "y": 0.0001206218876177445,
                    "z": 0.020742638036608696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9828287363052368,
                "transform": {
                    "location": {
                        "x": -1927.3660888671875,
                        "y": 4066.1640625,
                        "z": 363.5473327636719
                    },
                    "rotation": {
                        "roll": -0.010894772596657276,
                        "pitch": -1.2726690769195557,
                        "yaw": -179.69747924804688
                    }
                },
                "velocity": {
                    "x": -0.9826967120170593,
                    "y": -0.016027819365262985,
                    "z": 0.0016185569111257792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2652467489242554,
                "transform": {
                    "location": {
                        "x": -1942.412109375,
                        "y": 4066.09765625,
                        "z": 363.160888671875
                    },
                    "rotation": {
                        "roll": -0.00949096493422985,
                        "pitch": -1.3669120073318481,
                        "yaw": -179.68592834472656
                    }
                },
                "velocity": {
                    "x": -1.2649034261703491,
                    "y": -0.018344158306717873,
                    "z": -0.023064512759447098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9727767705917358,
                "transform": {
                    "location": {
                        "x": -1972.364990234375,
                        "y": 4065.9677734375,
                        "z": 362.30010986328125
                    },
                    "rotation": {
                        "roll": -0.004211426246911287,
                        "pitch": -1.8006563186645508,
                        "yaw": -179.7211456298828
                    }
                },
                "velocity": {
                    "x": -0.972290575504303,
                    "y": -0.01782473549246788,
                    "z": -0.0250580832362175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023264624178409576,
                "transform": {
                    "location": {
                        "x": -1987.2940673828125,
                        "y": 4065.9033203125,
                        "z": 361.7489013671875
                    },
                    "rotation": {
                        "roll": 0.0003835528332274407,
                        "pitch": -2.0294744968414307,
                        "yaw": -179.75054931640625
                    }
                },
                "velocity": {
                    "x": -0.0008821559022180736,
                    "y": 4.6491299144690856e-05,
                    "z": 0.023247847333550453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00026444412651471794,
        "expert_target_speed": 1.0055034559261182,
        "target_point": [
            51.00292528656598,
            0.0004661231166027957
        ],
        "target_point_next": [
            102.00292197455207,
            0.0011891194513845016
        ]
    },
    "20": {
        "acceleration": [
            0.00021560786990448833,
            -0.0011305827647447586,
            0.00882638804614544
        ],
        "angular_velocity": [
            0.01426178403198719,
            0.006797987036406994,
            1.473504653404234e-05
        ],
        "forward_vector": [
            -0.9995311498641968,
            -0.004344272892922163,
            -0.03031015768647194
        ],
        "right_vector": [
            0.004346726927906275,
            -0.9999905824661255,
            -1.5086529856489506e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.73480224609375
        ],
        "rotation": [
            0.0008647918002679944,
            -1.7369102239608765,
            -179.7509765625
        ],
        "velocity": [
            -7.264703162945807e-05,
            -4.621447442332283e-05,
            0.0011873481562361121
        ],
        "speed": 8.61009224735452e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.452910423278809,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1972.7412109375,
                4065.961669921875,
                362.2882995605469
            ],
            "velocity": [
                -1.9604460000991821,
                -0.036339595913887024,
                -0.06361331045627594
            ],
            "speed_kmh": 7.062531838858528,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2030.2374267578125,
                        "y": 4072.216064453125,
                        "z": 360.0788269042969
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2030.223388671875,
                        "y": 4068.966064453125,
                        "z": 360.0788879394531
                    },
                    "rotation": {
                        "roll": -4.172993894879795e-10,
                        "pitch": 2.5639641284942627,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4451310634613037,
                "transform": {
                    "location": {
                        "x": -1927.70556640625,
                        "y": 4062.908935546875,
                        "z": 363.5387268066406
                    },
                    "rotation": {
                        "roll": -0.0087890625,
                        "pitch": -1.437986969947815,
                        "yaw": -179.47193908691406
                    }
                },
                "velocity": {
                    "x": -1.444458246231079,
                    "y": -0.02700965106487274,
                    "z": -0.03485408052802086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2113137245178223,
                "transform": {
                    "location": {
                        "x": -1942.5106201171875,
                        "y": 4062.845458984375,
                        "z": 363.16412353515625
                    },
                    "rotation": {
                        "roll": 0.006297489628195763,
                        "pitch": -1.7415410280227661,
                        "yaw": -179.69921875
                    }
                },
                "velocity": {
                    "x": -2.210071325302124,
                    "y": -0.04215967655181885,
                    "z": -0.060960378497838974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.714077115058899,
                "transform": {
                    "location": {
                        "x": -1972.724853515625,
                        "y": 4062.708740234375,
                        "z": 362.243896484375
                    },
                    "rotation": {
                        "roll": 0.0024970900267362595,
                        "pitch": -1.827601432800293,
                        "yaw": -179.88450622558594
                    }
                },
                "velocity": {
                    "x": -1.712821364402771,
                    "y": -0.03822612389922142,
                    "z": -0.05331187695264816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1937966346740723,
                "transform": {
                    "location": {
                        "x": -1987.5150146484375,
                        "y": 4062.64990234375,
                        "z": 361.7543640136719
                    },
                    "rotation": {
                        "roll": 0.001584080746397376,
                        "pitch": -2.2100441455841064,
                        "yaw": -179.64556884765625
                    }
                },
                "velocity": {
                    "x": -2.1920104026794434,
                    "y": -0.041317351162433624,
                    "z": -0.0782737210392952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9042342901229858,
                "transform": {
                    "location": {
                        "x": -1927.7386474609375,
                        "y": 4066.157958984375,
                        "z": 363.5417785644531
                    },
                    "rotation": {
                        "roll": -0.01934814266860485,
                        "pitch": -1.1045849323272705,
                        "yaw": -179.56277465820312
                    }
                },
                "velocity": {
                    "x": -1.9035677909851074,
                    "y": -0.032138414680957794,
                    "z": -0.03879452124238014
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7199697494506836,
                "transform": {
                    "location": {
                        "x": -1942.921875,
                        "y": 4066.08984375,
                        "z": 363.1484680175781
                    },
                    "rotation": {
                        "roll": -0.014953616075217724,
                        "pitch": -1.285339117050171,
                        "yaw": -179.51165771484375
                    }
                },
                "velocity": {
                    "x": -2.7186882495880127,
                    "y": -0.042457520961761475,
                    "z": -0.07187727093696594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9618144035339355,
                "transform": {
                    "location": {
                        "x": -1972.7412109375,
                        "y": 4065.961669921875,
                        "z": 362.2882995605469
                    },
                    "rotation": {
                        "roll": -0.009216307662427425,
                        "pitch": -1.7692511081695557,
                        "yaw": -179.5946502685547
                    }
                },
                "velocity": {
                    "x": -1.9604460000991821,
                    "y": -0.036339595913887024,
                    "z": -0.06361331045627594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1779143810272217,
                "transform": {
                    "location": {
                        "x": -1987.4188232421875,
                        "y": 4065.90185546875,
                        "z": 361.7457580566406
                    },
                    "rotation": {
                        "roll": -0.003173828125,
                        "pitch": -1.9972838163375854,
                        "yaw": -179.70065307617188
                    }
                },
                "velocity": {
                    "x": -1.176985502243042,
                    "y": -0.020032979547977448,
                    "z": -0.04226046800613403
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0015718777431175113,
        "expert_target_speed": 1.0208762764112342,
        "target_point": [
            51.00292528609827,
            0.0005147632965100402
        ],
        "target_point_next": [
            102.00292197337167,
            0.0012863970182695472
        ]
    },
    "25": {
        "acceleration": [
            -0.0015357851516455412,
            0.0014132014475762844,
            0.007020966149866581
        ],
        "angular_velocity": [
            -0.010818872600793839,
            -0.015092575922608376,
            -0.000737887981813401
        ],
        "forward_vector": [
            -0.9995309710502625,
            -0.004341889172792435,
            -0.030314922332763672
        ],
        "right_vector": [
            0.004344593733549118,
            -0.9999905824661255,
            -2.3356136807706207e-05
        ],
        "location": [
            -1957.294921875,
            4066.033935546875,
            362.73492431640625
        ],
        "rotation": [
            0.0013388233492150903,
            -1.7371833324432373,
            -179.75111389160156
        ],
        "velocity": [
            -0.0001488324924139306,
            3.758479215321131e-05,
            0.0013669205363839865
        ],
        "speed": 0.00015350481230027546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.091724395751953,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1973.379638671875,
                4065.951904296875,
                362.2672424316406
            ],
            "velocity": [
                -3.194307565689087,
                -0.06004587933421135,
                -0.1057991161942482
            ],
            "speed_kmh": 11.5078434648465,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2028.1558837890625,
                        "y": 4072.224853515625,
                        "z": 360.1705322265625
                    },
                    "rotation": {
                        "roll": -4.172729384244178e-10,
                        "pitch": 2.48156476020813,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2028.1419677734375,
                        "y": 4068.974853515625,
                        "z": 360.1705322265625
                    },
                    "rotation": {
                        "roll": -4.172729384244178e-10,
                        "pitch": 2.48156476020813,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.976602792739868,
                "transform": {
                    "location": {
                        "x": -1928.2862548828125,
                        "y": 4062.900634765625,
                        "z": 363.5236511230469
                    },
                    "rotation": {
                        "roll": -0.0157470665872097,
                        "pitch": -1.391049861907959,
                        "yaw": -179.20298767089844
                    }
                },
                "velocity": {
                    "x": -2.975177764892578,
                    "y": -0.05300062522292137,
                    "z": -0.07531334459781647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.433655023574829,
                "transform": {
                    "location": {
                        "x": -1943.2310791015625,
                        "y": 4062.833740234375,
                        "z": 363.1440124511719
                    },
                    "rotation": {
                        "roll": -0.0026550283655524254,
                        "pitch": -1.7035788297653198,
                        "yaw": -179.47386169433594
                    }
                },
                "velocity": {
                    "x": -3.431765079498291,
                    "y": -0.06537025421857834,
                    "z": -0.09328752011060715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3461387157440186,
                "transform": {
                    "location": {
                        "x": -1973.3946533203125,
                        "y": 4062.6982421875,
                        "z": 362.22186279296875
                    },
                    "rotation": {
                        "roll": -0.01068115048110485,
                        "pitch": -1.7827749252319336,
                        "yaw": -179.52008056640625
                    }
                },
                "velocity": {
                    "x": -3.3437886238098145,
                    "y": -0.060861095786094666,
                    "z": -0.10962532460689545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.459085464477539,
                "transform": {
                    "location": {
                        "x": -1988.2369384765625,
                        "y": 4062.637939453125,
                        "z": 361.7281494140625
                    },
                    "rotation": {
                        "roll": -0.007415770087391138,
                        "pitch": -2.168632745742798,
                        "yaw": -179.42662048339844
                    }
                },
                "velocity": {
                    "x": -3.4562480449676514,
                    "y": -0.0662798136472702,
                    "z": -0.12341245263814926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.132204294204712,
                "transform": {
                    "location": {
                        "x": -1928.364990234375,
                        "y": 4066.14794921875,
                        "z": 363.52691650390625
                    },
                    "rotation": {
                        "roll": -0.02502441219985485,
                        "pitch": -1.0192553997039795,
                        "yaw": -179.38079833984375
                    }
                },
                "velocity": {
                    "x": -3.130774736404419,
                    "y": -0.05497835576534271,
                    "z": -0.07700995355844498
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.345931529998779,
                "transform": {
                    "location": {
                        "x": -1943.816162109375,
                        "y": 4066.075439453125,
                        "z": 363.1243591308594
                    },
                    "rotation": {
                        "roll": -0.02307128719985485,
                        "pitch": -1.2456010580062866,
                        "yaw": -179.29257202148438
                    }
                },
                "velocity": {
                    "x": -4.343699932098389,
                    "y": -0.07350854575634003,
                    "z": -0.11826329678297043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1966233253479004,
                "transform": {
                    "location": {
                        "x": -1973.379638671875,
                        "y": 4065.951904296875,
                        "z": 362.2672424316406
                    },
                    "rotation": {
                        "roll": -0.0163269005715847,
                        "pitch": -1.756833791732788,
                        "yaw": -179.39968872070312
                    }
                },
                "velocity": {
                    "x": -3.194307565689087,
                    "y": -0.06004587933421135,
                    "z": -0.1057991161942482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.866131067276001,
                "transform": {
                    "location": {
                        "x": -1987.8111572265625,
                        "y": 4065.896240234375,
                        "z": 361.7315979003906
                    },
                    "rotation": {
                        "roll": -0.007110595237463713,
                        "pitch": -2.000514507293701,
                        "yaw": -179.59510803222656
                    }
                },
                "velocity": {
                    "x": -1.864657998085022,
                    "y": -0.03250807523727417,
                    "z": -0.06662743538618088
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00012182292994111776,
        "expert_target_speed": 1.0434203957252262,
        "target_point": [
            51.00292528502366,
            0.0006120436563228637
        ],
        "target_point_next": [
            102.0029219707325,
            0.0014809521520358637
        ]
    },
    "30": {
        "acceleration": [
            -3.5586345195770264,
            -0.041226379573345184,
            -0.10639283806085587
        ],
        "angular_velocity": [
            -0.05659159645438194,
            1.2580254077911377,
            0.24131309986114502
        ],
        "forward_vector": [
            -0.99964439868927,
            -0.004496825393289328,
            -0.02628452703356743
        ],
        "right_vector": [
            0.004497343208640814,
            -0.9999898672103882,
            3.9401169487973675e-05
        ],
        "location": [
            -1957.3780517578125,
            4066.033447265625,
            362.7316589355469
        ],
        "rotation": [
            -0.0022583010140806437,
            -1.506165862083435,
            -179.7422637939453
        ],
        "velocity": [
            -0.9059659242630005,
            -0.006990617141127586,
            -0.026627739891409874
        ],
        "speed": 0.9059928943726471,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.99108123779297,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1974.361572265625,
                4065.934814453125,
                362.2345275878906
            ],
            "velocity": [
                -4.5851874351501465,
                -0.08782928436994553,
                -0.15296895802021027
            ],
            "speed_kmh": 16.518884424136296,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.219324111938477,
                "transform": {
                    "location": {
                        "x": -2026.094970703125,
                        "y": 4072.237060546875,
                        "z": 360.2618408203125
                    },
                    "rotation": {
                        "roll": -0.026580810546875,
                        "pitch": 2.4559378623962402,
                        "yaw": 0.357870489358902
                    }
                },
                "velocity": {
                    "x": 8.210468292236328,
                    "y": 0.09322362393140793,
                    "z": 0.3698761761188507
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.011235237121582,
                "transform": {
                    "location": {
                        "x": -2026.0928955078125,
                        "y": 4068.98876953125,
                        "z": 360.2607421875
                    },
                    "rotation": {
                        "roll": 0.02730678953230381,
                        "pitch": 2.5264732837677,
                        "yaw": 0.4182400405406952
                    }
                },
                "velocity": {
                    "x": 8.002182006835938,
                    "y": 0.12552182376384735,
                    "z": 0.3594612181186676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.491367816925049,
                "transform": {
                    "location": {
                        "x": -1929.2369384765625,
                        "y": 4062.88330078125,
                        "z": 363.49920654296875
                    },
                    "rotation": {
                        "roll": -0.01708984188735485,
                        "pitch": -1.3815218210220337,
                        "yaw": -179.11195373535156
                    }
                },
                "velocity": {
                    "x": -4.489004611968994,
                    "y": -0.08869384229183197,
                    "z": -0.11556393653154373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.601316928863525,
                "transform": {
                    "location": {
                        "x": -1944.2413330078125,
                        "y": 4062.816162109375,
                        "z": 363.1162414550781
                    },
                    "rotation": {
                        "roll": -0.01086425594985485,
                        "pitch": -1.6737309694290161,
                        "yaw": -179.24765014648438
                    }
                },
                "velocity": {
                    "x": -4.598744869232178,
                    "y": -0.08856867253780365,
                    "z": -0.1257779896259308
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.79421329498291,
                "transform": {
                    "location": {
                        "x": -1974.4049072265625,
                        "y": 4062.68212890625,
                        "z": 362.1883239746094
                    },
                    "rotation": {
                        "roll": -0.0186767540872097,
                        "pitch": -1.8051096200942993,
                        "yaw": -179.24879455566406
                    }
                },
                "velocity": {
                    "x": -4.790674686431885,
                    "y": -0.08964484930038452,
                    "z": -0.16087622940540314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.631791591644287,
                "transform": {
                    "location": {
                        "x": -1989.25390625,
                        "y": 4062.6201171875,
                        "z": 361.69189453125
                    },
                    "rotation": {
                        "roll": -0.015563963912427425,
                        "pitch": -2.140225887298584,
                        "yaw": -179.21693420410156
                    }
                },
                "velocity": {
                    "x": -4.6280198097229,
                    "y": -0.0894576907157898,
                    "z": -0.16407150030136108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.562309265136719,
                "transform": {
                    "location": {
                        "x": -1929.3402099609375,
                        "y": 4066.131103515625,
                        "z": 363.5018310546875
                    },
                    "rotation": {
                        "roll": -0.03079223446547985,
                        "pitch": -0.9078686833381653,
                        "yaw": -179.18328857421875
                    }
                },
                "velocity": {
                    "x": -4.560046672821045,
                    "y": -0.0836983397603035,
                    "z": -0.11676139384508133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.923774719238281,
                "transform": {
                    "location": {
                        "x": -1945.06591796875,
                        "y": 4066.055908203125,
                        "z": 363.0906066894531
                    },
                    "rotation": {
                        "roll": -0.0004577644285745919,
                        "pitch": -1.3661538362503052,
                        "yaw": -179.28135681152344
                    }
                },
                "velocity": {
                    "x": -4.921539306640625,
                    "y": -0.061009731143713,
                    "z": -0.1352250725030899
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.588578701019287,
                "transform": {
                    "location": {
                        "x": -1974.361572265625,
                        "y": 4065.934814453125,
                        "z": 362.2345275878906
                    },
                    "rotation": {
                        "roll": -0.0224914513528347,
                        "pitch": -1.759552240371704,
                        "yaw": -179.1953887939453
                    }
                },
                "velocity": {
                    "x": -4.5851874351501465,
                    "y": -0.08782928436994553,
                    "z": -0.15296895802021027
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5276565551757812,
                "transform": {
                    "location": {
                        "x": -1988.3656005859375,
                        "y": 4065.88623046875,
                        "z": 361.71197509765625
                    },
                    "rotation": {
                        "roll": -0.00579833984375,
                        "pitch": -2.0087244510650635,
                        "yaw": -179.5855255126953
                    }
                },
                "velocity": {
                    "x": -2.525648832321167,
                    "y": -0.04525972157716751,
                    "z": -0.08998071402311325
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0022778084967285395,
        "expert_target_speed": 1.9630471633714497,
        "target_point": [
            50.91979353268275,
            -0.0073819837830631785
        ],
        "target_point_next": [
            101.91978974398,
            -0.014392331956481652
        ]
    },
    "35": {
        "acceleration": [
            -2.46079683303833,
            -0.020685214549303055,
            -0.08471943438053131
        ],
        "angular_velocity": [
            0.014476830139756203,
            -0.19436430931091309,
            0.16270942986011505
        ],
        "forward_vector": [
            -0.9996815323829651,
            -0.004611637443304062,
            -0.024809077382087708
        ],
        "right_vector": [
            0.004612502176314592,
            -0.9999893307685852,
            2.2363665266311727e-05
        ],
        "location": [
            -1957.7081298828125,
            4066.031494140625,
            362.7215270996094
        ],
        "rotation": [
            -0.0012817381648346782,
            -1.4216012954711914,
            -179.73568725585938
        ],
        "velocity": [
            -1.6268147230148315,
            -0.011273275129497051,
            -0.04868779703974724
        ],
        "speed": 1.6268537825354707,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.940643310546875,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1975.640625,
                4065.91845703125,
                362.1928405761719
            ],
            "velocity": [
                -5.266056537628174,
                -0.06212201341986656,
                -0.17572467029094696
            ],
            "speed_kmh": 18.96967377982248,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.881882190704346,
                "transform": {
                    "location": {
                        "x": -2024.085693359375,
                        "y": 4072.263671875,
                        "z": 360.3518981933594
                    },
                    "rotation": {
                        "roll": -0.01904296688735485,
                        "pitch": 2.503305196762085,
                        "yaw": 0.83062344789505
                    }
                },
                "velocity": {
                    "x": 7.872889041900635,
                    "y": 0.13862860202789307,
                    "z": 0.34994614124298096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.819662570953369,
                "transform": {
                    "location": {
                        "x": -2024.1171875,
                        "y": 4069.020263671875,
                        "z": 360.3490295410156
                    },
                    "rotation": {
                        "roll": 0.03605550155043602,
                        "pitch": 2.5272109508514404,
                        "yaw": 0.8669325709342957
                    }
                },
                "velocity": {
                    "x": 7.810586929321289,
                    "y": 0.1474401354789734,
                    "z": 0.346575528383255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.16085958480835,
                "transform": {
                    "location": {
                        "x": -1930.49609375,
                        "y": 4062.8642578125,
                        "z": 363.4670104980469
                    },
                    "rotation": {
                        "roll": -0.0069580078125,
                        "pitch": -1.4100309610366821,
                        "yaw": -179.33926391601562
                    }
                },
                "velocity": {
                    "x": -5.1587815284729,
                    "y": -0.06169963255524635,
                    "z": -0.13279518485069275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.309248447418213,
                "transform": {
                    "location": {
                        "x": -1945.50634765625,
                        "y": 4062.79931640625,
                        "z": 363.0816650390625
                    },
                    "rotation": {
                        "roll": -0.0178832970559597,
                        "pitch": -1.627866268157959,
                        "yaw": -179.26190185546875
                    }
                },
                "velocity": {
                    "x": -5.306906223297119,
                    "y": -0.06205475702881813,
                    "z": -0.14496415853500366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.49727201461792,
                "transform": {
                    "location": {
                        "x": -1975.727783203125,
                        "y": 4062.66650390625,
                        "z": 362.14453125
                    },
                    "rotation": {
                        "roll": -0.0159606896340847,
                        "pitch": -1.8636784553527832,
                        "yaw": -179.18008422851562
                    }
                },
                "velocity": {
                    "x": -5.493834018707275,
                    "y": -0.06397805362939835,
                    "z": -0.1835641860961914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.341557502746582,
                "transform": {
                    "location": {
                        "x": -1990.5269775390625,
                        "y": 4062.60302734375,
                        "z": 361.6466979980469
                    },
                    "rotation": {
                        "roll": -0.022796630859375,
                        "pitch": -2.09377384185791,
                        "yaw": -179.24525451660156
                    }
                },
                "velocity": {
                    "x": -5.337882995605469,
                    "y": -0.0622146800160408,
                    "z": -0.18807832896709442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.430427551269531,
                "transform": {
                    "location": {
                        "x": -1930.6292724609375,
                        "y": 4066.115234375,
                        "z": 363.4693908691406
                    },
                    "rotation": {
                        "roll": -0.00039672935963608325,
                        "pitch": -0.9949877262115479,
                        "yaw": -179.2423858642578
                    }
                },
                "velocity": {
                    "x": -5.428229331970215,
                    "y": -0.06601287424564362,
                    "z": -0.13967616856098175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00580383837223053,
                "transform": {
                    "location": {
                        "x": -1945.4930419921875,
                        "y": 4066.049560546875,
                        "z": 363.0782470703125
                    },
                    "rotation": {
                        "roll": 0.002208838937804103,
                        "pitch": -2.3078250885009766,
                        "yaw": -179.43753051757812
                    }
                },
                "velocity": {
                    "x": 0.0057927886955440044,
                    "y": 0.00012633616279345006,
                    "z": -0.00033493517548777163
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.269353866577148,
                "transform": {
                    "location": {
                        "x": -1975.640625,
                        "y": 4065.91845703125,
                        "z": 362.1928405761719
                    },
                    "rotation": {
                        "roll": -0.01092529296875,
                        "pitch": -1.8409408330917358,
                        "yaw": -179.2950439453125
                    }
                },
                "velocity": {
                    "x": -5.266056537628174,
                    "y": -0.06212201341986656,
                    "z": -0.17572467029094696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.109968662261963,
                "transform": {
                    "location": {
                        "x": -1989.071533203125,
                        "y": 4065.87451171875,
                        "z": 361.68701171875
                    },
                    "rotation": {
                        "roll": -0.011230467818677425,
                        "pitch": -2.0100016593933105,
                        "yaw": -179.46788024902344
                    }
                },
                "velocity": {
                    "x": -3.1075143814086914,
                    "y": -0.056722916662693024,
                    "z": -0.10973311960697174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0010567472781985998,
        "expert_target_speed": 2.6975439563639934,
        "target_point": [
            50.58970873172191,
            -0.013639772454987348
        ],
        "target_point_next": [
            101.58970380678205,
            -0.026486606952583258
        ]
    },
    "40": {
        "acceleration": [
            -3.717489242553711,
            -0.12722313404083252,
            -0.12449532747268677
        ],
        "angular_velocity": [
            -0.11160837858915329,
            0.2141900360584259,
            0.6530453562736511
        ],
        "forward_vector": [
            -0.9996733665466309,
            -0.0059053488075733185,
            -0.024863896891474724
        ],
        "right_vector": [
            0.005900433752685785,
            -0.9999825358390808,
            0.0002710259868763387
        ],
        "location": [
            -1958.2081298828125,
            4066.02685546875,
            362.7065124511719
        ],
        "rotation": [
            -0.015533447265625,
            -1.4247431755065918,
            -179.6615447998047
        ],
        "velocity": [
            -2.405752420425415,
            -0.030051780864596367,
            -0.07277935743331909
        ],
        "speed": 2.405940111040979,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.786418914794922,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1976.98583984375,
                4065.90234375,
                362.1482849121094
            ],
            "velocity": [
                -4.724917411804199,
                -0.054857224225997925,
                -0.16715110838413239
            ],
            "speed_kmh": 17.021488827351384,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.993803977966309,
                "transform": {
                    "location": {
                        "x": -2022.1033935546875,
                        "y": 4072.29150390625,
                        "z": 360.4372863769531
                    },
                    "rotation": {
                        "roll": 0.04162845388054848,
                        "pitch": 2.4491758346557617,
                        "yaw": 0.8763423562049866
                    }
                },
                "velocity": {
                    "x": 7.986031532287598,
                    "y": 0.10770692676305771,
                    "z": 0.33556419610977173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.768448352813721,
                "transform": {
                    "location": {
                        "x": -2022.17138671875,
                        "y": 4069.046142578125,
                        "z": 360.43292236328125
                    },
                    "rotation": {
                        "roll": 0.01586862839758396,
                        "pitch": 2.4468400478363037,
                        "yaw": 0.7667878866195679
                    }
                },
                "velocity": {
                    "x": 7.76108455657959,
                    "y": 0.09070935100317001,
                    "z": 0.3257727026939392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.451186656951904,
                "transform": {
                    "location": {
                        "x": -1932.1634521484375,
                        "y": 4062.84423828125,
                        "z": 363.4233093261719
                    },
                    "rotation": {
                        "roll": -0.008819580078125,
                        "pitch": -1.3717068433761597,
                        "yaw": -179.3567352294922
                    }
                },
                "velocity": {
                    "x": -7.448077201843262,
                    "y": -0.08573756366968155,
                    "z": -0.1974182277917862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.80164098739624,
                "transform": {
                    "location": {
                        "x": -1946.9114990234375,
                        "y": 4062.78271484375,
                        "z": 363.04241943359375
                    },
                    "rotation": {
                        "roll": -0.015319821424782276,
                        "pitch": -1.6464511156082153,
                        "yaw": -179.2704315185547
                    }
                },
                "velocity": {
                    "x": -5.798964500427246,
                    "y": -0.06731227040290833,
                    "z": -0.16283687949180603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.587515354156494,
                "transform": {
                    "location": {
                        "x": -1977.411865234375,
                        "y": 4062.646484375,
                        "z": 362.08740234375
                    },
                    "rotation": {
                        "roll": -0.015350339002907276,
                        "pitch": -1.8174654245376587,
                        "yaw": -179.25161743164062
                    }
                },
                "velocity": {
                    "x": -7.582683563232422,
                    "y": -0.0888645127415657,
                    "z": -0.2557494640350342
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.810764789581299,
                "transform": {
                    "location": {
                        "x": -1991.935546875,
                        "y": 4062.586181640625,
                        "z": 361.59661865234375
                    },
                    "rotation": {
                        "roll": -0.01864623837172985,
                        "pitch": -2.075742244720459,
                        "yaw": -179.25686645507812
                    }
                },
                "velocity": {
                    "x": -5.80671501159668,
                    "y": -0.06771887093782425,
                    "z": -0.206074520945549
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.353063106536865,
                "transform": {
                    "location": {
                        "x": -1932.0531005859375,
                        "y": 4066.098388671875,
                        "z": 363.4326171875
                    },
                    "rotation": {
                        "roll": -0.005767820402979851,
                        "pitch": -1.0981372594833374,
                        "yaw": -179.28021240234375
                    }
                },
                "velocity": {
                    "x": -6.350411891937256,
                    "y": -0.07627890259027481,
                    "z": -0.16690818965435028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.879733920097351,
                "transform": {
                    "location": {
                        "x": -1945.7816162109375,
                        "y": 4066.046875,
                        "z": 363.0704650878906
                    },
                    "rotation": {
                        "roll": -0.006378171965479851,
                        "pitch": -1.5146763324737549,
                        "yaw": -179.4670867919922
                    }
                },
                "velocity": {
                    "x": -1.8789016008377075,
                    "y": -0.019771596416831017,
                    "z": -0.05232148990035057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.728191375732422,
                "transform": {
                    "location": {
                        "x": -1976.98583984375,
                        "y": 4065.90234375,
                        "z": 362.1482849121094
                    },
                    "rotation": {
                        "roll": -0.012329098768532276,
                        "pitch": -1.9457910060882568,
                        "yaw": -179.34632873535156
                    }
                },
                "velocity": {
                    "x": -4.724917411804199,
                    "y": -0.054857224225997925,
                    "z": -0.16715110838413239
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.821586847305298,
                "transform": {
                    "location": {
                        "x": -1989.9368896484375,
                        "y": 4065.8623046875,
                        "z": 361.6564025878906
                    },
                    "rotation": {
                        "roll": -0.011901854537427425,
                        "pitch": -2.00695538520813,
                        "yaw": -179.34173583984375
                    }
                },
                "velocity": {
                    "x": -3.818882703781128,
                    "y": -0.04745788127183914,
                    "z": -0.13567644357681274
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0036834643688052893,
        "expert_target_speed": 3.477166969024381,
        "target_point": [
            50.08963003903265,
            -0.08079478125540351
        ],
        "target_point_next": [
            101.08956578145913,
            -0.15964251861419548
        ]
    },
    "45": {
        "acceleration": [
            -4.568476676940918,
            -0.02794399857521057,
            -0.12395977973937988
        ],
        "angular_velocity": [
            0.026261702179908752,
            0.3211841583251953,
            0.7158953547477722
        ],
        "forward_vector": [
            -0.9996798634529114,
            -0.00918635819107294,
            -0.023576337844133377
        ],
        "right_vector": [
            0.00917808711528778,
            -0.999957799911499,
            0.0004590012540575117
        ],
        "location": [
            -1958.9442138671875,
            4066.01708984375,
            362.68414306640625
        ],
        "rotation": [
            -0.0263061486184597,
            -1.3509498834609985,
            -179.4735107421875
        ],
        "velocity": [
            -3.475484609603882,
            -0.05090514197945595,
            -0.10439934581518173
        ],
        "speed": 3.4758573913602087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.53727912902832,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1977.4730224609375,
                4065.905029296875,
                362.1351013183594
            ],
            "velocity": [
                0.0004347309295553714,
                0.0011238879524171352,
                0.00038894955650903285
            ],
            "speed_kmh": 0.004558511095959847,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.657224655151367,
                "transform": {
                    "location": {
                        "x": -2020.1514892578125,
                        "y": 4072.3173828125,
                        "z": 360.51971435546875
                    },
                    "rotation": {
                        "roll": 0.030605493113398552,
                        "pitch": 2.355151653289795,
                        "yaw": 0.7612941861152649
                    }
                },
                "velocity": {
                    "x": 7.650035381317139,
                    "y": 0.09524022042751312,
                    "z": 0.31777092814445496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.331648349761963,
                "transform": {
                    "location": {
                        "x": -2020.260009765625,
                        "y": 4069.068603515625,
                        "z": 360.5137023925781
                    },
                    "rotation": {
                        "roll": 0.016599928960204124,
                        "pitch": 2.378934383392334,
                        "yaw": 0.6874001026153564
                    }
                },
                "velocity": {
                    "x": 7.3248114585876465,
                    "y": 0.08400600403547287,
                    "z": 0.3052043914794922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.913338661193848,
                "transform": {
                    "location": {
                        "x": -1933.990478515625,
                        "y": 4062.822998046875,
                        "z": 363.37615966796875
                    },
                    "rotation": {
                        "roll": -0.010284423828125,
                        "pitch": -1.5334457159042358,
                        "yaw": -179.33973693847656
                    }
                },
                "velocity": {
                    "x": -6.910417556762695,
                    "y": -0.08087965101003647,
                    "z": -0.18394146859645844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.480746746063232,
                "transform": {
                    "location": {
                        "x": -1948.5496826171875,
                        "y": 4062.7626953125,
                        "z": 362.99749755859375
                    },
                    "rotation": {
                        "roll": -0.012207032181322575,
                        "pitch": -1.7715734243392944,
                        "yaw": -179.32481384277344
                    }
                },
                "velocity": {
                    "x": -7.47731351852417,
                    "y": -0.08588121086359024,
                    "z": -0.20971953868865967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.660409927368164,
                "transform": {
                    "location": {
                        "x": -1979.216552734375,
                        "y": 4062.625244140625,
                        "z": 362.0274658203125
                    },
                    "rotation": {
                        "roll": -0.01388549618422985,
                        "pitch": -1.9600797891616821,
                        "yaw": -179.31649780273438
                    }
                },
                "velocity": {
                    "x": -6.656039714813232,
                    "y": -0.07763799279928207,
                    "z": -0.2283990979194641
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.5158610343933105,
                "transform": {
                    "location": {
                        "x": -1993.6005859375,
                        "y": 4062.566162109375,
                        "z": 361.5384826660156
                    },
                    "rotation": {
                        "roll": -0.01525878719985485,
                        "pitch": -2.1735846996307373,
                        "yaw": -179.3049774169922
                    }
                },
                "velocity": {
                    "x": -7.510610103607178,
                    "y": -0.087467722594738,
                    "z": -0.2669277787208557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.910462379455566,
                "transform": {
                    "location": {
                        "x": -1933.629638671875,
                        "y": 4066.079345703125,
                        "z": 363.3923034667969
                    },
                    "rotation": {
                        "roll": -0.006835937965661287,
                        "pitch": -1.4256311655044556,
                        "yaw": -179.34747314453125
                    }
                },
                "velocity": {
                    "x": -5.9079790115356445,
                    "y": -0.07085749506950378,
                    "z": -0.15597854554653168
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3074889183044434,
                "transform": {
                    "location": {
                        "x": -1946.3724365234375,
                        "y": 4066.04052734375,
                        "z": 363.0541076660156
                    },
                    "rotation": {
                        "roll": -0.007446288131177425,
                        "pitch": -1.5043901205062866,
                        "yaw": -179.5152587890625
                    }
                },
                "velocity": {
                    "x": -2.306452989578247,
                    "y": -0.026292212307453156,
                    "z": -0.06393596529960632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012662530643865466,
                "transform": {
                    "location": {
                        "x": -1977.4730224609375,
                        "y": 4065.905029296875,
                        "z": 362.1351013183594
                    },
                    "rotation": {
                        "roll": -0.0467834435403347,
                        "pitch": -2.3520848751068115,
                        "yaw": -178.51614379882812
                    }
                },
                "velocity": {
                    "x": 0.0004347309295553714,
                    "y": 0.0011238879524171352,
                    "z": 0.00038894955650903285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.768368721008301,
                "transform": {
                    "location": {
                        "x": -1991.0101318359375,
                        "y": 4065.849853515625,
                        "z": 361.6182861328125
                    },
                    "rotation": {
                        "roll": -0.013977047987282276,
                        "pitch": -1.9995651245117188,
                        "yaw": -179.32965087890625
                    }
                },
                "velocity": {
                    "x": -4.765036582946777,
                    "y": -0.056459300220012665,
                    "z": -0.16905248165130615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.018080199137330055,
        "expert_target_speed": 4.47120195406692,
        "target_point": [
            49.352952439795715,
            -0.24819305953471205
        ],
        "target_point_next": [
            100.35235471386787,
            -0.49442543896629854
        ]
    },
    "50": {
        "acceleration": [
            -4.287204742431641,
            -0.12161046266555786,
            -0.13463914394378662
        ],
        "angular_velocity": [
            -0.09069076180458069,
            0.04883485287427902,
            0.7895963191986084
        ],
        "forward_vector": [
            -0.9996665716171265,
            -0.012354371137917042,
            -0.022672615945339203
        ],
        "right_vector": [
            0.012344601564109325,
            -0.9999236464500427,
            0.0005708347307518125
        ],
        "location": [
            -1959.96435546875,
            4066.001708984375,
            362.653076171875
        ],
        "rotation": [
            -0.0327148362994194,
            -1.2991565465927124,
            -179.2919464111328
        ],
        "velocity": [
            -4.605957984924316,
            -0.07625409960746765,
            -0.14027918875217438
        ],
        "speed": 4.606589155394153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.784574508666992,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1977.74072265625,
                4065.89990234375,
                362.12255859375
            ],
            "velocity": [
                -1.7111092805862427,
                -0.021883726119995117,
                -0.058055680245161057
            ],
            "speed_kmh": 6.1640414105872505,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.4933552742004395,
                "transform": {
                    "location": {
                        "x": -2018.3094482421875,
                        "y": 4072.339599609375,
                        "z": 360.5972900390625
                    },
                    "rotation": {
                        "roll": 0.028122251853346825,
                        "pitch": 2.1857149600982666,
                        "yaw": 0.6602692008018494
                    }
                },
                "velocity": {
                    "x": 6.487501621246338,
                    "y": 0.06435608118772507,
                    "z": 0.26803043484687805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.3303985595703125,
                "transform": {
                    "location": {
                        "x": -2018.6177978515625,
                        "y": 4069.08642578125,
                        "z": 360.5811767578125
                    },
                    "rotation": {
                        "roll": 0.009787182323634624,
                        "pitch": 2.454653739929199,
                        "yaw": 0.621111273765564
                    }
                },
                "velocity": {
                    "x": 6.32476282119751,
                    "y": 0.05201653763651848,
                    "z": 0.2619418799877167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.57483434677124,
                "transform": {
                    "location": {
                        "x": -1935.5543212890625,
                        "y": 4062.8076171875,
                        "z": 363.3348388671875
                    },
                    "rotation": {
                        "roll": -0.005706787575036287,
                        "pitch": -1.5958189964294434,
                        "yaw": -179.43594360351562
                    }
                },
                "velocity": {
                    "x": -5.572662353515625,
                    "y": -0.04369020834565163,
                    "z": -0.14933869242668152
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.59178638458252,
                "transform": {
                    "location": {
                        "x": -1950.570556640625,
                        "y": 4062.742431640625,
                        "z": 362.94000244140625
                    },
                    "rotation": {
                        "roll": -0.01712035946547985,
                        "pitch": -1.7416366338729858,
                        "yaw": -179.3995361328125
                    }
                },
                "velocity": {
                    "x": -8.588054656982422,
                    "y": -0.069968581199646,
                    "z": -0.24331334233283997
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5613096952438354,
                "transform": {
                    "location": {
                        "x": -1980.347412109375,
                        "y": 4062.614013671875,
                        "z": 361.9903564453125
                    },
                    "rotation": {
                        "roll": -0.01681518368422985,
                        "pitch": -2.2416064739227295,
                        "yaw": -179.26980590820312
                    }
                },
                "velocity": {
                    "x": -1.560323715209961,
                    "y": -0.00982796959578991,
                    "z": -0.054603446274995804
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.361311912536621,
                "transform": {
                    "location": {
                        "x": -1995.6171875,
                        "y": 4062.545654296875,
                        "z": 361.4666442871094
                    },
                    "rotation": {
                        "roll": -0.0177917443215847,
                        "pitch": -2.1173107624053955,
                        "yaw": -179.41893005371094
                    }
                },
                "velocity": {
                    "x": -8.355719566345215,
                    "y": -0.06709527224302292,
                    "z": -0.2983141541481018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007919786497950554,
                "transform": {
                    "location": {
                        "x": -1934.2618408203125,
                        "y": 4066.0703125,
                        "z": 363.3815002441406
                    },
                    "rotation": {
                        "roll": 0.004863553214818239,
                        "pitch": -3.118677854537964,
                        "yaw": -179.4918670654297
                    }
                },
                "velocity": {
                    "x": -0.007701745256781578,
                    "y": -0.001198118319734931,
                    "z": -0.0014037949731573462
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7240387201309204,
                "transform": {
                    "location": {
                        "x": -1946.564697265625,
                        "y": 4066.038330078125,
                        "z": 363.0486755371094
                    },
                    "rotation": {
                        "roll": -0.003387449774891138,
                        "pitch": -1.8047817945480347,
                        "yaw": -179.55697631835938
                    }
                },
                "velocity": {
                    "x": -0.7237151265144348,
                    "y": -0.007903262041509151,
                    "z": -0.02014857716858387
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7122337818145752,
                "transform": {
                    "location": {
                        "x": -1977.74072265625,
                        "y": 4065.89990234375,
                        "z": 362.12255859375
                    },
                    "rotation": {
                        "roll": -0.0357360765337944,
                        "pitch": -1.9407639503479004,
                        "yaw": -178.65834045410156
                    }
                },
                "velocity": {
                    "x": -1.7111092805862427,
                    "y": -0.021883726119995117,
                    "z": -0.058055680245161057
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.276231288909912,
                "transform": {
                    "location": {
                        "x": -1992.298095703125,
                        "y": 4065.8349609375,
                        "z": 361.5731201171875
                    },
                    "rotation": {
                        "roll": -0.015441890805959702,
                        "pitch": -2.0091819763183594,
                        "yaw": -179.3262481689453
                    }
                },
                "velocity": {
                    "x": -5.272561550140381,
                    "y": -0.062303900718688965,
                    "z": -0.18662665784358978
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.030949750915169716,
        "expert_target_speed": 5.544184070260557,
        "target_point": [
            48.33166449572683,
            -0.407343851671573
        ],
        "target_point_next": [
            99.33003054870709,
            -0.8151705594115217
        ]
    },
    "55": {
        "acceleration": [
            0.9906387329101562,
            0.02827093005180359,
            0.006254315376281738
        ],
        "angular_velocity": [
            0.06995196640491486,
            -1.4713917970657349,
            0.32936525344848633
        ],
        "forward_vector": [
            -0.9996007084846497,
            -0.014640925452113152,
            -0.024169592186808586
        ],
        "right_vector": [
            0.014634312130510807,
            -0.9998928308486938,
            0.0004504751996137202
        ],
        "location": [
            -1961.2333984375,
            4065.981689453125,
            362.6149597167969
        ],
        "rotation": [
            -0.02581787109375,
            -1.3849505186080933,
            -179.16085815429688
        ],
        "velocity": [
            -5.236739158630371,
            -0.0830572322010994,
            -0.15990234911441803
        ],
        "speed": 5.237397781279711,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.093137741088867,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1978.318603515625,
                4065.89111328125,
                362.1021728515625
            ],
            "velocity": [
                -2.895345449447632,
                -0.03717392683029175,
                -0.09766091406345367
            ],
            "speed_kmh": 10.430029959345758,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.6522064208984375,
                "transform": {
                    "location": {
                        "x": -2016.817626953125,
                        "y": 4072.35400390625,
                        "z": 360.6597595214844
                    },
                    "rotation": {
                        "roll": 0.02108031138777733,
                        "pitch": 2.105726718902588,
                        "yaw": 0.5318692326545715
                    }
                },
                "velocity": {
                    "x": 5.647149562835693,
                    "y": 0.04564134404063225,
                    "z": 0.23464059829711914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6856584548950195,
                "transform": {
                    "location": {
                        "x": -2017.01123046875,
                        "y": 4069.099609375,
                        "z": 360.64874267578125
                    },
                    "rotation": {
                        "roll": 0.008729616180062294,
                        "pitch": 2.348881483078003,
                        "yaw": 0.5216411352157593
                    }
                },
                "velocity": {
                    "x": 6.679678916931152,
                    "y": 0.05098126456141472,
                    "z": 0.27806371450424194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.008974075317383,
                "transform": {
                    "location": {
                        "x": -1936.8287353515625,
                        "y": 4062.797119140625,
                        "z": 363.3006896972656
                    },
                    "rotation": {
                        "roll": -0.00506591796875,
                        "pitch": -1.5782995223999023,
                        "yaw": -179.5250244140625
                    }
                },
                "velocity": {
                    "x": -5.006996154785156,
                    "y": -0.039926376193761826,
                    "z": -0.13497136533260345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.55275821685791,
                "transform": {
                    "location": {
                        "x": -1952.8431396484375,
                        "y": 4062.7236328125,
                        "z": 362.87445068359375
                    },
                    "rotation": {
                        "roll": -0.00958251766860485,
                        "pitch": -1.7521892786026,
                        "yaw": -179.5373992919922
                    }
                },
                "velocity": {
                    "x": -9.548418045043945,
                    "y": -0.07165809720754623,
                    "z": -0.2788619101047516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3251938819885254,
                "transform": {
                    "location": {
                        "x": -1980.7977294921875,
                        "y": 4062.60986328125,
                        "z": 361.9732971191406
                    },
                    "rotation": {
                        "roll": -0.012542721815407276,
                        "pitch": -2.042902708053589,
                        "yaw": -179.37156677246094
                    }
                },
                "velocity": {
                    "x": -2.3237721920013428,
                    "y": -0.01542197447270155,
                    "z": -0.07981961965560913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.988548278808594,
                "transform": {
                    "location": {
                        "x": -1997.664306640625,
                        "y": 4062.528564453125,
                        "z": 361.3918762207031
                    },
                    "rotation": {
                        "roll": -0.009735106490552425,
                        "pitch": -2.057095766067505,
                        "yaw": -179.52195739746094
                    }
                },
                "velocity": {
                    "x": -7.983038902282715,
                    "y": -0.061336372047662735,
                    "z": -0.2902374863624573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1721789836883545,
                "transform": {
                    "location": {
                        "x": -1934.4105224609375,
                        "y": 4066.068603515625,
                        "z": 363.37359619140625
                    },
                    "rotation": {
                        "roll": -6.103468331275508e-05,
                        "pitch": -2.071657657623291,
                        "yaw": -179.49111938476562
                    }
                },
                "velocity": {
                    "x": -1.1717461347579956,
                    "y": -0.009718775749206543,
                    "z": -0.03033454902470112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.168264865875244,
                "transform": {
                    "location": {
                        "x": -1946.935791015625,
                        "y": 4066.0341796875,
                        "z": 363.0384216308594
                    },
                    "rotation": {
                        "roll": -0.00701904296875,
                        "pitch": -1.4243470430374146,
                        "yaw": -179.51304626464844
                    }
                },
                "velocity": {
                    "x": -2.1672937870025635,
                    "y": -0.02332311123609543,
                    "z": -0.060552071779966354
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.897230625152588,
                "transform": {
                    "location": {
                        "x": -1978.318603515625,
                        "y": 4065.89111328125,
                        "z": 362.1021728515625
                    },
                    "rotation": {
                        "roll": -0.0296325646340847,
                        "pitch": -1.8372457027435303,
                        "yaw": -178.8066864013672
                    }
                },
                "velocity": {
                    "x": -2.895345449447632,
                    "y": -0.03717392683029175,
                    "z": -0.09766091406345367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.173434734344482,
                "transform": {
                    "location": {
                        "x": -1993.71337890625,
                        "y": 4065.818115234375,
                        "z": 361.52288818359375
                    },
                    "rotation": {
                        "roll": -0.014770505018532276,
                        "pitch": -2.004817485809326,
                        "yaw": -179.3243865966797
                    }
                },
                "velocity": {
                    "x": -6.169099807739258,
                    "y": -0.07328926026821136,
                    "z": -0.21938732266426086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.051907915621995926,
        "expert_target_speed": 6.128812560666843,
        "target_point": [
            47.061405999232115,
            -0.5193511651852171
        ],
        "target_point_next": [
            98.05870552975578,
            -1.0438540644773662
        ]
    },
    "60": {
        "acceleration": [
            -12.581043243408203,
            -0.24795681238174438,
            -0.4008728265762329
        ],
        "angular_velocity": [
            -0.07569068670272827,
            2.2976763248443604,
            0.30714261531829834
        ],
        "forward_vector": [
            -0.9995146989822388,
            -0.01588890329003334,
            -0.02679504081606865
        ],
        "right_vector": [
            0.01588083803653717,
            -0.9998738169670105,
            0.0005138054839335382
        ],
        "location": [
            -1962.570068359375,
            4065.9599609375,
            362.5744934082031
        ],
        "rotation": [
            -0.029449462890625,
            -1.5354264974594116,
            -179.08926391601562
        ],
        "velocity": [
            -5.9282145500183105,
            -0.10038335621356964,
            -0.18439868092536926
        ],
        "speed": 5.9290643924023545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.671756744384766,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1979.2340087890625,
                4065.8779296875,
                362.0707092285156
            ],
            "velocity": [
                -4.340125560760498,
                -0.05410981923341751,
                -0.1496431529521942
            ],
            "speed_kmh": 15.634949962917288,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.274640083312988,
                "transform": {
                    "location": {
                        "x": -2015.3707275390625,
                        "y": 4072.3662109375,
                        "z": 360.7168273925781
                    },
                    "rotation": {
                        "roll": 0.011543785221874714,
                        "pitch": 2.4773573875427246,
                        "yaw": 0.45072245597839355
                    }
                },
                "velocity": {
                    "x": 6.269184589385986,
                    "y": 0.0459706149995327,
                    "z": 0.2575233280658722
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.631695747375488,
                "transform": {
                    "location": {
                        "x": -2015.249755859375,
                        "y": 4069.114013671875,
                        "z": 360.7222900390625
                    },
                    "rotation": {
                        "roll": 0.006571703590452671,
                        "pitch": 2.3046627044677734,
                        "yaw": 0.4378909766674042
                    }
                },
                "velocity": {
                    "x": 7.624965667724609,
                    "y": 0.05739447474479675,
                    "z": 0.3152535855770111
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.671056270599365,
                "transform": {
                    "location": {
                        "x": -1938.1474609375,
                        "y": 4062.786865234375,
                        "z": 363.26495361328125
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": -1.508966326713562,
                        "yaw": -179.5807647705078
                    }
                },
                "velocity": {
                    "x": -5.668901443481445,
                    "y": -0.04199018329381943,
                    "z": -0.15058578550815582
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.473729133605957,
                "transform": {
                    "location": {
                        "x": -1955.3502197265625,
                        "y": 4062.705810546875,
                        "z": 362.8012390136719
                    },
                    "rotation": {
                        "roll": -0.008758543990552425,
                        "pitch": -1.7791411876678467,
                        "yaw": -179.58193969726562
                    }
                },
                "velocity": {
                    "x": -10.468976974487305,
                    "y": -0.06483408063650131,
                    "z": -0.3087409436702728
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6876919269561768,
                "transform": {
                    "location": {
                        "x": -1981.5631103515625,
                        "y": 4062.602783203125,
                        "z": 361.9461975097656
                    },
                    "rotation": {
                        "roll": -0.007843016646802425,
                        "pitch": -1.949062705039978,
                        "yaw": -179.4727325439453
                    }
                },
                "velocity": {
                    "x": -3.685386896133423,
                    "y": -0.03074144758284092,
                    "z": -0.12668444216251373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0172700881958,
                "transform": {
                    "location": {
                        "x": -1999.6514892578125,
                        "y": 4062.512939453125,
                        "z": 361.3195495605469
                    },
                    "rotation": {
                        "roll": -0.007385252509266138,
                        "pitch": -2.0890815258026123,
                        "yaw": -179.55833435058594
                    }
                },
                "velocity": {
                    "x": -8.011690139770508,
                    "y": -0.05902992561459541,
                    "z": -0.2931806147098541
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.054039239883423,
                "transform": {
                    "location": {
                        "x": -1934.830322265625,
                        "y": 4066.0654296875,
                        "z": 363.3601379394531
                    },
                    "rotation": {
                        "roll": -0.004943846259266138,
                        "pitch": -1.4496734142303467,
                        "yaw": -179.4972686767578
                    }
                },
                "velocity": {
                    "x": -2.053257465362549,
                    "y": -0.016228536143898964,
                    "z": -0.0542968325316906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6013450622558594,
                "transform": {
                    "location": {
                        "x": -1947.652099609375,
                        "y": 4066.026123046875,
                        "z": 363.01861572265625
                    },
                    "rotation": {
                        "roll": -0.011230467818677425,
                        "pitch": -1.347589373588562,
                        "yaw": -179.46392822265625
                    }
                },
                "velocity": {
                    "x": -3.5997633934020996,
                    "y": -0.039697278290987015,
                    "z": -0.09906559437513351
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.34304141998291,
                "transform": {
                    "location": {
                        "x": -1979.2340087890625,
                        "y": 4065.8779296875,
                        "z": 362.0707092285156
                    },
                    "rotation": {
                        "roll": -0.023040764033794403,
                        "pitch": -1.8055672645568848,
                        "yaw": -178.99290466308594
                    }
                },
                "velocity": {
                    "x": -4.340125560760498,
                    "y": -0.05410981923341751,
                    "z": -0.1496431529521942
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.339522838592529,
                "transform": {
                    "location": {
                        "x": -1995.4129638671875,
                        "y": 4065.799560546875,
                        "z": 361.46246337890625
                    },
                    "rotation": {
                        "roll": -0.01354980655014515,
                        "pitch": -1.9925504922866821,
                        "yaw": -179.31954956054688
                    }
                },
                "velocity": {
                    "x": -7.3344879150390625,
                    "y": -0.07125934213399887,
                    "z": -0.2623095214366913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08304408937692642,
        "expert_target_speed": 6.783101608213057,
        "target_point": [
            45.72387373471974,
            -0.5786474188184565
        ],
        "target_point_next": [
            96.72047791857342,
            -1.1668858166418947
        ]
    },
    "65": {
        "acceleration": [
            -3.1564807891845703,
            -0.08911430835723877,
            -0.09609401226043701
        ],
        "angular_velocity": [
            -0.0318317636847496,
            -0.32346025109291077,
            0.3212733268737793
        ],
        "forward_vector": [
            -0.9995660185813904,
            -0.01730450987815857,
            -0.02383936010301113
        ],
        "right_vector": [
            0.01729397475719452,
            -0.9998501539230347,
            0.000648029032163322
        ],
        "location": [
            -1964.2227783203125,
            4065.93115234375,
            362.5223083496094
        ],
        "rotation": [
            -0.0371398888528347,
            -1.366024136543274,
            -179.00819396972656
        ],
        "velocity": [
            -7.062932014465332,
            -0.12838485836982727,
            -0.2204093486070633
        ],
        "speed": 7.064098761541911,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.26288604736328,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1980.47802734375,
                4065.86376953125,
                362.0285339355469
            ],
            "velocity": [
                -5.32780647277832,
                -0.044262900948524475,
                -0.18360011279582977
            ],
            "speed_kmh": 19.192150026062237,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.679719924926758,
                "transform": {
                    "location": {
                        "x": -2013.5809326171875,
                        "y": 4072.37890625,
                        "z": 360.7867431640625
                    },
                    "rotation": {
                        "roll": 0.008283553645014763,
                        "pitch": 2.7162978649139404,
                        "yaw": 0.3302064538002014
                    }
                },
                "velocity": {
                    "x": 7.6735076904296875,
                    "y": 0.04789690300822258,
                    "z": 0.30510082840919495
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.516402244567871,
                "transform": {
                    "location": {
                        "x": -2013.1480712890625,
                        "y": 4069.12890625,
                        "z": 360.80718994140625
                    },
                    "rotation": {
                        "roll": 0.0038872379809617996,
                        "pitch": 2.1852574348449707,
                        "yaw": 0.4184752404689789
                    }
                },
                "velocity": {
                    "x": 8.509608268737793,
                    "y": 0.05130152031779289,
                    "z": 0.33623039722442627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.56522798538208,
                "transform": {
                    "location": {
                        "x": -1939.7332763671875,
                        "y": 4062.775634765625,
                        "z": 363.22198486328125
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -1.4177491664886475,
                        "yaw": -179.49124145507812
                    }
                },
                "velocity": {
                    "x": -7.562385559082031,
                    "y": -0.04786013439297676,
                    "z": -0.20176951587200165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.369502067565918,
                "transform": {
                    "location": {
                        "x": -1958.0843505859375,
                        "y": 4062.689208984375,
                        "z": 362.7200012207031
                    },
                    "rotation": {
                        "roll": -0.004608152899891138,
                        "pitch": -1.7952195405960083,
                        "yaw": -179.6595916748047
                    }
                },
                "velocity": {
                    "x": -11.364109992980957,
                    "y": -0.06535498797893524,
                    "z": -0.3439624011516571
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.866120338439941,
                "transform": {
                    "location": {
                        "x": -1982.6324462890625,
                        "y": 4062.593017578125,
                        "z": 361.90869140625
                    },
                    "rotation": {
                        "roll": -0.005157469771802425,
                        "pitch": -1.9217555522918701,
                        "yaw": -179.62734985351562
                    }
                },
                "velocity": {
                    "x": -4.863007545471191,
                    "y": -0.034696247428655624,
                    "z": -0.17052504420280457
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.086760520935059,
                "transform": {
                    "location": {
                        "x": -2001.6683349609375,
                        "y": 4062.500244140625,
                        "z": 361.2456970214844
                    },
                    "rotation": {
                        "roll": -0.00634765625,
                        "pitch": -2.0998528003692627,
                        "yaw": -179.63232421875
                    }
                },
                "velocity": {
                    "x": -8.081202507019043,
                    "y": -0.046384546905756,
                    "z": -0.29615330696105957
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0403319597244263,
                "transform": {
                    "location": {
                        "x": -1935.33935546875,
                        "y": 4066.061767578125,
                        "z": 363.34722900390625
                    },
                    "rotation": {
                        "roll": -0.007598876953125,
                        "pitch": -1.6134066581726074,
                        "yaw": -179.48944091796875
                    }
                },
                "velocity": {
                    "x": -1.0399389266967773,
                    "y": -0.006783279124647379,
                    "z": -0.02777545340359211
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.107039928436279,
                "transform": {
                    "location": {
                        "x": -1948.7518310546875,
                        "y": 4066.013916015625,
                        "z": 362.9879150390625
                    },
                    "rotation": {
                        "roll": -0.012115475721657276,
                        "pitch": -1.32817804813385,
                        "yaw": -179.40060424804688
                    }
                },
                "velocity": {
                    "x": -5.1048688888549805,
                    "y": -0.05847989395260811,
                    "z": -0.1369367241859436
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.331152439117432,
                "transform": {
                    "location": {
                        "x": -1980.47802734375,
                        "y": 4065.86376953125,
                        "z": 362.0285339355469
                    },
                    "rotation": {
                        "roll": -0.01092529296875,
                        "pitch": -1.8605365753173828,
                        "yaw": -179.24461364746094
                    }
                },
                "velocity": {
                    "x": -5.32780647277832,
                    "y": -0.044262900948524475,
                    "z": -0.18360011279582977
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.464277267456055,
                "transform": {
                    "location": {
                        "x": -1997.36083984375,
                        "y": 4065.780517578125,
                        "z": 361.39251708984375
                    },
                    "rotation": {
                        "roll": -0.009216305799782276,
                        "pitch": -2.045983076095581,
                        "yaw": -179.46368408203125
                    }
                },
                "velocity": {
                    "x": -8.458410263061523,
                    "y": -0.07047122716903687,
                    "z": -0.30713334679603577
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0959545373916626,
        "expert_target_speed": 7.791063214677774,
        "target_point": [
            44.0700483051458,
            -0.6435328921494158
        ],
        "target_point_next": [
            95.06576922664291,
            -1.303919441147138
        ]
    },
    "70": {
        "acceleration": [
            -2.453756332397461,
            0.0635722279548645,
            -0.08957117795944214
        ],
        "angular_velocity": [
            0.12925802171230316,
            -0.3980025053024292,
            -0.13941988348960876
        ],
        "forward_vector": [
            -0.9994955062866211,
            -0.018336879089474678,
            -0.02593095228075981
        ],
        "right_vector": [
            0.01832970604300499,
            -0.9998318552970886,
            0.0005143495509400964
        ],
        "location": [
            -1966.0767822265625,
            4065.897216796875,
            362.464599609375
        ],
        "rotation": [
            -0.029479974880814552,
            -1.4859007596969604,
            -178.94895935058594
        ],
        "velocity": [
            -7.7099223136901855,
            -0.13780972361564636,
            -0.24387656152248383
        ],
        "speed": 7.711153843820057,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.77845287322998,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1981.8477783203125,
                4065.849853515625,
                361.9819030761719
            ],
            "velocity": [
                -5.545427322387695,
                -0.042807143181562424,
                -0.19309398531913757
            ],
            "speed_kmh": 19.976231620808477,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.658073425292969,
                "transform": {
                    "location": {
                        "x": -2011.503662109375,
                        "y": 4072.390869140625,
                        "z": 360.8707275390625
                    },
                    "rotation": {
                        "roll": 0.007403871510177851,
                        "pitch": 2.518789291381836,
                        "yaw": 0.30260133743286133
                    }
                },
                "velocity": {
                    "x": 8.651301383972168,
                    "y": 0.04702409729361534,
                    "z": 0.33912140130996704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8326263427734375,
                "transform": {
                    "location": {
                        "x": -2011.1136474609375,
                        "y": 4069.14111328125,
                        "z": 360.8866271972656
                    },
                    "rotation": {
                        "roll": 0.002817740198224783,
                        "pitch": 2.2599456310272217,
                        "yaw": 0.35148829221725464
                    }
                },
                "velocity": {
                    "x": 7.826545238494873,
                    "y": 0.044823963195085526,
                    "z": 0.30530571937561035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.092001914978027,
                "transform": {
                    "location": {
                        "x": -1941.8360595703125,
                        "y": 4062.76220703125,
                        "z": 363.1653747558594
                    },
                    "rotation": {
                        "roll": -0.0018920892616733909,
                        "pitch": -1.4409444332122803,
                        "yaw": -179.60098266601562
                    }
                },
                "velocity": {
                    "x": -9.088504791259766,
                    "y": -0.05464426055550575,
                    "z": -0.24616770446300507
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.471837997436523,
                "transform": {
                    "location": {
                        "x": -1960.9798583984375,
                        "y": 4062.67236328125,
                        "z": 362.6318664550781
                    },
                    "rotation": {
                        "roll": -0.005126953590661287,
                        "pitch": -1.7743464708328247,
                        "yaw": -179.6685333251953
                    }
                },
                "velocity": {
                    "x": -11.466341018676758,
                    "y": -0.05925912782549858,
                    "z": -0.350101500749588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.668834209442139,
                "transform": {
                    "location": {
                        "x": -1983.9962158203125,
                        "y": 4062.583984375,
                        "z": 361.8609313964844
                    },
                    "rotation": {
                        "roll": -0.006561278831213713,
                        "pitch": -1.8826254606246948,
                        "yaw": -179.52117919921875
                    }
                },
                "velocity": {
                    "x": -6.664622783660889,
                    "y": -0.047978147864341736,
                    "z": -0.23205818235874176
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.073339462280273,
                "transform": {
                    "location": {
                        "x": -2003.6876220703125,
                        "y": 4062.48828125,
                        "z": 361.171630859375
                    },
                    "rotation": {
                        "roll": -0.0037841780576854944,
                        "pitch": -2.0862059593200684,
                        "yaw": -179.6649932861328
                    }
                },
                "velocity": {
                    "x": -8.067763328552246,
                    "y": -0.04517754912376404,
                    "z": -0.2965630888938904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7147457003593445,
                "transform": {
                    "location": {
                        "x": -1935.423095703125,
                        "y": 4066.061279296875,
                        "z": 363.3456115722656
                    },
                    "rotation": {
                        "roll": -0.009704588912427425,
                        "pitch": -1.801995038986206,
                        "yaw": -179.4568634033203
                    }
                },
                "velocity": {
                    "x": -0.7144705057144165,
                    "y": -0.005759275518357754,
                    "z": -0.018977679312229156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.567254543304443,
                "transform": {
                    "location": {
                        "x": -1950.107421875,
                        "y": 4065.999267578125,
                        "z": 362.9496765136719
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": -1.4912078380584717,
                        "yaw": -179.4221954345703
                    }
                },
                "velocity": {
                    "x": -5.56479549407959,
                    "y": -0.05138639360666275,
                    "z": -0.157271608710289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.548953056335449,
                "transform": {
                    "location": {
                        "x": -1981.8477783203125,
                        "y": 4065.849853515625,
                        "z": 361.9819030761719
                    },
                    "rotation": {
                        "roll": -0.006958005949854851,
                        "pitch": -1.9494315385818481,
                        "yaw": -179.50668334960938
                    }
                },
                "velocity": {
                    "x": -5.545427322387695,
                    "y": -0.042807143181562424,
                    "z": -0.19309398531913757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.512579917907715,
                "transform": {
                    "location": {
                        "x": -1999.525390625,
                        "y": 4065.762451171875,
                        "z": 361.3140869140625
                    },
                    "rotation": {
                        "roll": -0.005859375465661287,
                        "pitch": -2.0984456539154053,
                        "yaw": -179.583984375
                    }
                },
                "velocity": {
                    "x": -8.506573677062988,
                    "y": -0.0641552284359932,
                    "z": -0.31323444843292236
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11304070055484772,
        "expert_target_speed": 8.326692154581941,
        "target_point": [
            42.215044698948844,
            -0.6890335479305294
        ],
        "target_point_next": [
            93.21005533442147,
            -1.4021625582440453
        ]
    },
    "75": {
        "acceleration": [
            -1.6257858276367188,
            0.07797524333000183,
            -0.0870060920715332
        ],
        "angular_velocity": [
            0.03758017718791962,
            -0.3858211636543274,
            -0.7869567275047302
        ],
        "forward_vector": [
            -0.9994998574256897,
            -0.015605498105287552,
            -0.02750478871166706
        ],
        "right_vector": [
            0.015613047406077385,
            -0.9998781085014343,
            -5.973157749394886e-05
        ],
        "location": [
            -1968.0672607421875,
            4065.865478515625,
            362.4017639160156
        ],
        "rotation": [
            0.0034236626233905554,
            -1.5761070251464844,
            -179.10549926757812
        ],
        "velocity": [
            -8.191032409667969,
            -0.11498578637838364,
            -0.2617935836315155
        ],
        "speed": 8.191839455659522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.460836410522461,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1983.5206298828125,
                4065.83642578125,
                361.92218017578125
            ],
            "velocity": [
                -7.959900856018066,
                -0.05963775888085365,
                -0.2779061198234558
            ],
            "speed_kmh": 28.673906239701356,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.094206809997559,
                "transform": {
                    "location": {
                        "x": -2009.4180908203125,
                        "y": 4072.40234375,
                        "z": 360.9549255371094
                    },
                    "rotation": {
                        "roll": 0.0030134289991110563,
                        "pitch": 2.1452393531799316,
                        "yaw": 0.29831385612487793
                    }
                },
                "velocity": {
                    "x": 8.088003158569336,
                    "y": 0.04251381754875183,
                    "z": 0.31398195028305054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.988568305969238,
                "transform": {
                    "location": {
                        "x": -2009.1549072265625,
                        "y": 4069.153076171875,
                        "z": 360.96331787109375
                    },
                    "rotation": {
                        "roll": 0.002005496760830283,
                        "pitch": 2.2287042140960693,
                        "yaw": 0.32706964015960693
                    }
                },
                "velocity": {
                    "x": 7.982387542724609,
                    "y": 0.04292483627796173,
                    "z": 0.31124821305274963
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.339868545532227,
                "transform": {
                    "location": {
                        "x": -1944.274169921875,
                        "y": 4062.748046875,
                        "z": 363.0994567871094
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": -1.4731146097183228,
                        "yaw": -179.6759490966797
                    }
                },
                "velocity": {
                    "x": -10.335864067077637,
                    "y": -0.05798589438199997,
                    "z": -0.2818499207496643
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.065873146057129,
                "transform": {
                    "location": {
                        "x": -1963.669921875,
                        "y": 4062.658447265625,
                        "z": 362.54779052734375
                    },
                    "rotation": {
                        "roll": -0.0018005374586209655,
                        "pitch": -1.6564301252365112,
                        "yaw": -179.72434997558594
                    }
                },
                "velocity": {
                    "x": -10.060781478881836,
                    "y": -0.04834838584065437,
                    "z": -0.3164549469947815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.349615097045898,
                "transform": {
                    "location": {
                        "x": -1985.9068603515625,
                        "y": 4062.571044921875,
                        "z": 361.7939453125
                    },
                    "rotation": {
                        "roll": -0.004211424384266138,
                        "pitch": -1.8938610553741455,
                        "yaw": -179.60911560058594
                    }
                },
                "velocity": {
                    "x": -8.344273567199707,
                    "y": -0.05017376318573952,
                    "z": -0.29435816407203674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.022380828857422,
                "transform": {
                    "location": {
                        "x": -2005.6954345703125,
                        "y": 4062.477294921875,
                        "z": 361.0961608886719
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": -2.160094976425171,
                        "yaw": -179.69268798828125
                    }
                },
                "velocity": {
                    "x": -8.016292572021484,
                    "y": -0.04252827167510986,
                    "z": -0.3095714747905731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6771951913833618,
                "transform": {
                    "location": {
                        "x": -1935.728271484375,
                        "y": 4066.05859375,
                        "z": 363.33587646484375
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -1.3682780265808105,
                        "yaw": -179.52410888671875
                    }
                },
                "velocity": {
                    "x": -1.67656672000885,
                    "y": -0.012738068588078022,
                    "z": -0.04410518705844879
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.136397361755371,
                "transform": {
                    "location": {
                        "x": -1951.615478515625,
                        "y": 4065.986083984375,
                        "z": 362.9065856933594
                    },
                    "rotation": {
                        "roll": -0.005767820868641138,
                        "pitch": -1.3507381677627563,
                        "yaw": -179.42013549804688
                    }
                },
                "velocity": {
                    "x": -7.13312292098999,
                    "y": -0.06265902519226074,
                    "z": -0.20687556266784668
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9649739265441895,
                "transform": {
                    "location": {
                        "x": -1983.5206298828125,
                        "y": 4065.83642578125,
                        "z": 361.92218017578125
                    },
                    "rotation": {
                        "roll": -0.005615233909338713,
                        "pitch": -1.7977876663208008,
                        "yaw": -179.57420349121094
                    }
                },
                "velocity": {
                    "x": -7.959900856018066,
                    "y": -0.05963775888085365,
                    "z": -0.2779061198234558
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.152631759643555,
                "transform": {
                    "location": {
                        "x": -2001.599365234375,
                        "y": 4065.748046875,
                        "z": 361.2381286621094
                    },
                    "rotation": {
                        "roll": -0.0026245119515806437,
                        "pitch": -2.112058401107788,
                        "yaw": -179.66162109375
                    }
                },
                "velocity": {
                    "x": -8.147004127502441,
                    "y": -0.049428604543209076,
                    "z": -0.29882070422172546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12083300203084946,
        "expert_target_speed": 8.857464133740017,
        "target_point": [
            40.22603832801675,
            -0.5743479792058322
        ],
        "target_point_next": [
            91.22280707964318,
            -1.1481420105911897
        ]
    },
    "80": {
        "acceleration": [
            -2.1825027465820312,
            0.11261224746704102,
            -0.07564961910247803
        ],
        "angular_velocity": [
            0.06370178610086441,
            -0.2792019844055176,
            -0.863855242729187
        ],
        "forward_vector": [
            -0.9995076656341553,
            -0.011988229118287563,
            -0.028996096923947334
        ],
        "right_vector": [
            0.012004300020635128,
            -0.9999278783798218,
            -0.0003802613355219364
        ],
        "location": [
            -1970.1781005859375,
            4065.83935546875,
            362.33404541015625
        ],
        "rotation": [
            0.021796533837914467,
            -1.661586880683899,
            -179.3128204345703
        ],
        "velocity": [
            -8.681817054748535,
            -0.09059207886457443,
            -0.28050053119659424
        ],
        "speed": 8.682289692061394,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.427264213562012,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1985.5977783203125,
                4065.82177734375,
                361.8506164550781
            ],
            "velocity": [
                -8.206396102905273,
                -0.04962381720542908,
                -0.2893342971801758
            ],
            "speed_kmh": 29.561922054912603,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2048.921142578125,
                        "y": 4072.134521484375,
                        "z": 359.6235046386719
                    },
                    "rotation": {
                        "roll": -4.1724124155706477e-10,
                        "pitch": 2.378934383392334,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2048.287841796875,
                        "y": 4068.88720703125,
                        "z": 359.47906494140625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.865957260131836,
                "transform": {
                    "location": {
                        "x": -2007.4376220703125,
                        "y": 4072.412353515625,
                        "z": 361.0321044921875
                    },
                    "rotation": {
                        "roll": 0.0036710514687001705,
                        "pitch": 2.1413462162017822,
                        "yaw": 0.28554242849349976
                    }
                },
                "velocity": {
                    "x": 7.859853744506836,
                    "y": 0.03889564424753189,
                    "z": 0.30735623836517334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053812980651855,
                "transform": {
                    "location": {
                        "x": -2007.1400146484375,
                        "y": 4069.1630859375,
                        "z": 361.0421447753906
                    },
                    "rotation": {
                        "roll": 0.0019430482061579823,
                        "pitch": 2.2168333530426025,
                        "yaw": 0.30174654722213745
                    }
                },
                "velocity": {
                    "x": 8.047536849975586,
                    "y": 0.04077693447470665,
                    "z": 0.31526538729667664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.598944664001465,
                "transform": {
                    "location": {
                        "x": -1946.8031005859375,
                        "y": 4062.73388671875,
                        "z": 363.0307312011719
                    },
                    "rotation": {
                        "roll": -0.0025024402420967817,
                        "pitch": -1.602567195892334,
                        "yaw": -179.6822967529297
                    }
                },
                "velocity": {
                    "x": -9.595020294189453,
                    "y": -0.05069980025291443,
                    "z": -0.26972758769989014
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.726523399353027,
                "transform": {
                    "location": {
                        "x": -1966.0999755859375,
                        "y": 4062.647216796875,
                        "z": 362.47210693359375
                    },
                    "rotation": {
                        "roll": -0.0028991701547056437,
                        "pitch": -1.7583296298980713,
                        "yaw": -179.71826171875
                    }
                },
                "velocity": {
                    "x": -9.721580505371094,
                    "y": -0.04239477217197418,
                    "z": -0.3071334660053253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.127012252807617,
                "transform": {
                    "location": {
                        "x": -1987.9910888671875,
                        "y": 4062.55859375,
                        "z": 361.72119140625
                    },
                    "rotation": {
                        "roll": -0.0036926257889717817,
                        "pitch": -2.013457775115967,
                        "yaw": -179.65240478515625
                    }
                },
                "velocity": {
                    "x": -8.121777534484863,
                    "y": -0.04805625230073929,
                    "z": -0.2876424789428711
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.099191665649414,
                "transform": {
                    "location": {
                        "x": -2007.7099609375,
                        "y": 4062.467529296875,
                        "z": 361.0188903808594
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -2.245574712753296,
                        "yaw": -179.7139129638672
                    }
                },
                "velocity": {
                    "x": -8.092897415161133,
                    "y": -0.04021299630403519,
                    "z": -0.31670132279396057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.672024965286255,
                "transform": {
                    "location": {
                        "x": -1936.278564453125,
                        "y": 4066.053955078125,
                        "z": 363.3205261230469
                    },
                    "rotation": {
                        "roll": -0.0018615728477016091,
                        "pitch": -1.1904882192611694,
                        "yaw": -179.60462951660156
                    }
                },
                "velocity": {
                    "x": -2.6710195541381836,
                    "y": -0.02050623670220375,
                    "z": -0.07036381214857101
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.513861656188965,
                "transform": {
                    "location": {
                        "x": -1953.6358642578125,
                        "y": 4065.96923828125,
                        "z": 362.84814453125
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": -1.393249273300171,
                        "yaw": -179.51544189453125
                    }
                },
                "velocity": {
                    "x": -8.510066032409668,
                    "y": -0.06963274627923965,
                    "z": -0.2444768100976944
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.211645126342773,
                "transform": {
                    "location": {
                        "x": -1985.5977783203125,
                        "y": 4065.82177734375,
                        "z": 361.8506164550781
                    },
                    "rotation": {
                        "roll": -0.0018920892616733909,
                        "pitch": -1.9388378858566284,
                        "yaw": -179.6103515625
                    }
                },
                "velocity": {
                    "x": -8.206396102905273,
                    "y": -0.04962381720542908,
                    "z": -0.2893342971801758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.155556678771973,
                "transform": {
                    "location": {
                        "x": -2003.573974609375,
                        "y": 4065.736083984375,
                        "z": 361.1658935546875
                    },
                    "rotation": {
                        "roll": -0.00042724551167339087,
                        "pitch": -2.1290245056152344,
                        "yaw": -179.70408630371094
                    }
                },
                "velocity": {
                    "x": -7.150646209716797,
                    "y": -0.03851823881268501,
                    "z": -0.2622269093990326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11656934767961502,
        "expert_target_speed": 9.289476251379913,
        "target_point": [
            38.11685201550491,
            -0.4295834657566426
        ],
        "target_point_next": [
            89.11536325703744,
            -0.8188312590652942
        ]
    },
    "85": {
        "acceleration": [
            -1.7171859741210938,
            0.11740393936634064,
            -0.06466031074523926
        ],
        "angular_velocity": [
            0.03628118336200714,
            -0.03945547342300415,
            -0.8966346383094788
        ],
        "forward_vector": [
            -0.9995337724685669,
            -0.008171179331839085,
            -0.02941720187664032
        ],
        "right_vector": [
            0.008193954825401306,
            -0.9999661445617676,
            -0.0006537522422149777
        ],
        "location": [
            -1972.40966796875,
            4065.819580078125,
            362.2613830566406
        ],
        "rotation": [
            0.037473466247320175,
            -1.6857247352600098,
            -179.5316162109375
        ],
        "velocity": [
            -9.15579891204834,
            -0.062016118317842484,
            -0.30042341351509094
        ],
        "speed": 9.15600894040612,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.101150512695312,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1987.5032958984375,
                4065.810546875,
                361.7848815917969
            ],
            "velocity": [
                -7.116117000579834,
                -0.04080100357532501,
                -0.2519281804561615
            ],
            "speed_kmh": 25.634490981866772,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2046.83935546875,
                        "y": 4072.1435546875,
                        "z": 359.5403137207031
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2046.2044677734375,
                        "y": 4068.896240234375,
                        "z": 359.45855712890625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.102170944213867,
                "transform": {
                    "location": {
                        "x": -2005.4437255859375,
                        "y": 4072.42236328125,
                        "z": 361.1075439453125
                    },
                    "rotation": {
                        "roll": 0.0017083437414839864,
                        "pitch": 2.2621448040008545,
                        "yaw": 0.2750304043292999
                    }
                },
                "velocity": {
                    "x": 8.096405029296875,
                    "y": 0.038691163063049316,
                    "z": 0.3031671345233917
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9956254959106445,
                "transform": {
                    "location": {
                        "x": -2005.137939453125,
                        "y": 4069.173095703125,
                        "z": 361.1185607910156
                    },
                    "rotation": {
                        "roll": 0.001536842086352408,
                        "pitch": 2.170497417449951,
                        "yaw": 0.28889936208724976
                    }
                },
                "velocity": {
                    "x": 7.990052700042725,
                    "y": 0.04026242718100548,
                    "z": 0.29574960470199585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.251503944396973,
                "transform": {
                    "location": {
                        "x": -1949.1221923828125,
                        "y": 4062.72216796875,
                        "z": 362.96575927734375
                    },
                    "rotation": {
                        "roll": -0.0003356931556481868,
                        "pitch": -1.6554875373840332,
                        "yaw": -179.7290802001953
                    }
                },
                "velocity": {
                    "x": -9.247682571411133,
                    "y": -0.046455882489681244,
                    "z": -0.2617945373058319
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.25239372253418,
                "transform": {
                    "location": {
                        "x": -1968.61083984375,
                        "y": 4062.635498046875,
                        "z": 362.39306640625
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -1.8575996160507202,
                        "yaw": -179.75852966308594
                    }
                },
                "velocity": {
                    "x": -10.246957778930664,
                    "y": -0.044040780514478683,
                    "z": -0.3309004008769989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.924751281738281,
                "transform": {
                    "location": {
                        "x": -1989.9774169921875,
                        "y": 4062.547119140625,
                        "z": 361.6510925292969
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": -2.0424792766571045,
                        "yaw": -179.67495727539062
                    }
                },
                "velocity": {
                    "x": -7.919650554656982,
                    "y": -0.04109290987253189,
                    "z": -0.281303733587265
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026262283325195,
                "transform": {
                    "location": {
                        "x": -2009.723876953125,
                        "y": 4062.457763671875,
                        "z": 360.93975830078125
                    },
                    "rotation": {
                        "roll": -0.0014953608624637127,
                        "pitch": -2.2328500747680664,
                        "yaw": -179.7239532470703
                    }
                },
                "velocity": {
                    "x": -8.020003318786621,
                    "y": -0.036982305347919464,
                    "z": -0.31476420164108276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9778623580932617,
                "transform": {
                    "location": {
                        "x": -1937.1065673828125,
                        "y": 4066.047607421875,
                        "z": 363.2980041503906
                    },
                    "rotation": {
                        "roll": -0.005950926803052425,
                        "pitch": -1.057094693183899,
                        "yaw": -179.58689880371094
                    }
                },
                "velocity": {
                    "x": -3.976325035095215,
                    "y": -0.03059813380241394,
                    "z": -0.10625812411308289
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.500409126281738,
                "transform": {
                    "location": {
                        "x": -1955.7484130859375,
                        "y": 4065.953369140625,
                        "z": 362.7861633300781
                    },
                    "rotation": {
                        "roll": 0.0033460776321589947,
                        "pitch": -1.6290205717086792,
                        "yaw": -179.57215881347656
                    }
                },
                "velocity": {
                    "x": -8.4965181350708,
                    "y": -0.0569884367287159,
                    "z": -0.250778466463089
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.120691776275635,
                "transform": {
                    "location": {
                        "x": -1987.5032958984375,
                        "y": 4065.810546875,
                        "z": 361.7848815917969
                    },
                    "rotation": {
                        "roll": -0.0007934567984193563,
                        "pitch": -2.1066009998321533,
                        "yaw": -179.65640258789062
                    }
                },
                "velocity": {
                    "x": -7.116117000579834,
                    "y": -0.04080100357532501,
                    "z": -0.2519281804561615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.78361177444458,
                "transform": {
                    "location": {
                        "x": -2005.279296875,
                        "y": 4065.727294921875,
                        "z": 361.1019592285156
                    },
                    "rotation": {
                        "roll": -0.0004882814828306437,
                        "pitch": -2.1871631145477295,
                        "yaw": -179.72244262695312
                    }
                },
                "velocity": {
                    "x": -6.778506278991699,
                    "y": -0.032893598079681396,
                    "z": -0.2610766589641571
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11223592609167099,
        "expert_target_speed": 9.569967424759213,
        "target_point": [
            35.88656001332574,
            -0.2855631067921172
        ],
        "target_point_next": [
            86.88618579355,
            -0.4800701102688102
        ]
    },
    "90": {
        "acceleration": [
            -2.2977638244628906,
            0.15486669540405273,
            -0.08736968040466309
        ],
        "angular_velocity": [
            0.07071182876825333,
            -0.16903570294380188,
            -0.9431443810462952
        ],
        "forward_vector": [
            -0.9995466470718384,
            -0.004172038286924362,
            -0.029817570000886917
        ],
        "right_vector": [
            0.0042007542215287685,
            -0.9999907612800598,
            -0.0009004733292385936
        ],
        "location": [
            -1974.765625,
            4065.8076171875,
            362.18359375
        ],
        "rotation": [
            0.051616281270980835,
            -1.7086741924285889,
            -179.76084899902344
        ],
        "velocity": [
            -9.675700187683105,
            -0.02739100717008114,
            -0.3232864439487457
        ],
        "speed": 9.675738958302082,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.266438484191895,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -1989.02490234375,
                4065.802001953125,
                361.7316589355469
            ],
            "velocity": [
                -5.366527080535889,
                -0.030713260173797607,
                -0.18998752534389496
            ],
            "speed_kmh": 19.331916693763027,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2044.75732421875,
                        "y": 4072.15283203125,
                        "z": 359.4571838378906
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2044.121337890625,
                        "y": 4068.9052734375,
                        "z": 359.46099853515625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.115251541137695,
                "transform": {
                    "location": {
                        "x": -2003.4114990234375,
                        "y": 4072.43212890625,
                        "z": 361.1840515136719
                    },
                    "rotation": {
                        "roll": 0.0015114668058231473,
                        "pitch": 2.1387779712677,
                        "yaw": 0.2708040773868561
                    }
                },
                "velocity": {
                    "x": 8.109625816345215,
                    "y": 0.03707513585686684,
                    "z": 0.29984548687934875
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.978841304779053,
                "transform": {
                    "location": {
                        "x": -2003.1448974609375,
                        "y": 4069.1826171875,
                        "z": 361.1932067871094
                    },
                    "rotation": {
                        "roll": 0.0005698002642020583,
                        "pitch": 2.074089288711548,
                        "yaw": 0.2790653705596924
                    }
                },
                "velocity": {
                    "x": 7.973386764526367,
                    "y": 0.03856218606233597,
                    "z": 0.2924458086490631
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.784627914428711,
                "transform": {
                    "location": {
                        "x": -1951.5252685546875,
                        "y": 4062.71044921875,
                        "z": 362.8971862792969
                    },
                    "rotation": {
                        "roll": -0.00027465741732157767,
                        "pitch": -1.60940420627594,
                        "yaw": -179.7182159423828
                    }
                },
                "velocity": {
                    "x": -9.780471801757812,
                    "y": -0.04562865197658539,
                    "z": -0.2814757227897644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.372838020324707,
                "transform": {
                    "location": {
                        "x": -1971.05712890625,
                        "y": 4062.62451171875,
                        "z": 362.3132019042969
                    },
                    "rotation": {
                        "roll": -0.0007629395695403218,
                        "pitch": -1.803770899772644,
                        "yaw": -179.7264404296875
                    }
                },
                "velocity": {
                    "x": -9.367754936218262,
                    "y": -0.042133577167987823,
                    "z": -0.305746465921402
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.14584732055664,
                "transform": {
                    "location": {
                        "x": -1991.990234375,
                        "y": 4062.537109375,
                        "z": 361.57965087890625
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -2.022125244140625,
                        "yaw": -179.71046447753906
                    }
                },
                "velocity": {
                    "x": -8.140653610229492,
                    "y": -0.039540138095617294,
                    "z": -0.2881411612033844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.089512825012207,
                "transform": {
                    "location": {
                        "x": -2011.736572265625,
                        "y": 4062.447998046875,
                        "z": 360.8609924316406
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -2.231743812561035,
                        "yaw": -179.73223876953125
                    }
                },
                "velocity": {
                    "x": -8.083236694335938,
                    "y": -0.03756559640169144,
                    "z": -0.31638282537460327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.314308166503906,
                "transform": {
                    "location": {
                        "x": -1938.27587890625,
                        "y": 4066.03857421875,
                        "z": 363.2667236328125
                    },
                    "rotation": {
                        "roll": -0.005889893043786287,
                        "pitch": -0.9781786799430847,
                        "yaw": -179.5711212158203
                    }
                },
                "velocity": {
                    "x": -5.312347888946533,
                    "y": -0.040835779160261154,
                    "z": -0.1384286880493164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.31976318359375,
                "transform": {
                    "location": {
                        "x": -1957.972900390625,
                        "y": 4065.939697265625,
                        "z": 362.7199401855469
                    },
                    "rotation": {
                        "roll": 0.0035635284148156643,
                        "pitch": -1.5848702192306519,
                        "yaw": -179.65829467773438
                    }
                },
                "velocity": {
                    "x": -9.315414428710938,
                    "y": -0.055607665330171585,
                    "z": -0.2791748642921448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.369976997375488,
                "transform": {
                    "location": {
                        "x": -1989.02490234375,
                        "y": 4065.802001953125,
                        "z": 361.7316589355469
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -2.1950109004974365,
                        "yaw": -179.63436889648438
                    }
                },
                "velocity": {
                    "x": -5.366527080535889,
                    "y": -0.030713260173797607,
                    "z": -0.18998752534389496
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.496194839477539,
                "transform": {
                    "location": {
                        "x": -2007.05078125,
                        "y": 4065.719482421875,
                        "z": 361.03436279296875
                    },
                    "rotation": {
                        "roll": 1.1898938282683957e-05,
                        "pitch": -2.2357394695281982,
                        "yaw": -179.73374938964844
                    }
                },
                "velocity": {
                    "x": -7.490479946136475,
                    "y": -0.0350777730345726,
                    "z": -0.29054558277130127
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.6845703125,
                        "y": 4062.014892578125,
                        "z": -141.24624633789062
                    },
                    "rotation": {
                        "roll": -4.17147205666879e-10,
                        "pitch": 2.0446512699127197,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": -141.61734008789062
                    },
                    "rotation": {
                        "roll": 2.0851988191683546e-10,
                        "pitch": 1.577876091003418,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.684814453125,
                        "y": 4062.11083984375,
                        "z": -141.82659912109375
                    },
                    "rotation": {
                        "roll": 1.0422616242289351e-10,
                        "pitch": 0.602094829082489,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.684814453125,
                        "y": 4062.158935546875,
                        "z": -141.8485565185547
                    },
                    "rotation": {
                        "roll": 5.211131526294821e-11,
                        "pitch": -0.37368646264076233,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": -141.73788452148438
                    },
                    "rotation": {
                        "roll": 2.0845238035693825e-10,
                        "pitch": -0.603419840335846,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": -141.61058044433594
                    },
                    "rotation": {
                        "roll": 4.1692899133138894e-10,
                        "pitch": -0.8634588122367859,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32001540064811707,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09834256768226624,
        "expert_target_speed": 9.676905516286427,
        "target_point": [
            33.53142882317142,
            -0.14411961899125827
        ],
        "target_point_next": [
            84.53142462656064,
            -0.13459325566792257
        ]
    },
    "95": {
        "acceleration": [
            -1.7927932739257812,
            0.1628437340259552,
            -0.09038388729095459
        ],
        "angular_velocity": [
            0.056780800223350525,
            -0.05943586304783821,
            -0.978397786617279
        ],
        "forward_vector": [
            -0.9995360970497131,
            1.7547408788232133e-05,
            -0.030456598848104477
        ],
        "right_vector": [
            1.727916423988063e-05,
            -0.9999993443489075,
            -0.0011432183673605323
        ],
        "location": [
            -1977.2490234375,
            4065.804931640625,
            362.1004638671875
        ],
        "rotation": [
            0.06553200632333755,
            -1.7453044652938843,
            179.99899291992188
        ],
        "velocity": [
            -10.173087120056152,
            0.012242513708770275,
            -0.34395042061805725
        ],
        "speed": 10.173094486506763,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 166.43101501464844,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2143.655029296875,
                4065.22216796875,
                359.27490234375
            ],
            "velocity": [
                -5.318631649017334,
                -0.02777843177318573,
                -0.6775788068771362
            ],
            "speed_kmh": 19.302086565745594,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.739731788635254,
                "transform": {
                    "location": {
                        "x": -2043.10302734375,
                        "y": 4072.166259765625,
                        "z": 359.4693908691406
                    },
                    "rotation": {
                        "roll": 0.019334064796566963,
                        "pitch": 2.7861568927764893,
                        "yaw": 0.46097105741500854
                    }
                },
                "velocity": {
                    "x": 5.7259039878845215,
                    "y": 0.080513134598732,
                    "z": 0.38995176553726196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.326468467712402,
                "transform": {
                    "location": {
                        "x": -2042.50927734375,
                        "y": 4068.919921875,
                        "z": 359.51385498046875
                    },
                    "rotation": {
                        "roll": -0.0031433110125362873,
                        "pitch": 2.4400439262390137,
                        "yaw": 0.5339453816413879
                    }
                },
                "velocity": {
                    "x": 6.317954063415527,
                    "y": 0.07651612907648087,
                    "z": 0.319071501493454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.974142074584961,
                "transform": {
                    "location": {
                        "x": -2001.40625,
                        "y": 4072.44189453125,
                        "z": 361.25787353515625
                    },
                    "rotation": {
                        "roll": 0.0012485590996220708,
                        "pitch": 2.0668492317199707,
                        "yaw": 0.2602832019329071
                    }
                },
                "velocity": {
                    "x": 7.968790531158447,
                    "y": 0.036191657185554504,
                    "z": 0.2898544371128082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.045883178710938,
                "transform": {
                    "location": {
                        "x": -2001.140625,
                        "y": 4069.1923828125,
                        "z": 361.2662658691406
                    },
                    "rotation": {
                        "roll": 0.001648962264880538,
                        "pitch": 2.0830163955688477,
                        "yaw": 0.27794891595840454
                    }
                },
                "velocity": {
                    "x": 8.040446281433105,
                    "y": 0.039078488945961,
                    "z": 0.2931479811668396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.081576347351074,
                "transform": {
                    "location": {
                        "x": -1953.8612060546875,
                        "y": 4062.69970703125,
                        "z": 362.8299560546875
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -1.7186530828475952,
                        "yaw": -179.75453186035156
                    }
                },
                "velocity": {
                    "x": -9.077584266662598,
                    "y": -0.04121498391032219,
                    "z": -0.266086220741272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.691710472106934,
                "transform": {
                    "location": {
                        "x": -1973.4163818359375,
                        "y": 4062.614013671875,
                        "z": 362.23651123046875
                    },
                    "rotation": {
                        "roll": 0.0005190789815969765,
                        "pitch": -1.8784794807434082,
                        "yaw": -179.75367736816406
                    }
                },
                "velocity": {
                    "x": -9.686384201049805,
                    "y": -0.0410994328558445,
                    "z": -0.31864437460899353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06535530090332,
                "transform": {
                    "location": {
                        "x": -1994.0189208984375,
                        "y": 4062.52734375,
                        "z": 361.5079345703125
                    },
                    "rotation": {
                        "roll": -0.0010681146522983909,
                        "pitch": -2.0358264446258545,
                        "yaw": -179.71755981445312
                    }
                },
                "velocity": {
                    "x": -8.060195922851562,
                    "y": -0.03996400907635689,
                    "z": -0.28566834330558777
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035347938537598,
                "transform": {
                    "location": {
                        "x": -2013.750244140625,
                        "y": 4062.438720703125,
                        "z": 360.78118896484375
                    },
                    "rotation": {
                        "roll": -0.0007324222242459655,
                        "pitch": -2.2726428508758545,
                        "yaw": -179.74169921875
                    }
                },
                "velocity": {
                    "x": -8.02851676940918,
                    "y": -0.03617134317755699,
                    "z": -0.3292819559574127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.439888954162598,
                "transform": {
                    "location": {
                        "x": -1939.617431640625,
                        "y": 4066.029052734375,
                        "z": 363.2320251464844
                    },
                    "rotation": {
                        "roll": -0.0025329587515443563,
                        "pitch": -1.27230703830719,
                        "yaw": -179.56576538085938
                    }
                },
                "velocity": {
                    "x": -5.437827110290527,
                    "y": -0.03726192191243172,
                    "z": -0.14505502581596375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.684612274169922,
                "transform": {
                    "location": {
                        "x": -1960.359375,
                        "y": 4065.92578125,
                        "z": 362.64801025390625
                    },
                    "rotation": {
                        "roll": 0.0013734069652855396,
                        "pitch": -1.669701099395752,
                        "yaw": -179.67074584960938
                    }
                },
                "velocity": {
                    "x": -9.67996597290039,
                    "y": -0.05228777229785919,
                    "z": -0.295364648103714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.361690521240234,
                "transform": {
                    "location": {
                        "x": -2143.655029296875,
                        "y": 4065.22216796875,
                        "z": 359.27490234375
                    },
                    "rotation": {
                        "roll": -0.008331299759447575,
                        "pitch": 2.050750494003296,
                        "yaw": -179.59906005859375
                    }
                },
                "velocity": {
                    "x": -5.318631649017334,
                    "y": -0.02777843177318573,
                    "z": -0.6775788068771362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.134383201599121,
                "transform": {
                    "location": {
                        "x": -2162.31689453125,
                        "y": 4065.14013671875,
                        "z": 359.8986511230469
                    },
                    "rotation": {
                        "roll": -0.0015258792554959655,
                        "pitch": 1.8788893222808838,
                        "yaw": -179.75094604492188
                    }
                },
                "velocity": {
                    "x": -8.094172477722168,
                    "y": -0.03792021796107292,
                    "z": -0.8069286942481995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1163145899772644,
                "transform": {
                    "location": {
                        "x": -2133.684326171875,
                        "y": 4062.014892578125,
                        "z": 358.76214599609375
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": 2.047560930252075,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.004267863929271698,
                    "y": -9.90388507489115e-05,
                    "z": 0.11623622477054596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.010448304936289787,
                "transform": {
                    "location": {
                        "x": -2122.6845703125,
                        "y": 4062.06298828125,
                        "z": 358.3832092285156
                    },
                    "rotation": {
                        "roll": -0.00030517540290020406,
                        "pitch": 1.5756971836090088,
                        "yaw": -179.75010681152344
                    }
                },
                "velocity": {
                    "x": 0.00029040573281235993,
                    "y": -6.48810964776203e-05,
                    "z": 0.010444066487252712
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.01626933552324772,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.17205810546875
                    },
                    "rotation": {
                        "roll": 0.00031250095344148576,
                        "pitch": 0.5996496081352234,
                        "yaw": -179.75015258789062
                    }
                },
                "velocity": {
                    "x": -0.00017714157002046704,
                    "y": 6.106868386268616e-05,
                    "z": -0.016268257051706314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0133088119328022,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1521301269531
                    },
                    "rotation": {
                        "roll": 0.0006307780859060585,
                        "pitch": -0.3782012164592743,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": -0.0002880942483898252,
                    "y": 0.0001447407266823575,
                    "z": 0.013304906897246838
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.11789330095052719,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.253662109375
                    },
                    "rotation": {
                        "roll": 0.02090308628976345,
                        "pitch": -0.6032081246376038,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0009058839059434831,
                    "y": -0.0014397642808035016,
                    "z": -0.11788102984428406
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01201578788459301,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.39007568359375
                    },
                    "rotation": {
                        "roll": -3.0517338018398732e-05,
                        "pitch": -0.8653575778007507,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": -0.0003447061753831804,
                    "y": -0.00013366377970669419,
                    "z": 0.012010098434984684
                },
                "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": -0.07916424423456192,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            31.048339956446874,
            -0.006303327669794514
        ],
        "target_point_next": [
            82.04784785238847,
            0.21698363814991245
        ]
    },
    "100": {
        "acceleration": [
            -0.4445075988769531,
            0.18964432179927826,
            -0.05493521690368652
        ],
        "angular_velocity": [
            0.049455221742391586,
            -0.7051264643669128,
            -1.0180152654647827
        ],
        "forward_vector": [
            -0.9994971752166748,
            0.00437867920845747,
            -0.03140409663319588
        ],
        "right_vector": [
            -0.004337359219789505,
            -0.9999896287918091,
            -0.0013837467413395643
        ],
        "location": [
            -1979.8480224609375,
            4065.81298828125,
            362.0123596191406
        ],
        "rotation": [
            0.07932200282812119,
            -1.799618124961853,
            179.74899291992188
        ],
        "velocity": [
            -10.502528190612793,
            0.05750127509236336,
            -0.36119118332862854
        ],
        "speed": 10.502685598991034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 164.23892211914062,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.871270656585693,
                "transform": {
                    "location": {
                        "x": -2041.653564453125,
                        "y": 4072.185791015625,
                        "z": 359.5608825683594
                    },
                    "rotation": {
                        "roll": 0.02220660261809826,
                        "pitch": 2.6191177368164062,
                        "yaw": 0.6896108388900757
                    }
                },
                "velocity": {
                    "x": 5.8624444007873535,
                    "y": 0.08900867402553558,
                    "z": 0.3092610239982605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.976620197296143,
                "transform": {
                    "location": {
                        "x": -2040.9739990234375,
                        "y": 4068.941162109375,
                        "z": 359.5885009765625
                    },
                    "rotation": {
                        "roll": 0.013733125291764736,
                        "pitch": 2.551013946533203,
                        "yaw": 0.7607765793800354
                    }
                },
                "velocity": {
                    "x": 5.969424724578857,
                    "y": 0.0871034488081932,
                    "z": 0.27994537353515625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06403636932373,
                "transform": {
                    "location": {
                        "x": -1999.4036865234375,
                        "y": 4072.450927734375,
                        "z": 361.3304138183594
                    },
                    "rotation": {
                        "roll": 0.001239465782418847,
                        "pitch": 2.1221261024475098,
                        "yaw": 0.251987487077713
                    }
                },
                "velocity": {
                    "x": 8.058573722839355,
                    "y": 0.03444525972008705,
                    "z": 0.29476192593574524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.966468811035156,
                "transform": {
                    "location": {
                        "x": -1999.141357421875,
                        "y": 4069.201904296875,
                        "z": 361.33935546875
                    },
                    "rotation": {
                        "roll": 0.00035294867120683193,
                        "pitch": 2.0896689891815186,
                        "yaw": 0.2630440294742584
                    }
                },
                "velocity": {
                    "x": 7.961038112640381,
                    "y": 0.036309488117694855,
                    "z": 0.29185304045677185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.741477012634277,
                "transform": {
                    "location": {
                        "x": -1956.1964111328125,
                        "y": 4062.689208984375,
                        "z": 362.7607727050781
                    },
                    "rotation": {
                        "roll": -0.0012817378155887127,
                        "pitch": -1.6666207313537598,
                        "yaw": -179.7298126220703
                    }
                },
                "velocity": {
                    "x": -9.737141609191895,
                    "y": -0.04378282278776169,
                    "z": -0.28727445006370544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.028678894042969,
                "transform": {
                    "location": {
                        "x": -1975.9190673828125,
                        "y": 4062.602783203125,
                        "z": 362.15350341796875
                    },
                    "rotation": {
                        "roll": 7.981505041243508e-05,
                        "pitch": -1.9541921615600586,
                        "yaw": -179.73439025878906
                    }
                },
                "velocity": {
                    "x": -10.022902488708496,
                    "y": -0.04345448315143585,
                    "z": -0.337534636259079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020621299743652,
                "transform": {
                    "location": {
                        "x": -1996.0220947265625,
                        "y": 4062.517333984375,
                        "z": 361.4368591308594
                    },
                    "rotation": {
                        "roll": -0.000274658523267135,
                        "pitch": -2.040027141571045,
                        "yaw": -179.72825622558594
                    }
                },
                "velocity": {
                    "x": -8.01533031463623,
                    "y": -0.0376640185713768,
                    "z": -0.2888248860836029
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.091208457946777,
                "transform": {
                    "location": {
                        "x": -2015.763916015625,
                        "y": 4062.429931640625,
                        "z": 360.6993713378906
                    },
                    "rotation": {
                        "roll": 0.00013108404527883977,
                        "pitch": -2.376584768295288,
                        "yaw": -179.7469024658203
                    }
                },
                "velocity": {
                    "x": -8.084259033203125,
                    "y": -0.03560912609100342,
                    "z": -0.33337682485580444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.354904651641846,
                "transform": {
                    "location": {
                        "x": -1941.279296875,
                        "y": 4066.01806640625,
                        "z": 363.1861877441406
                    },
                    "rotation": {
                        "roll": 0.0017632944509387016,
                        "pitch": -0.9927952885627747,
                        "yaw": -179.61375427246094
                    }
                },
                "velocity": {
                    "x": -7.352062702178955,
                    "y": -0.047382645308971405,
                    "z": -0.19886447489261627
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.111825942993164,
                "transform": {
                    "location": {
                        "x": -1962.826171875,
                        "y": 4065.912841796875,
                        "z": 362.5723876953125
                    },
                    "rotation": {
                        "roll": 0.001541733625344932,
                        "pitch": -1.6853286027908325,
                        "yaw": -179.71432495117188
                    }
                },
                "velocity": {
                    "x": -10.106829643249512,
                    "y": -0.052225273102521896,
                    "z": -0.31351330876350403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.04017345607280731,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7820739746094
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 2.0516042709350586,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": 0.0015002527507022023,
                    "y": 4.3339168769307435e-05,
                    "z": 0.04014541208744049
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.004493166692554951,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.38519287109375
                    },
                    "rotation": {
                        "roll": -3.05176290567033e-05,
                        "pitch": 1.5715445280075073,
                        "yaw": -179.75003051757812
                    }
                },
                "velocity": {
                    "x": 0.00019930183771066368,
                    "y": 5.231298564467579e-05,
                    "z": 0.0044884392991662025
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.004853525198996067,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1695251464844
                    },
                    "rotation": {
                        "roll": 0.00016727841284591705,
                        "pitch": 0.5916582942008972,
                        "yaw": -179.75009155273438
                    }
                },
                "velocity": {
                    "x": -4.536777487373911e-05,
                    "y": -2.394701596131199e-06,
                    "z": -0.004853312391787767
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0047475122846663,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15460205078125
                    },
                    "rotation": {
                        "roll": 0.00022299759439192712,
                        "pitch": -0.38818010687828064,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -7.69706821301952e-05,
                    "y": -0.00014373662997968495,
                    "z": 0.004744711797684431
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.034416619688272476,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.20703125,
                        "z": 358.2327575683594
                    },
                    "rotation": {
                        "roll": 0.05514944717288017,
                        "pitch": -0.5894452929496765,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 0.0007519532809965312,
                    "y": 0.00044153648195788264,
                    "z": -0.03440557047724724
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005556526593863964,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3923034667969
                    },
                    "rotation": {
                        "roll": 0.0010108856949955225,
                        "pitch": -0.8693190813064575,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": -0.00013118772767484188,
                    "y": -4.462959986994974e-05,
                    "z": 0.005554798524826765
                },
                "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": -0.05360244959592819,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            28.449062495358962,
            0.12584806544160487
        ],
        "target_point_next": [
            79.44711054737819,
            0.5716704305743452
        ]
    },
    "105": {
        "acceleration": [
            -2.5436782836914062,
            0.2271445095539093,
            -0.13130605220794678
        ],
        "angular_velocity": [
            0.08082899451255798,
            -0.03241218253970146,
            -1.086220622062683
        ],
        "forward_vector": [
            -0.9995309114456177,
            0.00900100078433752,
            -0.029273854568600655
        ],
        "right_vector": [
            -0.008954264223575592,
            -0.9999584555625916,
            -0.0017272522673010826
        ],
        "location": [
            -1982.6456298828125,
            4065.834228515625,
            361.9151916503906
        ],
        "rotation": [
            0.09900674223899841,
            -1.677507996559143,
            179.4840545654297
        ],
        "velocity": [
            -11.627796173095703,
            0.11650725454092026,
            -0.4051668345928192
        ],
        "speed": 11.628379843444216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 161.44017028808594,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.503056049346924,
                "transform": {
                    "location": {
                        "x": -2040.2349853515625,
                        "y": 4072.20654296875,
                        "z": 359.62884521484375
                    },
                    "rotation": {
                        "roll": 0.025625495240092278,
                        "pitch": 2.597165584564209,
                        "yaw": 0.7992866635322571
                    }
                },
                "velocity": {
                    "x": 5.496689796447754,
                    "y": 0.0853731781244278,
                    "z": 0.2504764199256897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.305252552032471,
                "transform": {
                    "location": {
                        "x": -2039.521728515625,
                        "y": 4068.96337890625,
                        "z": 359.65521240234375
                    },
                    "rotation": {
                        "roll": 0.021856993436813354,
                        "pitch": 2.4917962551116943,
                        "yaw": 0.8370156288146973
                    }
                },
                "velocity": {
                    "x": 5.2991204261779785,
                    "y": 0.08253342658281326,
                    "z": 0.24128545820713043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056766510009766,
                "transform": {
                    "location": {
                        "x": -1997.3875732421875,
                        "y": 4072.458740234375,
                        "z": 361.4039306640625
                    },
                    "rotation": {
                        "roll": 0.0005064595025032759,
                        "pitch": 2.1217777729034424,
                        "yaw": 0.2454051673412323
                    }
                },
                "velocity": {
                    "x": 8.051484107971191,
                    "y": 0.034595683217048645,
                    "z": 0.2896386384963989
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039676666259766,
                "transform": {
                    "location": {
                        "x": -1997.141845703125,
                        "y": 4069.2099609375,
                        "z": 361.4122619628906
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 2.0698273181915283,
                        "yaw": 0.24911916255950928
                    }
                },
                "velocity": {
                    "x": 8.034454345703125,
                    "y": 0.0348435714840889,
                    "z": 0.2876338064670563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.915786743164062,
                "transform": {
                    "location": {
                        "x": -1958.673095703125,
                        "y": 4062.677490234375,
                        "z": 362.6869201660156
                    },
                    "rotation": {
                        "roll": -0.0003662105882540345,
                        "pitch": -1.7175602912902832,
                        "yaw": -179.75735473632812
                    }
                },
                "velocity": {
                    "x": -9.911175727844238,
                    "y": -0.04254137724637985,
                    "z": -0.29935652017593384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.872411727905273,
                "transform": {
                    "location": {
                        "x": -1978.2799072265625,
                        "y": 4062.592529296875,
                        "z": 362.0728454589844
                    },
                    "rotation": {
                        "roll": 0.0014860370429232717,
                        "pitch": -1.8398138284683228,
                        "yaw": -179.7641143798828
                    }
                },
                "velocity": {
                    "x": -8.867262840270996,
                    "y": -0.03670329973101616,
                    "z": -0.2999950647354126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.122950553894043,
                "transform": {
                    "location": {
                        "x": -1998.0426025390625,
                        "y": 4062.508056640625,
                        "z": 361.3638916015625
                    },
                    "rotation": {
                        "roll": 0.0017052984330803156,
                        "pitch": -2.095153570175171,
                        "yaw": -179.7413330078125
                    }
                },
                "velocity": {
                    "x": -8.117505073547363,
                    "y": -0.036843132227659225,
                    "z": -0.2950793504714966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031475067138672,
                "transform": {
                    "location": {
                        "x": -2017.777099609375,
                        "y": 4062.4208984375,
                        "z": 360.6155090332031
                    },
                    "rotation": {
                        "roll": 0.0006834837258793414,
                        "pitch": -2.3763387203216553,
                        "yaw": -179.74868774414062
                    }
                },
                "velocity": {
                    "x": -8.024393081665039,
                    "y": -0.0351698063313961,
                    "z": -0.3353724479675293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.25281810760498,
                "transform": {
                    "location": {
                        "x": -1943.2762451171875,
                        "y": 4066.005615234375,
                        "z": 363.1324768066406
                    },
                    "rotation": {
                        "roll": 0.0016970282886177301,
                        "pitch": -1.084681749343872,
                        "yaw": -179.6372833251953
                    }
                },
                "velocity": {
                    "x": -8.249617576599121,
                    "y": -0.050396569073200226,
                    "z": -0.22423507273197174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.480636596679688,
                "transform": {
                    "location": {
                        "x": -1965.4090576171875,
                        "y": 4065.89990234375,
                        "z": 362.4919738769531
                    },
                    "rotation": {
                        "roll": 0.0028142991941422224,
                        "pitch": -1.7443209886550903,
                        "yaw": -179.7210693359375
                    }
                },
                "velocity": {
                    "x": -10.475357055664062,
                    "y": -0.04851352050900459,
                    "z": -0.3290789723396301
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.006739755626767874,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.78662109375
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 2.053093194961548,
                        "yaw": -179.74984741210938
                    }
                },
                "velocity": {
                    "x": 0.0003110915422439575,
                    "y": 0.00018740624363999814,
                    "z": 0.006729963235557079
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0017790282145142555,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.155029296875
                    },
                    "rotation": {
                        "roll": 0.0002763454685918987,
                        "pitch": -0.3901335597038269,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -4.1702387534314767e-05,
                    "y": -7.458307663910091e-06,
                    "z": 0.0017785237869247794
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0023614075034856796,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0003787156892940402,
                    "y": 0.00032797548919916153,
                    "z": 0.0023076508659869432
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": -0.014289133250713348,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            25.650491203806755,
            0.25344001590056286
        ],
        "target_point_next": [
            76.64593265233854,
            0.9350661353256597
        ]
    },
    "110": {
        "acceleration": [
            -2.0247840881347656,
            0.17958134412765503,
            -0.09119272232055664
        ],
        "angular_velocity": [
            0.031822554767131805,
            -0.4112373888492584,
            -0.7096255421638489
        ],
        "forward_vector": [
            -0.9994509816169739,
            0.012782122008502483,
            -0.030567172914743423
        ],
        "right_vector": [
            -0.012735061347484589,
            -0.9999173879623413,
            -0.0017338207690045238
        ],
        "location": [
            -1985.622802734375,
            4065.868408203125,
            361.8111877441406
        ],
        "rotation": [
            0.09938710182905197,
            -1.7516429424285889,
            179.26727294921875
        ],
        "velocity": [
            -12.150128364562988,
            0.1605200171470642,
            -0.4277378022670746
        ],
        "speed": 12.151188664129242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 158.46182250976562,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.282567024230957,
                "transform": {
                    "location": {
                        "x": -2038.8636474609375,
                        "y": 4072.226806640625,
                        "z": 359.6905822753906
                    },
                    "rotation": {
                        "roll": 0.02162950672209263,
                        "pitch": 2.6169867515563965,
                        "yaw": 0.8254824876785278
                    }
                },
                "velocity": {
                    "x": 5.27683687210083,
                    "y": 0.05789696425199509,
                    "z": 0.23906990885734558
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.203789234161377,
                "transform": {
                    "location": {
                        "x": -2038.23583984375,
                        "y": 4068.980224609375,
                        "z": 359.7137756347656
                    },
                    "rotation": {
                        "roll": 0.028952427208423615,
                        "pitch": 2.5704870223999023,
                        "yaw": 0.7362977862358093
                    }
                },
                "velocity": {
                    "x": 5.198115825653076,
                    "y": 0.05977550894021988,
                    "z": 0.23545990884304047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04822826385498,
                "transform": {
                    "location": {
                        "x": -1995.376953125,
                        "y": 4072.4677734375,
                        "z": 361.4764099121094
                    },
                    "rotation": {
                        "roll": -0.0001220697449753061,
                        "pitch": 2.0439887046813965,
                        "yaw": 0.2510608434677124
                    }
                },
                "velocity": {
                    "x": 8.043023109436035,
                    "y": 0.03640557825565338,
                    "z": 0.2870829999446869
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977657794952393,
                "transform": {
                    "location": {
                        "x": -1995.1409912109375,
                        "y": 4069.218994140625,
                        "z": 361.48394775390625
                    },
                    "rotation": {
                        "roll": -0.0009765619179233909,
                        "pitch": 2.0188331604003906,
                        "yaw": 0.2508496344089508
                    }
                },
                "velocity": {
                    "x": 7.972515106201172,
                    "y": 0.03326926380395889,
                    "z": 0.28446388244628906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.082674026489258,
                "transform": {
                    "location": {
                        "x": -1961.2049560546875,
                        "y": 4062.66650390625,
                        "z": 362.610107421875
                    },
                    "rotation": {
                        "roll": -6.1035112594254315e-05,
                        "pitch": -1.742790937423706,
                        "yaw": -179.74000549316406
                    }
                },
                "velocity": {
                    "x": -10.077851295471191,
                    "y": -0.0432378314435482,
                    "z": -0.3087896406650543
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.909892082214355,
                "transform": {
                    "location": {
                        "x": -1980.4705810546875,
                        "y": 4062.5830078125,
                        "z": 361.99853515625
                    },
                    "rotation": {
                        "roll": 0.00013641058467328548,
                        "pitch": -1.9402790069580078,
                        "yaw": -179.7375030517578
                    }
                },
                "velocity": {
                    "x": -8.904472351074219,
                    "y": -0.03982856497168541,
                    "z": -0.30817607045173645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022919654846191,
                "transform": {
                    "location": {
                        "x": -2000.05810546875,
                        "y": 4062.498291015625,
                        "z": 361.2901916503906
                    },
                    "rotation": {
                        "roll": -3.0518047424266115e-05,
                        "pitch": -2.108151435852051,
                        "yaw": -179.73785400390625
                    }
                },
                "velocity": {
                    "x": -8.017449378967285,
                    "y": -0.03667309507727623,
                    "z": -0.2939259707927704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.09206771850586,
                "transform": {
                    "location": {
                        "x": -2019.791259765625,
                        "y": 4062.411865234375,
                        "z": 360.5315856933594
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -2.372800827026367,
                        "yaw": -179.74832153320312
                    }
                },
                "velocity": {
                    "x": -8.085009574890137,
                    "y": -0.0353843979537487,
                    "z": -0.3360535502433777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.064409255981445,
                "transform": {
                    "location": {
                        "x": -1945.6011962890625,
                        "y": 4065.99169921875,
                        "z": 363.0685729980469
                    },
                    "rotation": {
                        "roll": 0.004704259801656008,
                        "pitch": -0.9356675744056702,
                        "yaw": -179.667236328125
                    }
                },
                "velocity": {
                    "x": -10.060449600219727,
                    "y": -0.05561581999063492,
                    "z": -0.2767510712146759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.822110176086426,
                "transform": {
                    "location": {
                        "x": -1968.19775390625,
                        "y": 4065.8876953125,
                        "z": 362.40350341796875
                    },
                    "rotation": {
                        "roll": 0.003085023257881403,
                        "pitch": -1.6049782037734985,
                        "yaw": -179.75270080566406
                    }
                },
                "velocity": {
                    "x": -11.815937042236328,
                    "y": -0.05144524574279785,
                    "z": -0.3785196542739868
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0008242734475061297,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1551818847656
                    },
                    "rotation": {
                        "roll": 0.00044160959077998996,
                        "pitch": -0.3908917009830475,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": -1.3565271729021333e-05,
                    "y": -1.884927058881658e-07,
                    "z": 0.0008241618052124977
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.020179588347673416,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            22.67198215437941,
            0.34659680581683017
        ],
        "target_point_next": [
            73.6644795030555,
            1.2211691827971556
        ]
    },
    "115": {
        "acceleration": [
            -1.6521644592285156,
            0.053392648696899414,
            -0.06841123104095459
        ],
        "angular_velocity": [
            -0.12499842047691345,
            -0.17401599884033203,
            -0.28000307083129883
        ],
        "forward_vector": [
            -0.9993743300437927,
            0.015183845534920692,
            -0.03194396197795868
        ],
        "right_vector": [
            -0.01514187827706337,
            -0.9998841881752014,
            -0.0015553106786683202
        ],
        "location": [
            -1988.7176513671875,
            4065.912353515625,
            361.7022705078125
        ],
        "rotation": [
            0.08915827423334122,
            -1.8305656909942627,
            179.12954711914062
        ],
        "velocity": [
            -12.594499588012695,
            0.1906793713569641,
            -0.44585180282592773
        ],
        "speed": 12.59594293791112,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 155.36582946777344,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.478846073150635,
                "transform": {
                    "location": {
                        "x": -2037.5421142578125,
                        "y": 4072.24169921875,
                        "z": 359.7508239746094
                    },
                    "rotation": {
                        "roll": 0.01552739366889,
                        "pitch": 2.5650978088378906,
                        "yaw": 0.6559920907020569
                    }
                },
                "velocity": {
                    "x": 5.472966194152832,
                    "y": 0.05385791137814522,
                    "z": 0.24797238409519196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.584898948669434,
                "transform": {
                    "location": {
                        "x": -2036.833251953125,
                        "y": 4068.995849609375,
                        "z": 359.7775573730469
                    },
                    "rotation": {
                        "roll": 0.022073756903409958,
                        "pitch": 2.778404712677002,
                        "yaw": 0.6313585042953491
                    }
                },
                "velocity": {
                    "x": 6.5777716636657715,
                    "y": 0.06928478926420212,
                    "z": 0.2983604967594147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.028624534606934,
                "transform": {
                    "location": {
                        "x": -1993.3697509765625,
                        "y": 4072.477294921875,
                        "z": 361.5477294921875
                    },
                    "rotation": {
                        "roll": 0.0002959670382551849,
                        "pitch": 2.0324387550354004,
                        "yaw": 0.2618900537490845
                    }
                },
                "velocity": {
                    "x": 8.0235595703125,
                    "y": 0.036656130105257034,
                    "z": 0.2827717661857605
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034309387207031,
                "transform": {
                    "location": {
                        "x": -1993.1407470703125,
                        "y": 4069.228759765625,
                        "z": 361.5548095703125
                    },
                    "rotation": {
                        "roll": -0.0003662111994344741,
                        "pitch": 2.013901710510254,
                        "yaw": 0.2530413568019867
                    }
                },
                "velocity": {
                    "x": 8.029227256774902,
                    "y": 0.035455696284770966,
                    "z": 0.2835022509098053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.903190612792969,
                "transform": {
                    "location": {
                        "x": -1963.5577392578125,
                        "y": 4062.656494140625,
                        "z": 362.5380859375
                    },
                    "rotation": {
                        "roll": 0.0014202708844095469,
                        "pitch": -1.8350189924240112,
                        "yaw": -179.7775421142578
                    }
                },
                "velocity": {
                    "x": -8.898733139038086,
                    "y": -0.037005212157964706,
                    "z": -0.27926331758499146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.286230087280273,
                "transform": {
                    "location": {
                        "x": -1982.7735595703125,
                        "y": 4062.572998046875,
                        "z": 361.9193420410156
                    },
                    "rotation": {
                        "roll": 0.0003552638809196651,
                        "pitch": -2.027794361114502,
                        "yaw": -179.76364135742188
                    }
                },
                "velocity": {
                    "x": -9.280477523803711,
                    "y": -0.04112459719181061,
                    "z": -0.3241928815841675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.098454475402832,
                "transform": {
                    "location": {
                        "x": -2002.071533203125,
                        "y": 4062.4892578125,
                        "z": 361.21630859375
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -2.102905750274658,
                        "yaw": -179.74246215820312
                    }
                },
                "velocity": {
                    "x": -8.092927932739258,
                    "y": -0.038081537932157516,
                    "z": -0.2966979742050171
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035714149475098,
                "transform": {
                    "location": {
                        "x": -2021.8046875,
                        "y": 4062.40283203125,
                        "z": 360.44757080078125
                    },
                    "rotation": {
                        "roll": 0.00012159595644334331,
                        "pitch": -2.3857438564300537,
                        "yaw": -179.75331115722656
                    }
                },
                "velocity": {
                    "x": -8.028263092041016,
                    "y": -0.034265801310539246,
                    "z": -0.34426528215408325
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.147623062133789,
                "transform": {
                    "location": {
                        "x": -1948.2572021484375,
                        "y": 4065.97802734375,
                        "z": 362.9951477050781
                    },
                    "rotation": {
                        "roll": 0.004454378504306078,
                        "pitch": -1.0826053619384766,
                        "yaw": -179.69558715820312
                    }
                },
                "velocity": {
                    "x": -11.143131256103516,
                    "y": -0.05730195343494415,
                    "z": -0.3111988306045532
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.085454940795898,
                "transform": {
                    "location": {
                        "x": -1971.201171875,
                        "y": 4065.874267578125,
                        "z": 362.3066711425781
                    },
                    "rotation": {
                        "roll": 0.0006834298837929964,
                        "pitch": -1.7887513637542725,
                        "yaw": -179.73973083496094
                    }
                },
                "velocity": {
                    "x": -12.078924179077148,
                    "y": -0.051967114210128784,
                    "z": -0.39385631680488586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.001475638011470437,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.1551818847656
                    },
                    "rotation": {
                        "roll": 0.0007196840597316623,
                        "pitch": -0.39114442467689514,
                        "yaw": -179.7501983642578
                    }
                },
                "velocity": {
                    "x": 5.247890840109903e-06,
                    "y": -6.674859469057992e-05,
                    "z": 0.0014741183258593082
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.05486971139907837,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            19.575924438747105,
            0.3980182621033017
        ],
        "target_point_next": [
            70.56617223232989,
            1.3951605018777316
        ]
    },
    "120": {
        "acceleration": [
            -1.8386650085449219,
            -0.05149543285369873,
            -0.06448030471801758
        ],
        "angular_velocity": [
            -0.22008869051933289,
            -0.022612210363149643,
            0.24190634489059448
        ],
        "forward_vector": [
            -0.9993627071380615,
            0.015146967954933643,
            -0.03232249617576599
        ],
        "right_vector": [
            -0.015121952630579472,
            -0.999885082244873,
            -0.001018223469145596
        ],
        "location": [
            -1991.9241943359375,
            4065.9609375,
            361.5886535644531
        ],
        "rotation": [
            0.05837041884660721,
            -1.8522652387619019,
            179.13165283203125
        ],
        "velocity": [
            -13.038105964660645,
            0.19351089000701904,
            -0.46217694878578186
        ],
        "speed": 13.039541924863418,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 152.15814208984375,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.443320274353027,
                "transform": {
                    "location": {
                        "x": -2036.0546875,
                        "y": 4072.256591796875,
                        "z": 359.8186340332031
                    },
                    "rotation": {
                        "roll": 0.015169259160757065,
                        "pitch": 2.505579710006714,
                        "yaw": 0.6230508089065552
                    }
                },
                "velocity": {
                    "x": 6.436402320861816,
                    "y": 0.06227267533540726,
                    "z": 0.2919260263442993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.860245227813721,
                "transform": {
                    "location": {
                        "x": -2034.990234375,
                        "y": 4069.014892578125,
                        "z": 359.8611145019531
                    },
                    "rotation": {
                        "roll": 0.01951061189174652,
                        "pitch": 2.8085532188415527,
                        "yaw": 0.5784181952476501
                    }
                },
                "velocity": {
                    "x": 7.85176944732666,
                    "y": 0.07886947691440582,
                    "z": 0.3562973737716675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.069578170776367,
                "transform": {
                    "location": {
                        "x": -1991.3580322265625,
                        "y": 4072.485595703125,
                        "z": 361.6185607910156
                    },
                    "rotation": {
                        "roll": 0.0015509832883253694,
                        "pitch": 2.052703857421875,
                        "yaw": 0.2491527944803238
                    }
                },
                "velocity": {
                    "x": 8.064492225646973,
                    "y": 0.03381723538041115,
                    "z": 0.2844434380531311
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976999759674072,
                "transform": {
                    "location": {
                        "x": -1991.1409912109375,
                        "y": 4069.23681640625,
                        "z": 361.6254577636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.018054485321045,
                        "yaw": 0.24315312504768372
                    }
                },
                "velocity": {
                    "x": 7.971968173980713,
                    "y": 0.03579863905906677,
                    "z": 0.2810060679912567
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.004011154174805,
                "transform": {
                    "location": {
                        "x": -1965.761962890625,
                        "y": 4062.647216796875,
                        "z": 362.46875
                    },
                    "rotation": {
                        "roll": -0.0006713870097883046,
                        "pitch": -1.829527497291565,
                        "yaw": -179.74998474121094
                    }
                },
                "velocity": {
                    "x": -8.99938678741455,
                    "y": -0.03911901265382767,
                    "z": -0.2858630418777466
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.545475959777832,
                "transform": {
                    "location": {
                        "x": -1985.1102294921875,
                        "y": 4062.563232421875,
                        "z": 361.8375549316406
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -2.020164966583252,
                        "yaw": -179.73211669921875
                    }
                },
                "velocity": {
                    "x": -9.539496421813965,
                    "y": -0.04189949110150337,
                    "z": -0.33522072434425354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044445991516113,
                "transform": {
                    "location": {
                        "x": -2004.0889892578125,
                        "y": 4062.47998046875,
                        "z": 361.1424560546875
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": -2.104060173034668,
                        "yaw": -179.74522399902344
                    }
                },
                "velocity": {
                    "x": -8.038947105407715,
                    "y": -0.035793062299489975,
                    "z": -0.2952173054218292
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.092987060546875,
                "transform": {
                    "location": {
                        "x": -2023.818603515625,
                        "y": 4062.39501953125,
                        "z": 360.3608093261719
                    },
                    "rotation": {
                        "roll": -0.00045776343904435635,
                        "pitch": -2.491086006164551,
                        "yaw": -179.75408935546875
                    }
                },
                "velocity": {
                    "x": -8.085236549377441,
                    "y": -0.034679342061281204,
                    "z": -0.35240912437438965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.927522659301758,
                "transform": {
                    "location": {
                        "x": -1951.160400390625,
                        "y": 4065.963623046875,
                        "z": 362.91339111328125
                    },
                    "rotation": {
                        "roll": 0.006778353825211525,
                        "pitch": -1.2057127952575684,
                        "yaw": -179.72042846679688
                    }
                },
                "velocity": {
                    "x": -11.922539710998535,
                    "y": -0.05710488185286522,
                    "z": -0.3399823307991028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.344682693481445,
                "transform": {
                    "location": {
                        "x": -1974.2440185546875,
                        "y": 4065.860595703125,
                        "z": 362.20660400390625
                    },
                    "rotation": {
                        "roll": 0.002034576144069433,
                        "pitch": -1.842894196510315,
                        "yaw": -179.757080078125
                    }
                },
                "velocity": {
                    "x": -12.337777137756348,
                    "y": -0.052172109484672546,
                    "z": -0.4095425307750702
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.000880730280186981,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -3.6417506635189056e-05,
                    "y": 5.4154355893842876e-05,
                    "z": 0.0008783091325312853
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.08337651193141937,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            16.369028031296935,
            0.3972836366540663
        ],
        "target_point_next": [
            67.35931240204411,
            1.3925536943030385
        ]
    },
    "125": {
        "acceleration": [
            -1.6437911987304688,
            -0.18957436084747314,
            -0.05862116813659668
        ],
        "angular_velocity": [
            -0.20522400736808777,
            -0.040399666875600815,
            0.977764368057251
        ],
        "forward_vector": [
            -0.9993981719017029,
            0.01222117431461811,
            -0.03246571123600006
        ],
        "right_vector": [
            -0.0122245317324996,
            -0.9999253153800964,
            -9.508868970442563e-05
        ],
        "location": [
            -1995.2391357421875,
            4066.005126953125,
            361.4712829589844
        ],
        "rotation": [
            0.005451054312288761,
            -1.8604751825332642,
            179.2993927001953
        ],
        "velocity": [
            -13.465241432189941,
            0.1566932499408722,
            -0.476946622133255
        ],
        "speed": 13.466153110734396,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 148.842041015625,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -2074.334716796875,
                        "y": 4068.77392578125,
                        "z": 358.8493957519531
                    },
                    "rotation": {
                        "roll": 2.0847848447580475e-10,
                        "pitch": 1.0891692638397217,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.710102558135986,
                "transform": {
                    "location": {
                        "x": -2034.3448486328125,
                        "y": 4072.27294921875,
                        "z": 359.89666748046875
                    },
                    "rotation": {
                        "roll": 0.013761737383902073,
                        "pitch": 2.4374074935913086,
                        "yaw": 0.5873993039131165
                    }
                },
                "velocity": {
                    "x": 7.701862812042236,
                    "y": 0.07322554290294647,
                    "z": 0.3487510681152344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.252389907836914,
                "transform": {
                    "location": {
                        "x": -2032.9447021484375,
                        "y": 4069.03369140625,
                        "z": 359.95367431640625
                    },
                    "rotation": {
                        "roll": 0.01859399303793907,
                        "pitch": 2.705676794052124,
                        "yaw": 0.5191524028778076
                    }
                },
                "velocity": {
                    "x": 8.243698120117188,
                    "y": 0.06739961355924606,
                    "z": 0.3726184666156769
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.030014038085938,
                "transform": {
                    "location": {
                        "x": -1989.3472900390625,
                        "y": 4072.494873046875,
                        "z": 361.6897277832031
                    },
                    "rotation": {
                        "roll": -0.0004272462974768132,
                        "pitch": 2.0475199222564697,
                        "yaw": 0.25102806091308594
                    }
                },
                "velocity": {
                    "x": 8.024947166442871,
                    "y": 0.034452952444553375,
                    "z": 0.28313204646110535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036948204040527,
                "transform": {
                    "location": {
                        "x": -1989.140625,
                        "y": 4069.245849609375,
                        "z": 361.69622802734375
                    },
                    "rotation": {
                        "roll": 0.0003637183690443635,
                        "pitch": 2.017685651779175,
                        "yaw": 0.25380513072013855
                    }
                },
                "velocity": {
                    "x": 8.03183650970459,
                    "y": 0.03574109822511673,
                    "z": 0.28436610102653503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.370281219482422,
                "transform": {
                    "location": {
                        "x": -1968.09765625,
                        "y": 4062.637451171875,
                        "z": 362.3945617675781
                    },
                    "rotation": {
                        "roll": -9.155328734777868e-05,
                        "pitch": -1.8017491102218628,
                        "yaw": -179.76632690429688
                    }
                },
                "velocity": {
                    "x": -9.365376472473145,
                    "y": -0.04098013788461685,
                    "z": -0.3003527820110321
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.760612487792969,
                "transform": {
                    "location": {
                        "x": -1987.4224853515625,
                        "y": 4062.552978515625,
                        "z": 361.7555236816406
                    },
                    "rotation": {
                        "roll": -0.0004882815410383046,
                        "pitch": -1.9630372524261475,
                        "yaw": -179.76463317871094
                    }
                },
                "velocity": {
                    "x": -8.755075454711914,
                    "y": -0.03862772509455681,
                    "z": -0.30902835726737976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.09179973602295,
                "transform": {
                    "location": {
                        "x": -2006.103759765625,
                        "y": 4062.47119140625,
                        "z": 361.0663146972656
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": -2.2035486698150635,
                        "yaw": -179.7490234375
                    }
                },
                "velocity": {
                    "x": -8.08566951751709,
                    "y": -0.037718381732702255,
                    "z": -0.3126431107521057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033160209655762,
                "transform": {
                    "location": {
                        "x": -2025.831787109375,
                        "y": 4062.385498046875,
                        "z": 360.2725830078125
                    },
                    "rotation": {
                        "roll": -0.0016784663312137127,
                        "pitch": -2.521726131439209,
                        "yaw": -179.74644470214844
                    }
                },
                "velocity": {
                    "x": -8.025264739990234,
                    "y": -0.033227987587451935,
                    "z": -0.35451894998550415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.1612548828125,
                "transform": {
                    "location": {
                        "x": -1954.16796875,
                        "y": 4065.94970703125,
                        "z": 362.8273010253906
                    },
                    "rotation": {
                        "roll": 0.0015100782038643956,
                        "pitch": -1.481966495513916,
                        "yaw": -179.72891235351562
                    }
                },
                "velocity": {
                    "x": -12.155936241149902,
                    "y": -0.0589267872273922,
                    "z": -0.35476115345954895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.849921226501465,
                "transform": {
                    "location": {
                        "x": -1977.3946533203125,
                        "y": 4065.8466796875,
                        "z": 362.1012878417969
                    },
                    "rotation": {
                        "roll": -0.0021362300030887127,
                        "pitch": -1.8585762977600098,
                        "yaw": -179.7465057373047
                    }
                },
                "velocity": {
                    "x": -12.842469215393066,
                    "y": -0.057024311274290085,
                    "z": -0.4338434636592865
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0010937086772173643,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -5.5246204283321276e-05,
                    "y": 9.696772031020373e-05,
                    "z": 0.001087999902665615
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.10163246095180511,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            13.054887120882185,
            0.3530107234279771
        ],
        "target_point_next": [
            64.04786687781953,
            1.1989883861913504
        ]
    },
    "130": {
        "acceleration": [
            -1.7293739318847656,
            -0.31979963183403015,
            -0.11959969997406006
        ],
        "angular_velocity": [
            -0.17930294573307037,
            -0.2623847424983978,
            1.4460318088531494
        ],
        "forward_vector": [
            -0.9994070529937744,
            0.006699891295284033,
            -0.033773552626371384
        ],
        "right_vector": [
            -0.006734922993928194,
            -0.9999768733978271,
            0.0009235895122401416
        ],
        "location": [
            -1998.6605224609375,
            4066.036376953125,
            361.3484191894531
        ],
        "rotation": [
            -0.0529479943215847,
            -1.9354500770568848,
            179.61590576171875
        ],
        "velocity": [
            -13.893589973449707,
            0.0852312445640564,
            -0.5046355128288269
        ],
        "speed": 13.893851399644095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 145.41940307617188,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2072.68505859375,
                        "y": 4072.03076171875,
                        "z": 358.7797546386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3481085300445557,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2072.255126953125,
                        "y": 4068.78271484375,
                        "z": 358.75390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.3481085300445557,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.310761451721191,
                "transform": {
                    "location": {
                        "x": -2032.298828125,
                        "y": 4072.28955078125,
                        "z": 359.9887390136719
                    },
                    "rotation": {
                        "roll": 0.005698702298104763,
                        "pitch": 2.5023763179779053,
                        "yaw": 0.46808016300201416
                    }
                },
                "velocity": {
                    "x": 8.302203178405762,
                    "y": 0.05641816183924675,
                    "z": 0.3728197515010834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.870198726654053,
                "transform": {
                    "location": {
                        "x": -2030.94091796875,
                        "y": 4069.04833984375,
                        "z": 360.0433654785156
                    },
                    "rotation": {
                        "roll": 0.011976337060332298,
                        "pitch": 2.5471138954162598,
                        "yaw": 0.3999687135219574
                    }
                },
                "velocity": {
                    "x": 7.862149715423584,
                    "y": 0.055346522480249405,
                    "z": 0.3515270948410034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.059439659118652,
                "transform": {
                    "location": {
                        "x": -1987.33740234375,
                        "y": 4072.50341796875,
                        "z": 361.7608947753906
                    },
                    "rotation": {
                        "roll": -0.0009460452711209655,
                        "pitch": 2.045894145965576,
                        "yaw": 0.250317245721817
                    }
                },
                "velocity": {
                    "x": 8.054354667663574,
                    "y": 0.03668159618973732,
                    "z": 0.28389766812324524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976179122924805,
                "transform": {
                    "location": {
                        "x": -1987.140869140625,
                        "y": 4069.25439453125,
                        "z": 361.7669982910156
                    },
                    "rotation": {
                        "roll": 4.715730756288394e-05,
                        "pitch": 2.018197774887085,
                        "yaw": 0.2494937777519226
                    }
                },
                "velocity": {
                    "x": 7.971083641052246,
                    "y": 0.034873779863119125,
                    "z": 0.28292226791381836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.4188871383667,
                "transform": {
                    "location": {
                        "x": -1970.437744140625,
                        "y": 4062.62744140625,
                        "z": 362.3193359375
                    },
                    "rotation": {
                        "roll": 0.0008063571294769645,
                        "pitch": -1.867250680923462,
                        "yaw": -179.7257843017578
                    }
                },
                "velocity": {
                    "x": -9.413818359375,
                    "y": -0.044560398906469345,
                    "z": -0.30574142932891846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.259108066558838,
                "transform": {
                    "location": {
                        "x": -1989.458984375,
                        "y": 4062.546142578125,
                        "z": 361.6827392578125
                    },
                    "rotation": {
                        "roll": -0.010162352584302425,
                        "pitch": -1.880460262298584,
                        "yaw": -179.46470642089844
                    }
                },
                "velocity": {
                    "x": -7.25445032119751,
                    "y": -0.03776755556464195,
                    "z": -0.25724369287490845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044954299926758,
                "transform": {
                    "location": {
                        "x": -2008.118896484375,
                        "y": 4062.463134765625,
                        "z": 360.9883117675781
                    },
                    "rotation": {
                        "roll": 0.00012668668932747096,
                        "pitch": -2.254693031311035,
                        "yaw": -179.7530517578125
                    }
                },
                "velocity": {
                    "x": -8.03869342803955,
                    "y": -0.03461571782827377,
                    "z": -0.3154357373714447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.09366512298584,
                "transform": {
                    "location": {
                        "x": -2027.845947265625,
                        "y": 4062.376708984375,
                        "z": 360.1836242675781
                    },
                    "rotation": {
                        "roll": -0.0007934572058729827,
                        "pitch": -2.5142743587493896,
                        "yaw": -179.74839782714844
                    }
                },
                "velocity": {
                    "x": -8.0857515335083,
                    "y": -0.03391299769282341,
                    "z": -0.35619601607322693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.627178192138672,
                "transform": {
                    "location": {
                        "x": -1957.2662353515625,
                        "y": 4065.935302734375,
                        "z": 362.7359313964844
                    },
                    "rotation": {
                        "roll": 0.0011916325893253088,
                        "pitch": -1.5151339769363403,
                        "yaw": -179.7312469482422
                    }
                },
                "velocity": {
                    "x": -12.6213960647583,
                    "y": -0.0591428168118,
                    "z": -0.3774670660495758
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.251436233520508,
                "transform": {
                    "location": {
                        "x": -1980.6590576171875,
                        "y": 4065.832763671875,
                        "z": 361.9899597167969
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": -1.9001175165176392,
                        "yaw": -179.74781799316406
                    }
                },
                "velocity": {
                    "x": -13.243470191955566,
                    "y": -0.05981605499982834,
                    "z": -0.455523818731308
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0013611806789413095,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -4.564225491776597e-06,
                    "y": -3.8761245377827436e-05,
                    "z": 0.0013606209540739655
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.10756003111600876,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            9.635118677606817,
            0.2892031047749724
        ],
        "target_point_next": [
            60.63199366821223,
            0.8534759907793021
        ]
    },
    "135": {
        "acceleration": [
            -1.6504478454589844,
            -0.36912378668785095,
            -0.06218910217285156
        ],
        "angular_velocity": [
            -0.18542657792568207,
            -0.004000731278210878,
            1.5244650840759277
        ],
        "forward_vector": [
            -0.9994230270385742,
            0.00014740857295691967,
            -0.03396465629339218
        ],
        "right_vector": [
            -0.00020739161118399352,
            -0.9999984502792358,
            0.0017625268083065748
        ],
        "location": [
            -2002.1881103515625,
            4066.047607421875,
            361.2190856933594
        ],
        "rotation": [
            -0.101043701171875,
            -1.9464057683944702,
            179.99154663085938
        ],
        "velocity": [
            -14.310224533081055,
            -0.0026368412654846907,
            -0.5260146260261536
        ],
        "speed": 14.31022477601686,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 141.8904266357422,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.059349060058594,
                "transform": {
                    "location": {
                        "x": -2070.609375,
                        "y": 4072.040283203125,
                        "z": 358.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": 1.3117650747299194,
                        "yaw": 0.2509165108203888
                    }
                },
                "velocity": {
                    "x": 8.0084810256958,
                    "y": 0.040788352489471436,
                    "z": -0.903147280216217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9762701988220215,
                "transform": {
                    "location": {
                        "x": -2070.182373046875,
                        "y": 4068.79248046875,
                        "z": 358.61346435546875
                    },
                    "rotation": {
                        "roll": 0.0034901832696050406,
                        "pitch": 1.3270920515060425,
                        "yaw": 0.2601962983608246
                    }
                },
                "velocity": {
                    "x": 7.941411018371582,
                    "y": 0.06785044819116592,
                    "z": -0.7418053150177002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.828947067260742,
                "transform": {
                    "location": {
                        "x": -2030.2890625,
                        "y": 4072.3037109375,
                        "z": 360.07757568359375
                    },
                    "rotation": {
                        "roll": 0.005499714985489845,
                        "pitch": 2.5573456287384033,
                        "yaw": 0.39785459637641907
                    }
                },
                "velocity": {
                    "x": 7.8210978507995605,
                    "y": 0.05041952431201935,
                    "z": 0.34684523940086365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.070996284484863,
                "transform": {
                    "location": {
                        "x": -2028.9559326171875,
                        "y": 4069.06201171875,
                        "z": 360.1317443847656
                    },
                    "rotation": {
                        "roll": 0.008181959390640259,
                        "pitch": 2.553752899169922,
                        "yaw": 0.4070238173007965
                    }
                },
                "velocity": {
                    "x": 8.06304931640625,
                    "y": 0.05470327287912369,
                    "z": 0.35386985540390015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035091400146484,
                "transform": {
                    "location": {
                        "x": -1985.3267822265625,
                        "y": 4072.51171875,
                        "z": 361.83148193359375
                    },
                    "rotation": {
                        "roll": 0.0002964003069791943,
                        "pitch": 2.031564474105835,
                        "yaw": 0.2502286434173584
                    }
                },
                "velocity": {
                    "x": 8.030067443847656,
                    "y": 0.035865526646375656,
                    "z": 0.28183430433273315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037748336791992,
                "transform": {
                    "location": {
                        "x": -1985.140625,
                        "y": 4069.262939453125,
                        "z": 361.8373107910156
                    },
                    "rotation": {
                        "roll": -0.0004272454243618995,
                        "pitch": 1.998294711112976,
                        "yaw": 0.2550360858440399
                    }
                },
                "velocity": {
                    "x": 8.032740592956543,
                    "y": 0.035746656358242035,
                    "z": 0.28142938017845154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.139091491699219,
                "transform": {
                    "location": {
                        "x": -1972.6435546875,
                        "y": 4062.617431640625,
                        "z": 362.2476501464844
                    },
                    "rotation": {
                        "roll": 0.002195719862356782,
                        "pitch": -1.9396028518676758,
                        "yaw": -179.7583770751953
                    }
                },
                "velocity": {
                    "x": -8.13469123840332,
                    "y": -0.03521150350570679,
                    "z": -0.26526638865470886
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.035247802734375,
                "transform": {
                    "location": {
                        "x": -1991.213134765625,
                        "y": 4062.537353515625,
                        "z": 361.6212463378906
                    },
                    "rotation": {
                        "roll": -0.006378174759447575,
                        "pitch": -1.969266414642334,
                        "yaw": -179.57974243164062
                    }
                },
                "velocity": {
                    "x": -7.03078556060791,
                    "y": -0.03112681955099106,
                    "z": -0.2485886663198471
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.093667030334473,
                "transform": {
                    "location": {
                        "x": -2010.135009765625,
                        "y": 4062.453857421875,
                        "z": 360.9091796875
                    },
                    "rotation": {
                        "roll": 0.0003651248407550156,
                        "pitch": -2.2474942207336426,
                        "yaw": -179.74810791015625
                    }
                },
                "velocity": {
                    "x": -8.08741569519043,
                    "y": -0.03723162040114403,
                    "z": -0.3158382475376129
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034239768981934,
                "transform": {
                    "location": {
                        "x": -2029.859130859375,
                        "y": 4062.36767578125,
                        "z": 360.09490966796875
                    },
                    "rotation": {
                        "roll": -0.0007629395695403218,
                        "pitch": -2.5127854347229004,
                        "yaw": -179.7490234375
                    }
                },
                "velocity": {
                    "x": -8.026355743408203,
                    "y": -0.03351607546210289,
                    "z": -0.3542516231536865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.999300003051758,
                "transform": {
                    "location": {
                        "x": -1960.4715576171875,
                        "y": 4065.919921875,
                        "z": 362.639404296875
                    },
                    "rotation": {
                        "roll": 0.002451513195410371,
                        "pitch": -1.5954842567443848,
                        "yaw": -179.73886108398438
                    }
                },
                "velocity": {
                    "x": -12.993123054504395,
                    "y": -0.05788351222872734,
                    "z": -0.39650267362594604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.632088661193848,
                "transform": {
                    "location": {
                        "x": -1984.0184326171875,
                        "y": 4065.817138671875,
                        "z": 361.8733215332031
                    },
                    "rotation": {
                        "roll": 0.000950427376665175,
                        "pitch": -1.9338313341140747,
                        "yaw": -179.74301147460938
                    }
                },
                "velocity": {
                    "x": -13.623663902282715,
                    "y": -0.0597267672419548,
                    "z": -0.47546157240867615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.1011037826538086,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            57.10869673653624,
            0.4666385940996962
        ],
        "target_point_next": [
            108.10817524326666,
            0.6965401792556313
        ]
    },
    "140": {
        "acceleration": [
            -1.641998291015625,
            -0.40179699659347534,
            -0.16889333724975586
        ],
        "angular_velocity": [
            -0.11239728331565857,
            -0.7409425377845764,
            1.5575505495071411
        ],
        "forward_vector": [
            -0.9993629455566406,
            -0.006597136612981558,
            -0.035073474049568176
        ],
        "right_vector": [
            0.00651896558701992,
            -0.9999759793281555,
            0.00234266952611506
        ],
        "location": [
            -2005.8187255859375,
            4066.03564453125,
            361.0844421386719
        ],
        "rotation": [
            -0.1343078315258026,
            -2.009974241256714,
            -179.6217803955078
        ],
        "velocity": [
            -14.72167682647705,
            -0.09991326183080673,
            -0.5604509711265564
        ],
        "speed": 14.722015868865277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 138.25827026367188,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.094345092773438,
                "transform": {
                    "location": {
                        "x": -2068.600830078125,
                        "y": 4072.068603515625,
                        "z": 358.6233825683594
                    },
                    "rotation": {
                        "roll": 0.0038270652294158936,
                        "pitch": 1.3795273303985596,
                        "yaw": 0.8187497854232788
                    }
                },
                "velocity": {
                    "x": 8.091230392456055,
                    "y": 0.11965970695018768,
                    "z": 0.18998979032039642
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.013925552368164,
                "transform": {
                    "location": {
                        "x": -2068.197021484375,
                        "y": 4068.821044921875,
                        "z": 358.5944519042969
                    },
                    "rotation": {
                        "roll": 0.01450811605900526,
                        "pitch": 1.4170455932617188,
                        "yaw": 0.7571426630020142
                    }
                },
                "velocity": {
                    "x": 8.010419845581055,
                    "y": 0.1103421300649643,
                    "z": 0.2097616344690323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03339672088623,
                "transform": {
                    "location": {
                        "x": -2028.317138671875,
                        "y": 4072.31640625,
                        "z": 360.1651611328125
                    },
                    "rotation": {
                        "roll": 0.002147307386621833,
                        "pitch": 2.4991183280944824,
                        "yaw": 0.3595137298107147
                    }
                },
                "velocity": {
                    "x": 8.025521278381348,
                    "y": 0.04352246969938278,
                    "z": 0.3529711067676544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046327590942383,
                "transform": {
                    "location": {
                        "x": -2026.935302734375,
                        "y": 4069.073974609375,
                        "z": 360.2204895019531
                    },
                    "rotation": {
                        "roll": 0.007459564134478569,
                        "pitch": 2.5410351753234863,
                        "yaw": 0.3208271563053131
                    }
                },
                "velocity": {
                    "x": 8.038418769836426,
                    "y": 0.045324817299842834,
                    "z": 0.3537808954715729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062451362609863,
                "transform": {
                    "location": {
                        "x": -1983.3155517578125,
                        "y": 4072.520751953125,
                        "z": 361.9020690917969
                    },
                    "rotation": {
                        "roll": -9.155229781754315e-05,
                        "pitch": 2.0106093883514404,
                        "yaw": 0.25075873732566833
                    }
                },
                "velocity": {
                    "x": 8.057451248168945,
                    "y": 0.035400792956352234,
                    "z": 0.28168579936027527
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976436138153076,
                "transform": {
                    "location": {
                        "x": -1983.140869140625,
                        "y": 4069.2724609375,
                        "z": 361.9073486328125
                    },
                    "rotation": {
                        "roll": 0.0007632605265825987,
                        "pitch": 1.9840127229690552,
                        "yaw": 0.25339609384536743
                    }
                },
                "velocity": {
                    "x": 7.97155237197876,
                    "y": 0.033623289316892624,
                    "z": 0.27705442905426025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.051827430725098,
                "transform": {
                    "location": {
                        "x": -1974.501220703125,
                        "y": 4062.60986328125,
                        "z": 362.1864013671875
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -1.9713358879089355,
                        "yaw": -179.71688842773438
                    }
                },
                "velocity": {
                    "x": -7.0477752685546875,
                    "y": -0.03398141637444496,
                    "z": -0.2366049885749817
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.668919563293457,
                "transform": {
                    "location": {
                        "x": -1993.04931640625,
                        "y": 4062.528564453125,
                        "z": 361.55712890625
                    },
                    "rotation": {
                        "roll": -0.004058837890625,
                        "pitch": -2.068877935409546,
                        "yaw": -179.65802001953125
                    }
                },
                "velocity": {
                    "x": -7.664041519165039,
                    "y": -0.03597722947597504,
                    "z": -0.2711038589477539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04354476928711,
                "transform": {
                    "location": {
                        "x": -2012.150146484375,
                        "y": 4062.44482421875,
                        "z": 360.8303527832031
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -2.2466061115264893,
                        "yaw": -179.7491455078125
                    }
                },
                "velocity": {
                    "x": -8.037324905395508,
                    "y": -0.036749888211488724,
                    "z": -0.31412309408187866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.093659400939941,
                "transform": {
                    "location": {
                        "x": -2031.8734130859375,
                        "y": 4062.359375,
                        "z": 360.00494384765625
                    },
                    "rotation": {
                        "roll": 9.785919974092394e-05,
                        "pitch": -2.558349609375,
                        "yaw": -179.7504425048828
                    }
                },
                "velocity": {
                    "x": -8.085397720336914,
                    "y": -0.035202592611312866,
                    "z": -0.3639054000377655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.33660888671875,
                "transform": {
                    "location": {
                        "x": -1963.7618408203125,
                        "y": 4065.90625,
                        "z": 362.53826904296875
                    },
                    "rotation": {
                        "roll": 0.001995142549276352,
                        "pitch": -1.641724705696106,
                        "yaw": -179.75628662109375
                    }
                },
                "velocity": {
                    "x": -13.330010414123535,
                    "y": -0.05847178027033806,
                    "z": -0.4153915345668793
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.027234077453613,
                "transform": {
                    "location": {
                        "x": -1987.4752197265625,
                        "y": 4065.8017578125,
                        "z": 361.7518310546875
                    },
                    "rotation": {
                        "roll": 0.0037931459955871105,
                        "pitch": -1.9618761539459229,
                        "yaw": -179.75828552246094
                    }
                },
                "velocity": {
                    "x": -14.01840591430664,
                    "y": -0.058255575597286224,
                    "z": -0.4941790699958801
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0009728335426189005,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.0420642865938134e-05,
                    "y": 1.1899666787940077e-05,
                    "z": 0.0009727049618959427
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.0848466157913208,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            53.47993027615038,
            0.09325415913198049
        ],
        "target_point_next": [
            104.47979898514225,
            -0.02100153178637809
        ]
    },
    "145": {
        "acceleration": [
            -1.6202926635742188,
            -0.276850163936615,
            -0.09611845016479492
        ],
        "angular_velocity": [
            0.06883309781551361,
            0.018663806840777397,
            1.2435200214385986
        ],
        "forward_vector": [
            -0.9992375373840332,
            -0.013256184756755829,
            -0.03672298043966293
        ],
        "right_vector": [
            0.01316516101360321,
            -0.9999096393585205,
            0.0027193790301680565
        ],
        "location": [
            -2009.5511474609375,
            4065.9990234375,
            360.94000244140625
        ],
        "rotation": [
            -0.155914306640625,
            -2.1045451164245605,
            -179.2399444580078
        ],
        "velocity": [
            -15.128472328186035,
            -0.19554567337036133,
            -0.5959756374359131
        ],
        "speed": 15.12973605503627,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 134.5240936279297,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8273024559021,
                "transform": {
                    "location": {
                        "x": -2066.61181640625,
                        "y": 4072.095458984375,
                        "z": 358.67333984375
                    },
                    "rotation": {
                        "roll": 0.015327468514442444,
                        "pitch": 1.4836467504501343,
                        "yaw": 0.8001984357833862
                    }
                },
                "velocity": {
                    "x": 7.823882102966309,
                    "y": 0.10271760821342468,
                    "z": 0.2073136270046234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.715764045715332,
                "transform": {
                    "location": {
                        "x": -2066.2333984375,
                        "y": 4068.847412109375,
                        "z": 358.65087890625
                    },
                    "rotation": {
                        "roll": 0.01186847873032093,
                        "pitch": 1.4944180250167847,
                        "yaw": 0.7691028714179993
                    }
                },
                "velocity": {
                    "x": 7.711938858032227,
                    "y": 0.1015627384185791,
                    "z": 0.22066785395145416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.016477584838867,
                "transform": {
                    "location": {
                        "x": -2026.3050537109375,
                        "y": 4072.328369140625,
                        "z": 360.2536315917969
                    },
                    "rotation": {
                        "roll": 0.0018397945677861571,
                        "pitch": 2.503967761993408,
                        "yaw": 0.32261669635772705
                    }
                },
                "velocity": {
                    "x": 8.008605003356934,
                    "y": 0.0425909124314785,
                    "z": 0.3526158034801483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.987353324890137,
                "transform": {
                    "location": {
                        "x": -2024.938720703125,
                        "y": 4069.085205078125,
                        "z": 360.3083801269531
                    },
                    "rotation": {
                        "roll": 0.005153042729943991,
                        "pitch": 2.533221483230591,
                        "yaw": 0.3269391655921936
                    }
                },
                "velocity": {
                    "x": 7.979471683502197,
                    "y": 0.042457666248083115,
                    "z": 0.35219642519950867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.032415390014648,
                "transform": {
                    "location": {
                        "x": -1981.3057861328125,
                        "y": 4072.530029296875,
                        "z": 361.9719543457031
                    },
                    "rotation": {
                        "roll": 0.0009024018072523177,
                        "pitch": 2.0099880695343018,
                        "yaw": 0.24834565818309784
                    }
                },
                "velocity": {
                    "x": 8.027578353881836,
                    "y": 0.03449202701449394,
                    "z": 0.27657467126846313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037677764892578,
                "transform": {
                    "location": {
                        "x": -1981.140625,
                        "y": 4069.280517578125,
                        "z": 361.9768981933594
                    },
                    "rotation": {
                        "roll": -0.0010375970741733909,
                        "pitch": 1.9837737083435059,
                        "yaw": 0.24508120119571686
                    }
                },
                "velocity": {
                    "x": 8.032840728759766,
                    "y": 0.034235674887895584,
                    "z": 0.2767147123813629
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.62324857711792,
                "transform": {
                    "location": {
                        "x": -1976.3109130859375,
                        "y": 4062.601806640625,
                        "z": 362.1254577636719
                    },
                    "rotation": {
                        "roll": 0.0007496169419027865,
                        "pitch": -1.9316388368606567,
                        "yaw": -179.75759887695312
                    }
                },
                "velocity": {
                    "x": -7.6188554763793945,
                    "y": -0.03184833750128746,
                    "z": -0.25680288672447205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.33208179473877,
                "transform": {
                    "location": {
                        "x": -1995.1334228515625,
                        "y": 4062.5185546875,
                        "z": 361.4842834472656
                    },
                    "rotation": {
                        "roll": -0.0020141596905887127,
                        "pitch": -2.1814870834350586,
                        "yaw": -179.7081756591797
                    }
                },
                "velocity": {
                    "x": -9.326155662536621,
                    "y": -0.04037198796868324,
                    "z": -0.3300486207008362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.098367691040039,
                "transform": {
                    "location": {
                        "x": -2014.16650390625,
                        "y": 4062.435791015625,
                        "z": 360.74993896484375
                    },
                    "rotation": {
                        "roll": -0.00033569359220564365,
                        "pitch": -2.3131937980651855,
                        "yaw": -179.7486114501953
                    }
                },
                "velocity": {
                    "x": -8.091461181640625,
                    "y": -0.03547940030694008,
                    "z": -0.3325037956237793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034912109375,
                "transform": {
                    "location": {
                        "x": -2033.886474609375,
                        "y": 4062.349853515625,
                        "z": 359.9142761230469
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -2.588163375854492,
                        "yaw": -179.74533081054688
                    }
                },
                "velocity": {
                    "x": -8.026577949523926,
                    "y": -0.03744330257177353,
                    "z": -0.36393412947654724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.719218254089355,
                "transform": {
                    "location": {
                        "x": -1967.1436767578125,
                        "y": 4065.89111328125,
                        "z": 362.4319763183594
                    },
                    "rotation": {
                        "roll": 0.00017391718574799597,
                        "pitch": -1.6785188913345337,
                        "yaw": -179.74847412109375
                    }
                },
                "velocity": {
                    "x": -13.712214469909668,
                    "y": -0.05989183112978935,
                    "z": -0.43421652913093567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.412615776062012,
                "transform": {
                    "location": {
                        "x": -1991.0299072265625,
                        "y": 4065.7861328125,
                        "z": 361.6258850097656
                    },
                    "rotation": {
                        "roll": 0.0001154948040493764,
                        "pitch": -1.96310555934906,
                        "yaw": -179.75843811035156
                    }
                },
                "velocity": {
                    "x": -14.403430938720703,
                    "y": -0.06197737157344818,
                    "z": -0.5106996893882751
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0008946179877966642,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 1.602642259967979e-05,
                    "y": -9.873010276351124e-05,
                    "z": 0.0008890089229680598
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.057526733726263046,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            49.74678489920484,
            -0.25025672320100084
        ],
        "target_point_next": [
            100.74475966877273,
            -0.7043845684516736
        ]
    },
    "150": {
        "acceleration": [
            -1.6112518310546875,
            -0.028631985187530518,
            -0.29410362243652344
        ],
        "angular_velocity": [
            0.2411145269870758,
            -0.46903857588768005,
            -0.21920111775398254
        ],
        "forward_vector": [
            -0.9992178678512573,
            -0.014276942238211632,
            -0.03687641769647598
        ],
        "right_vector": [
            0.014226051978766918,
            -0.9998974800109863,
            0.0016420516185462475
        ],
        "location": [
            -2013.3858642578125,
            4065.94775390625,
            360.7888488769531
        ],
        "rotation": [
            -0.09414669871330261,
            -2.11334228515625,
            -179.18141174316406
        ],
        "velocity": [
            -15.531906127929688,
            -0.2155357152223587,
            -0.6220654845237732
        ],
        "speed": 15.53340154671076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 130.68753051757812,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.937840938568115,
                "transform": {
                    "location": {
                        "x": -2064.640869140625,
                        "y": 4072.12158203125,
                        "z": 358.7271728515625
                    },
                    "rotation": {
                        "roll": 0.015842143446207047,
                        "pitch": 1.5700486898422241,
                        "yaw": 0.7509099841117859
                    }
                },
                "velocity": {
                    "x": 7.933813095092773,
                    "y": 0.10196025669574738,
                    "z": 0.23137028515338898
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.847119331359863,
                "transform": {
                    "location": {
                        "x": -2064.287841796875,
                        "y": 4068.873046875,
                        "z": 358.7063293457031
                    },
                    "rotation": {
                        "roll": 0.014220880344510078,
                        "pitch": 1.5861064195632935,
                        "yaw": 0.76273113489151
                    }
                },
                "velocity": {
                    "x": 7.8430047035217285,
                    "y": 0.10467936098575592,
                    "z": 0.23151345551013947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998321533203125,
                "transform": {
                    "location": {
                        "x": -2024.30810546875,
                        "y": 4072.33837890625,
                        "z": 360.3414001464844
                    },
                    "rotation": {
                        "roll": 0.0012995775323361158,
                        "pitch": 2.5163097381591797,
                        "yaw": 0.29820388555526733
                    }
                },
                "velocity": {
                    "x": 7.990435600280762,
                    "y": 0.03980248048901558,
                    "z": 0.3528463542461395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052334785461426,
                "transform": {
                    "location": {
                        "x": -2022.933837890625,
                        "y": 4069.094970703125,
                        "z": 360.39569091796875
                    },
                    "rotation": {
                        "roll": 0.0028177055064588785,
                        "pitch": 2.496044635772705,
                        "yaw": 0.27777305245399475
                    }
                },
                "velocity": {
                    "x": 8.04479694366455,
                    "y": 0.039342671632766724,
                    "z": 0.34610533714294434
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063520431518555,
                "transform": {
                    "location": {
                        "x": -1979.294677734375,
                        "y": 4072.537841796875,
                        "z": 362.040771484375
                    },
                    "rotation": {
                        "roll": 0.00012287778372410685,
                        "pitch": 1.9721077680587769,
                        "yaw": 0.24656365811824799
                    }
                },
                "velocity": {
                    "x": 8.058752059936523,
                    "y": 0.0346863716840744,
                    "z": 0.2750919461250305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977606773376465,
                "transform": {
                    "location": {
                        "x": -1979.1402587890625,
                        "y": 4069.2890625,
                        "z": 362.0453186035156
                    },
                    "rotation": {
                        "roll": -0.0003967288648709655,
                        "pitch": 1.939766764640808,
                        "yaw": 0.24963782727718353
                    }
                },
                "velocity": {
                    "x": 7.972918510437012,
                    "y": 0.036381907761096954,
                    "z": 0.27103540301322937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.85534381866455,
                "transform": {
                    "location": {
                        "x": -1978.371826171875,
                        "y": 4062.592529296875,
                        "z": 362.055419921875
                    },
                    "rotation": {
                        "roll": 0.0010741561418399215,
                        "pitch": -1.8734729290008545,
                        "yaw": -179.73777770996094
                    }
                },
                "velocity": {
                    "x": -8.85023307800293,
                    "y": -0.03819375857710838,
                    "z": -0.2983873784542084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.812833786010742,
                "transform": {
                    "location": {
                        "x": -1997.4388427734375,
                        "y": 4062.508544921875,
                        "z": 361.400146484375
                    },
                    "rotation": {
                        "roll": -0.0009460453293286264,
                        "pitch": -2.056023359298706,
                        "yaw": -179.7201690673828
                    }
                },
                "velocity": {
                    "x": -8.806893348693848,
                    "y": -0.039662186056375504,
                    "z": -0.32110244035720825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043923377990723,
                "transform": {
                    "location": {
                        "x": -2016.181640625,
                        "y": 4062.426513671875,
                        "z": 360.6675720214844
                    },
                    "rotation": {
                        "roll": 0.001432423130609095,
                        "pitch": -2.399103879928589,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": -8.036880493164062,
                    "y": -0.0337110310792923,
                    "z": -0.3348435163497925
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.094466209411621,
                "transform": {
                    "location": {
                        "x": -2035.900634765625,
                        "y": 4062.341064453125,
                        "z": 359.8229675292969
                    },
                    "rotation": {
                        "roll": -0.0007629397441633046,
                        "pitch": -2.584925889968872,
                        "yaw": -179.74761962890625
                    }
                },
                "velocity": {
                    "x": -8.086058616638184,
                    "y": -0.03399207815527916,
                    "z": -0.36725524067878723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.081921577453613,
                "transform": {
                    "location": {
                        "x": -1970.61865234375,
                        "y": 4065.87548828125,
                        "z": 362.3205261230469
                    },
                    "rotation": {
                        "roll": 0.0005048178718425333,
                        "pitch": -1.7318353652954102,
                        "yaw": -179.75250244140625
                    }
                },
                "velocity": {
                    "x": -14.074407577514648,
                    "y": -0.060799963772296906,
                    "z": -0.4559527337551117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.791603088378906,
                "transform": {
                    "location": {
                        "x": -1994.679931640625,
                        "y": 4065.7705078125,
                        "z": 361.49658203125
                    },
                    "rotation": {
                        "roll": 0.0015925944317132235,
                        "pitch": -1.9624567031860352,
                        "yaw": -179.76077270507812
                    }
                },
                "velocity": {
                    "x": -14.782227516174316,
                    "y": -0.06185431778430939,
                    "z": -0.5229190587997437
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.001183090964332223,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -2.107683576468844e-05,
                    "y": 5.723206868424313e-06,
                    "z": 0.0011828893329948187
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.044927507638931274,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            45.911445443814706,
            -0.29754675075528125
        ],
        "target_point_next": [
            96.90892977275848,
            -0.803762926365941
        ]
    },
    "155": {
        "acceleration": [
            -1.5907669067382812,
            0.09047746658325195,
            -0.146484375
        ],
        "angular_velocity": [
            0.2258329838514328,
            -0.06996454298496246,
            -0.39303094148635864
        ],
        "forward_vector": [
            -0.9991441965103149,
            -0.012907332740724087,
            -0.03929746896028519
        ],
        "right_vector": [
            0.012891773134469986,
            -0.999916672706604,
            0.0006493093096651137
        ],
        "location": [
            -2017.3197021484375,
            4065.89453125,
            360.62835693359375
        ],
        "rotation": [
            -0.0372314453125,
            -2.2521591186523438,
            -179.25987243652344
        ],
        "velocity": [
            -15.932985305786133,
            -0.205759197473526,
            -0.6648925542831421
        ],
        "speed": 15.934313841572902,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 126.75184631347656,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.1992034912109375,
                "transform": {
                    "location": {
                        "x": -2062.85546875,
                        "y": 4072.140869140625,
                        "z": 358.7789001464844
                    },
                    "rotation": {
                        "roll": 0.01748664677143097,
                        "pitch": 1.59520423412323,
                        "yaw": 0.6308282613754272
                    }
                },
                "velocity": {
                    "x": 6.196280479431152,
                    "y": 0.05353040620684624,
                    "z": 0.18268023431301117
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.094558238983154,
                "transform": {
                    "location": {
                        "x": -2062.607421875,
                        "y": 4068.890625,
                        "z": 358.7535095214844
                    },
                    "rotation": {
                        "roll": 0.007906140759587288,
                        "pitch": 1.8495604991912842,
                        "yaw": 0.6121305823326111
                    }
                },
                "velocity": {
                    "x": 6.09171199798584,
                    "y": 0.05403178557753563,
                    "z": 0.17823855578899384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.981866359710693,
                "transform": {
                    "location": {
                        "x": -2022.313720703125,
                        "y": 4072.34814453125,
                        "z": 360.4276123046875
                    },
                    "rotation": {
                        "roll": -9.155271254712716e-05,
                        "pitch": 2.4405357837677,
                        "yaw": 0.280242919921875
                    }
                },
                "velocity": {
                    "x": 7.974737167358398,
                    "y": 0.03664857894182205,
                    "z": 0.3352828919887543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.017732620239258,
                "transform": {
                    "location": {
                        "x": -2020.927490234375,
                        "y": 4069.10498046875,
                        "z": 360.48138427734375
                    },
                    "rotation": {
                        "roll": 0.002068817848339677,
                        "pitch": 2.3866045475006104,
                        "yaw": 0.2919634282588959
                    }
                },
                "velocity": {
                    "x": 8.010534286499023,
                    "y": 0.0380888395011425,
                    "z": 0.337523877620697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.033329963684082,
                "transform": {
                    "location": {
                        "x": -1977.28369140625,
                        "y": 4072.546875,
                        "z": 362.109375
                    },
                    "rotation": {
                        "roll": -0.0003051749081350863,
                        "pitch": 1.941098690032959,
                        "yaw": 0.2522071897983551
                    }
                },
                "velocity": {
                    "x": 8.0286865234375,
                    "y": 0.035403404384851456,
                    "z": 0.27079781889915466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.037471771240234,
                "transform": {
                    "location": {
                        "x": -1977.1397705078125,
                        "y": 4069.298095703125,
                        "z": 362.11322021484375
                    },
                    "rotation": {
                        "roll": -0.0008544918964616954,
                        "pitch": 1.9193650484085083,
                        "yaw": 0.25138115882873535
                    }
                },
                "velocity": {
                    "x": 8.032841682434082,
                    "y": 0.0352325439453125,
                    "z": 0.27049943804740906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.480347633361816,
                "transform": {
                    "location": {
                        "x": -1980.716552734375,
                        "y": 4062.58251953125,
                        "z": 361.9754333496094
                    },
                    "rotation": {
                        "roll": 0.0005682716146111488,
                        "pitch": -1.926639199256897,
                        "yaw": -179.7635040283203
                    }
                },
                "velocity": {
                    "x": -9.474577903747559,
                    "y": -0.04018063470721245,
                    "z": -0.3282562494277954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.221135139465332,
                "transform": {
                    "location": {
                        "x": -1999.5286865234375,
                        "y": 4062.499267578125,
                        "z": 361.3236999511719
                    },
                    "rotation": {
                        "roll": 0.0007692097569815814,
                        "pitch": -2.039945125579834,
                        "yaw": -179.76344299316406
                    }
                },
                "velocity": {
                    "x": -8.215547561645508,
                    "y": -0.03378940373659134,
                    "z": -0.3011625111103058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.096846580505371,
                "transform": {
                    "location": {
                        "x": -2018.19775390625,
                        "y": 4062.41796875,
                        "z": 360.58343505859375
                    },
                    "rotation": {
                        "roll": 0.00011271030962234363,
                        "pitch": -2.3903815746307373,
                        "yaw": -179.7496337890625
                    }
                },
                "velocity": {
                    "x": -8.089720726013184,
                    "y": -0.03389320895075798,
                    "z": -0.3379249572753906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035724639892578,
                "transform": {
                    "location": {
                        "x": -2037.914306640625,
                        "y": 4062.33251953125,
                        "z": 359.73162841796875
                    },
                    "rotation": {
                        "roll": -0.000274658523267135,
                        "pitch": -2.5833072662353516,
                        "yaw": -179.74893188476562
                    }
                },
                "velocity": {
                    "x": -8.027461051940918,
                    "y": -0.03358611837029457,
                    "z": -0.36278364062309265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.435225486755371,
                "transform": {
                    "location": {
                        "x": -1974.1829833984375,
                        "y": 4065.85986328125,
                        "z": 362.20367431640625
                    },
                    "rotation": {
                        "roll": 0.000817483349237591,
                        "pitch": -1.7563420534133911,
                        "yaw": -179.75498962402344
                    }
                },
                "velocity": {
                    "x": -14.427108764648438,
                    "y": -0.0617239885032177,
                    "z": -0.4800727665424347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.171096801757812,
                "transform": {
                    "location": {
                        "x": -1998.4241943359375,
                        "y": 4065.75439453125,
                        "z": 361.3624572753906
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": -2.0324456691741943,
                        "yaw": -179.7445526123047
                    }
                },
                "velocity": {
                    "x": -15.1610689163208,
                    "y": -0.06568469107151031,
                    "z": -0.5475724935531616
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.001452872296795249,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.5705525584053248e-05,
                    "y": -1.0506120133868535e-06,
                    "z": 0.0014527870807796717
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.7431982755661011,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03415685147047043,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            41.97761269810269,
            -0.2370760120832351
        ],
        "target_point_next": [
            92.9757424558934,
            -0.6734518877444868
        ]
    },
    "160": {
        "acceleration": [
            -1.394500732421875,
            0.30800938606262207,
            -0.09478092193603516
        ],
        "angular_velocity": [
            0.32518643140792847,
            -0.10228431224822998,
            -1.3206409215927124
        ],
        "forward_vector": [
            -0.9991891980171204,
            -0.008714414201676846,
            -0.03930544853210449
        ],
        "right_vector": [
            0.008749487809836864,
            -0.9999614953994751,
            -0.0007203875575214624
        ],
        "location": [
            -2021.352783203125,
            4065.850341796875,
            360.4595642089844
        ],
        "rotation": [
            0.04130709171295166,
            -2.2526166439056396,
            -179.50030517578125
        ],
        "velocity": [
            -16.30805778503418,
            -0.14186488091945648,
            -0.6832088828086853
        ],
        "speed": 16.308674819385303,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 122.71698760986328,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.942516803741455,
                "transform": {
                    "location": {
                        "x": -2061.367919921875,
                        "y": 4072.154052734375,
                        "z": 358.8232421875
                    },
                    "rotation": {
                        "roll": 0.011000555008649826,
                        "pitch": 1.669550895690918,
                        "yaw": 0.5441753268241882
                    }
                },
                "velocity": {
                    "x": 5.939585208892822,
                    "y": 0.04918801784515381,
                    "z": 0.1800382137298584
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.308764934539795,
                "transform": {
                    "location": {
                        "x": -2061.082763671875,
                        "y": 4068.904541015625,
                        "z": 358.80035400390625
                    },
                    "rotation": {
                        "roll": 0.006466724909842014,
                        "pitch": 1.7334951162338257,
                        "yaw": 0.5383712649345398
                    }
                },
                "velocity": {
                    "x": 6.305664539337158,
                    "y": 0.05292229354381561,
                    "z": 0.19055068492889404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036470413208008,
                "transform": {
                    "location": {
                        "x": -2020.312255859375,
                        "y": 4072.358154296875,
                        "z": 360.5123291015625
                    },
                    "rotation": {
                        "roll": 5.982181028230116e-05,
                        "pitch": 2.356142044067383,
                        "yaw": 0.26734575629234314
                    }
                },
                "velocity": {
                    "x": 8.029451370239258,
                    "y": 0.037310291081666946,
                    "z": 0.33372586965560913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023758888244629,
                "transform": {
                    "location": {
                        "x": -2018.9249267578125,
                        "y": 4069.114501953125,
                        "z": 360.5644836425781
                    },
                    "rotation": {
                        "roll": 0.0014543647412210703,
                        "pitch": 2.395087718963623,
                        "yaw": 0.258633553981781
                    }
                },
                "velocity": {
                    "x": 8.016866683959961,
                    "y": 0.03709512576460838,
                    "z": 0.33042266964912415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064045906066895,
                "transform": {
                    "location": {
                        "x": -1975.2720947265625,
                        "y": 4072.555419921875,
                        "z": 362.17669677734375
                    },
                    "rotation": {
                        "roll": 0.0009910330409184098,
                        "pitch": 1.9397940635681152,
                        "yaw": 0.24958446621894836
                    }
                },
                "velocity": {
                    "x": 8.05954647064209,
                    "y": 0.03483883664011955,
                    "z": 0.26708143949508667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.979040145874023,
                "transform": {
                    "location": {
                        "x": -1975.13916015625,
                        "y": 4069.306884765625,
                        "z": 362.1803283691406
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 1.9134842157363892,
                        "yaw": 0.25149887800216675
                    }
                },
                "velocity": {
                    "x": 7.974625587463379,
                    "y": 0.03499807417392731,
                    "z": 0.26306095719337463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.277374267578125,
                "transform": {
                    "location": {
                        "x": -1982.9246826171875,
                        "y": 4062.57275390625,
                        "z": 361.8996276855469
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": -2.0547189712524414,
                        "yaw": -179.73655700683594
                    }
                },
                "velocity": {
                    "x": -8.272228240966797,
                    "y": -0.03775213286280632,
                    "z": -0.28938543796539307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.881569862365723,
                "transform": {
                    "location": {
                        "x": -2001.6556396484375,
                        "y": 4062.489990234375,
                        "z": 361.2464904785156
                    },
                    "rotation": {
                        "roll": 4.084857937414199e-05,
                        "pitch": -2.1353423595428467,
                        "yaw": -179.73268127441406
                    }
                },
                "velocity": {
                    "x": -8.875492095947266,
                    "y": -0.041306909173727036,
                    "z": -0.32590362429618835
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044852256774902,
                "transform": {
                    "location": {
                        "x": -2020.2137451171875,
                        "y": 4062.41064453125,
                        "z": 360.49957275390625
                    },
                    "rotation": {
                        "roll": 0.001045534503646195,
                        "pitch": -2.388428211212158,
                        "yaw": -179.7550811767578
                    }
                },
                "velocity": {
                    "x": -8.037848472595215,
                    "y": -0.03433575853705406,
                    "z": -0.3338582217693329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.093679428100586,
                "transform": {
                    "location": {
                        "x": -2039.9283447265625,
                        "y": 4062.323974609375,
                        "z": 359.6404724121094
                    },
                    "rotation": {
                        "roll": 0.000468660204205662,
                        "pitch": -2.5833959579467773,
                        "yaw": -179.75096130371094
                    }
                },
                "velocity": {
                    "x": -8.085357666015625,
                    "y": -0.03523220121860504,
                    "z": -0.36522597074508667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.792863845825195,
                "transform": {
                    "location": {
                        "x": -1977.8355712890625,
                        "y": 4065.84423828125,
                        "z": 362.08135986328125
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -1.8113387823104858,
                        "yaw": -179.74755859375
                    }
                },
                "velocity": {
                    "x": -14.784241676330566,
                    "y": -0.06478440761566162,
                    "z": -0.5008171796798706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.544827461242676,
                "transform": {
                    "location": {
                        "x": -2002.26318359375,
                        "y": 4065.73779296875,
                        "z": 361.2216796875
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": -2.037834644317627,
                        "yaw": -179.75238037109375
                    }
                },
                "velocity": {
                    "x": -15.534184455871582,
                    "y": -0.06847292184829712,
                    "z": -0.5710382461547852
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.00135156256146729,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -2.055298500636127e-05,
                    "y": 4.806614469998749e-06,
                    "z": 0.001351397717371583
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.42635151743888855,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03332914039492607,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            37.94492487860499,
            -0.0699436213614964
        ],
        "target_point_next": [
            88.94443675484756,
            -0.292319614463901
        ]
    },
    "165": {
        "acceleration": [
            0.266265869140625,
            0.3985162079334259,
            -0.12858033180236816
        ],
        "angular_velocity": [
            0.22892925143241882,
            -0.6509472727775574,
            -1.4502516984939575
        ],
        "forward_vector": [
            -0.9990749359130859,
            -0.002546493196859956,
            -0.04292765632271767
        ],
        "right_vector": [
            0.002630098257213831,
            -0.9999948143959045,
            -0.0018912130035459995
        ],
        "location": [
            -2025.4561767578125,
            4065.825927734375,
            360.28338623046875
        ],
        "rotation": [
            0.10845857858657837,
            -2.460329532623291,
            -179.8539581298828
        ],
        "velocity": [
            -16.445810317993164,
            -0.04925714433193207,
            -0.7250378727912903
        ],
        "speed": 16.445884083310272,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 118.61199188232422,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2100.12109375,
                        "y": 4071.9111328125,
                        "z": 358.3079528808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4981120228767395,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2099.697021484375,
                        "y": 4068.6630859375,
                        "z": 358.2328796386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4981120228767395,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.019927024841309,
                "transform": {
                    "location": {
                        "x": -2059.822998046875,
                        "y": 4072.166748046875,
                        "z": 358.8710021972656
                    },
                    "rotation": {
                        "roll": 0.009792589582502842,
                        "pitch": 1.9001107215881348,
                        "yaw": 0.4965611398220062
                    }
                },
                "velocity": {
                    "x": 7.015810012817383,
                    "y": 0.05810721591114998,
                    "z": 0.2332606315612793
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.592493534088135,
                "transform": {
                    "location": {
                        "x": -2059.436279296875,
                        "y": 4068.918701171875,
                        "z": 358.853515625
                    },
                    "rotation": {
                        "roll": 0.008201390504837036,
                        "pitch": 1.7993175983428955,
                        "yaw": 0.5068467259407043
                    }
                },
                "velocity": {
                    "x": 6.5885009765625,
                    "y": 0.05567930266261101,
                    "z": 0.22254155576229095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965664863586426,
                "transform": {
                    "location": {
                        "x": -2018.314697265625,
                        "y": 4072.367919921875,
                        "z": 360.5950622558594
                    },
                    "rotation": {
                        "roll": -0.0005798341589979827,
                        "pitch": 2.3676576614379883,
                        "yaw": 0.262966126203537
                    }
                },
                "velocity": {
                    "x": 7.958708763122559,
                    "y": 0.036502644419670105,
                    "z": 0.3308219909667969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.031123161315918,
                "transform": {
                    "location": {
                        "x": -2016.9193115234375,
                        "y": 4069.124267578125,
                        "z": 360.6476135253906
                    },
                    "rotation": {
                        "roll": 0.002229895908385515,
                        "pitch": 2.397874355316162,
                        "yaw": 0.2800649404525757
                    }
                },
                "velocity": {
                    "x": 8.024117469787598,
                    "y": 0.037784144282341,
                    "z": 0.3332342505455017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.034109115600586,
                "transform": {
                    "location": {
                        "x": -1973.2611083984375,
                        "y": 4072.564208984375,
                        "z": 362.24334716796875
                    },
                    "rotation": {
                        "roll": 5.0803631893359125e-05,
                        "pitch": 1.897713303565979,
                        "yaw": 0.25012218952178955
                    }
                },
                "velocity": {
                    "x": 8.02971076965332,
                    "y": 0.03513975813984871,
                    "z": 0.26348209381103516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038599014282227,
                "transform": {
                    "location": {
                        "x": -1973.137939453125,
                        "y": 4069.315185546875,
                        "z": 362.2465515136719
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 1.8679746389389038,
                        "yaw": 0.24498887360095978
                    }
                },
                "velocity": {
                    "x": 8.034198760986328,
                    "y": 0.03251016139984131,
                    "z": 0.26393693685531616
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.353822708129883,
                "transform": {
                    "location": {
                        "x": -1984.9677734375,
                        "y": 4062.562744140625,
                        "z": 361.8279113769531
                    },
                    "rotation": {
                        "roll": -0.0003356931556481868,
                        "pitch": -2.0154385566711426,
                        "yaw": -179.7623291015625
                    }
                },
                "velocity": {
                    "x": -8.34862232208252,
                    "y": -0.03554495796561241,
                    "z": -0.2925623953342438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.604583740234375,
                "transform": {
                    "location": {
                        "x": -2003.879638671875,
                        "y": 4062.47998046875,
                        "z": 361.16448974609375
                    },
                    "rotation": {
                        "roll": 2.8178439606563188e-05,
                        "pitch": -2.076500415802002,
                        "yaw": -179.77011108398438
                    }
                },
                "velocity": {
                    "x": -8.598750114440918,
                    "y": -0.03559274598956108,
                    "z": -0.31478357315063477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.589606285095215,
                "transform": {
                    "location": {
                        "x": -2022.2684326171875,
                        "y": 4062.400634765625,
                        "z": 360.4131164550781
                    },
                    "rotation": {
                        "roll": -0.0008239740855060518,
                        "pitch": -2.3994383811950684,
                        "yaw": -179.74929809570312
                    }
                },
                "velocity": {
                    "x": -8.581472396850586,
                    "y": -0.03581763058900833,
                    "z": -0.37200042605400085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03489875793457,
                "transform": {
                    "location": {
                        "x": -2041.9417724609375,
                        "y": 4062.315185546875,
                        "z": 359.54925537109375
                    },
                    "rotation": {
                        "roll": 4.173054124478881e-10,
                        "pitch": -2.582207441329956,
                        "yaw": -179.75064086914062
                    }
                },
                "velocity": {
                    "x": -8.026639938354492,
                    "y": -0.03491277992725372,
                    "z": -0.36253559589385986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.139673233032227,
                "transform": {
                    "location": {
                        "x": -1981.5767822265625,
                        "y": 4065.828125,
                        "z": 361.9533996582031
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -1.8606185913085938,
                        "yaw": -179.74676513671875
                    }
                },
                "velocity": {
                    "x": -15.130525588989258,
                    "y": -0.06682972609996796,
                    "z": -0.5219635367393494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.864781379699707,
                "transform": {
                    "location": {
                        "x": -2006.18994140625,
                        "y": 4065.72021484375,
                        "z": 361.07537841796875
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": -2.1392765045166016,
                        "yaw": -179.75424194335938
                    }
                },
                "velocity": {
                    "x": -15.853278160095215,
                    "y": -0.06931817531585693,
                    "z": -0.6000471115112305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0018231451977044344,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -3.208461930626072e-05,
                    "y": 1.6301837604260072e-05,
                    "z": 0.0018227898981422186
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.42759159207344055,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0480855293571949,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            33.84119135356827,
            0.15030544511609917
        ],
        "target_point_next": [
            84.84110433506692,
            0.24270986535620132
        ]
    },
    "170": {
        "acceleration": [
            0.8687591552734375,
            0.2961617112159729,
            0.06371736526489258
        ],
        "angular_velocity": [
            -0.013865577057003975,
            -0.3429870307445526,
            -0.9315675497055054
        ],
        "forward_vector": [
            -0.9989832639694214,
            0.0024343160912394524,
            -0.0450160913169384
        ],
        "right_vector": [
            -0.002333948388695717,
            -0.9999946355819702,
            -0.0022820252925157547
        ],
        "location": [
            -2029.5443115234375,
            4065.822998046875,
            360.1026611328125
        ],
        "rotation": [
            0.13088321685791016,
            -2.580103874206543,
            179.86038208007812
        ],
        "velocity": [
            -16.259069442749023,
            0.029821986332535744,
            -0.7200993895530701
        ],
        "speed": 16.259096792103914,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 114.5224838256836,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2098.044189453125,
                        "y": 4071.920166015625,
                        "z": 358.2306823730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6034130454063416,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.127076148986816,
                "transform": {
                    "location": {
                        "x": -2097.6474609375,
                        "y": 4068.672119140625,
                        "z": 358.2244873046875
                    },
                    "rotation": {
                        "roll": 0.002024597255513072,
                        "pitch": 0.6691057682037354,
                        "yaw": 0.2569466531276703
                    }
                },
                "velocity": {
                    "x": 7.125604629516602,
                    "y": 0.04156212881207466,
                    "z": -0.13873231410980225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.4616060256958,
                "transform": {
                    "location": {
                        "x": -2057.80517578125,
                        "y": 4072.18212890625,
                        "z": 358.9358825683594
                    },
                    "rotation": {
                        "roll": 0.010136459022760391,
                        "pitch": 2.149521827697754,
                        "yaw": 0.4218360185623169
                    }
                },
                "velocity": {
                    "x": 8.456557273864746,
                    "y": 0.05350935831665993,
                    "z": 0.28731751441955566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.387313842773438,
                "transform": {
                    "location": {
                        "x": -2057.46484375,
                        "y": 4068.933349609375,
                        "z": 358.9190673828125
                    },
                    "rotation": {
                        "roll": 0.003119220258668065,
                        "pitch": 1.8557759523391724,
                        "yaw": 0.41660889983177185
                    }
                },
                "velocity": {
                    "x": 8.382271766662598,
                    "y": 0.05292421579360962,
                    "z": 0.28592923283576965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035359382629395,
                "transform": {
                    "location": {
                        "x": -2016.31591796875,
                        "y": 4072.377197265625,
                        "z": 360.6780700683594
                    },
                    "rotation": {
                        "roll": 0.00036807399010285735,
                        "pitch": 2.368224620819092,
                        "yaw": 0.258186936378479
                    }
                },
                "velocity": {
                    "x": 8.028310775756836,
                    "y": 0.03428012877702713,
                    "z": 0.33473899960517883
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024538040161133,
                "transform": {
                    "location": {
                        "x": -2014.9146728515625,
                        "y": 4069.13330078125,
                        "z": 360.73065185546875
                    },
                    "rotation": {
                        "roll": 0.00043640556395985186,
                        "pitch": 2.377636432647705,
                        "yaw": 0.2366541624069214
                    }
                },
                "velocity": {
                    "x": 8.017849922180176,
                    "y": 0.034254077821969986,
                    "z": 0.3257502615451813
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063529014587402,
                "transform": {
                    "location": {
                        "x": -1971.2493896484375,
                        "y": 4072.57373046875,
                        "z": 362.30914306640625
                    },
                    "rotation": {
                        "roll": -0.00012207064719405025,
                        "pitch": 1.879210352897644,
                        "yaw": 0.2530026137828827
                    }
                },
                "velocity": {
                    "x": 8.059142112731934,
                    "y": 0.03560418635606766,
                    "z": 0.2635546624660492
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.978787899017334,
                "transform": {
                    "location": {
                        "x": -1971.1370849609375,
                        "y": 4069.322998046875,
                        "z": 362.31201171875
                    },
                    "rotation": {
                        "roll": 9.215730824507773e-05,
                        "pitch": 1.8600858449935913,
                        "yaw": 0.24485832452774048
                    }
                },
                "velocity": {
                    "x": 7.974488258361816,
                    "y": 0.03569610416889191,
                    "z": 0.2594606280326843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.196413040161133,
                "transform": {
                    "location": {
                        "x": -1987.1822509765625,
                        "y": 4062.552978515625,
                        "z": 361.7496337890625
                    },
                    "rotation": {
                        "roll": -0.0010986331617459655,
                        "pitch": -1.9900437593460083,
                        "yaw": -179.7373046875
                    }
                },
                "velocity": {
                    "x": -9.19059944152832,
                    "y": -0.039693210273981094,
                    "z": -0.3245290219783783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.739524841308594,
                "transform": {
                    "location": {
                        "x": -2006.01904296875,
                        "y": 4062.470458984375,
                        "z": 361.0838623046875
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": -2.1805036067962646,
                        "yaw": -179.74530029296875
                    }
                },
                "velocity": {
                    "x": -8.732911109924316,
                    "y": -0.036025263369083405,
                    "z": -0.3380260467529297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.74637222290039,
                "transform": {
                    "location": {
                        "x": -2024.5577392578125,
                        "y": 4062.390625,
                        "z": 360.3140563964844
                    },
                    "rotation": {
                        "roll": -0.0004577640211209655,
                        "pitch": -2.474693536758423,
                        "yaw": -179.74755859375
                    }
                },
                "velocity": {
                    "x": -9.736818313598633,
                    "y": -0.0446457602083683,
                    "z": -0.42912498116493225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.094612121582031,
                "transform": {
                    "location": {
                        "x": -2043.9561767578125,
                        "y": 4062.305908203125,
                        "z": 359.4580383300781
                    },
                    "rotation": {
                        "roll": 2.9664135581697337e-05,
                        "pitch": -2.581387996673584,
                        "yaw": -179.74371337890625
                    }
                },
                "velocity": {
                    "x": -8.086456298828125,
                    "y": -0.03626067191362381,
                    "z": -0.361470490694046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.37850284576416,
                "transform": {
                    "location": {
                        "x": -1985.3946533203125,
                        "y": 4065.8115234375,
                        "z": 361.8201904296875
                    },
                    "rotation": {
                        "roll": 0.00018675849423743784,
                        "pitch": -1.907562494277954,
                        "yaw": -179.7498321533203
                    }
                },
                "velocity": {
                    "x": -15.368827819824219,
                    "y": -0.06714876741170883,
                    "z": -0.5412635803222656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.882976531982422,
                "transform": {
                    "location": {
                        "x": -2010.1630859375,
                        "y": 4065.70263671875,
                        "z": 360.9209289550781
                    },
                    "rotation": {
                        "roll": 0.0014555302914232016,
                        "pitch": -2.2446868419647217,
                        "yaw": -179.75772094726562
                    }
                },
                "velocity": {
                    "x": -15.870536804199219,
                    "y": -0.06741079688072205,
                    "z": -0.6248828768730164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0010056933388113976,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.0143741747015156e-05,
                    "y": -1.845849874371197e-05,
                    "z": 0.0010054727317765355
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.42591407895088196,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06675393879413605,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            29.751905854942652,
            0.30613768115514745
        ],
        "target_point_next": [
            80.75072424341127,
            0.6528157411906097
        ]
    },
    "175": {
        "acceleration": [
            0.7951736450195312,
            0.2454972267150879,
            -0.05258917808532715
        ],
        "angular_velocity": [
            0.026376213878393173,
            -0.258682519197464,
            -0.8567811846733093
        ],
        "forward_vector": [
            -0.9988665580749512,
            0.006263058166950941,
            -0.04718327522277832
        ],
        "right_vector": [
            -0.006159313954412937,
            -0.9999783039093018,
            -0.00234382227063179
        ],
        "location": [
            -2033.580322265625,
            4065.83837890625,
            359.92230224609375
        ],
        "rotation": [
            0.13444097340106964,
            -2.704406499862671,
            179.6407470703125
        ],
        "velocity": [
            -16.049739837646484,
            0.09563149511814117,
            -0.7259061336517334
        ],
        "speed": 16.050024742628754,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.48540496826172,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.957803726196289,
                "transform": {
                    "location": {
                        "x": -2096.27099609375,
                        "y": 4071.9375,
                        "z": 358.1990966796875
                    },
                    "rotation": {
                        "roll": -0.006011961959302425,
                        "pitch": 0.5823214054107666,
                        "yaw": 0.5738218426704407
                    }
                },
                "velocity": {
                    "x": 6.956748962402344,
                    "y": 0.11251126974821091,
                    "z": -0.04498093202710152
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.771819591522217,
                "transform": {
                    "location": {
                        "x": -2095.939697265625,
                        "y": 4068.6923828125,
                        "z": 358.2037353515625
                    },
                    "rotation": {
                        "roll": 0.016169095411896706,
                        "pitch": 0.6846649646759033,
                        "yaw": 0.6250877380371094
                    }
                },
                "velocity": {
                    "x": 6.770878791809082,
                    "y": 0.11273566633462906,
                    "z": 0.005613002460449934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.814398288726807,
                "transform": {
                    "location": {
                        "x": -2055.7724609375,
                        "y": 4072.1953125,
                        "z": 359.0081481933594
                    },
                    "rotation": {
                        "roll": 0.005824243649840355,
                        "pitch": 1.9964505434036255,
                        "yaw": 0.35682523250579834
                    }
                },
                "velocity": {
                    "x": 7.809001922607422,
                    "y": 0.046860937029123306,
                    "z": 0.2865521311759949
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.011672019958496,
                "transform": {
                    "location": {
                        "x": -2055.407470703125,
                        "y": 4068.946533203125,
                        "z": 358.9901123046875
                    },
                    "rotation": {
                        "roll": 0.0032787213567644358,
                        "pitch": 2.0191266536712646,
                        "yaw": 0.3660835921764374
                    }
                },
                "velocity": {
                    "x": 8.005973815917969,
                    "y": 0.04862843453884125,
                    "z": 0.29815202951431274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.974557399749756,
                "transform": {
                    "location": {
                        "x": -2014.316162109375,
                        "y": 4072.38623046875,
                        "z": 360.7603454589844
                    },
                    "rotation": {
                        "roll": 9.24268169910647e-05,
                        "pitch": 2.3342647552490234,
                        "yaw": 0.2525896728038788
                    }
                },
                "velocity": {
                    "x": 7.968171119689941,
                    "y": 0.03498038277029991,
                    "z": 0.3171543478965759
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027613639831543,
                "transform": {
                    "location": {
                        "x": -2012.910888671875,
                        "y": 4069.141845703125,
                        "z": 360.8115234375
                    },
                    "rotation": {
                        "roll": 0.00019347194756846875,
                        "pitch": 2.270108938217163,
                        "yaw": 0.26694419980049133
                    }
                },
                "velocity": {
                    "x": 8.021004676818848,
                    "y": 0.03585889935493469,
                    "z": 0.32368385791778564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035941123962402,
                "transform": {
                    "location": {
                        "x": -1969.2379150390625,
                        "y": 4072.58251953125,
                        "z": 362.37432861328125
                    },
                    "rotation": {
                        "roll": 5.520201375475153e-05,
                        "pitch": 1.869996428489685,
                        "yaw": 0.25168707966804504
                    }
                },
                "velocity": {
                    "x": 8.031760215759277,
                    "y": 0.036289751529693604,
                    "z": 0.2566320300102234
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040607452392578,
                "transform": {
                    "location": {
                        "x": -1969.1353759765625,
                        "y": 4069.33251953125,
                        "z": 362.3768005371094
                    },
                    "rotation": {
                        "roll": -0.0006713862530887127,
                        "pitch": 1.8407905101776123,
                        "yaw": 0.2520374655723572
                    }
                },
                "velocity": {
                    "x": 8.03645133972168,
                    "y": 0.032218243926763535,
                    "z": 0.25649216771125793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.708864212036133,
                "transform": {
                    "location": {
                        "x": -1989.4046630859375,
                        "y": 4062.54345703125,
                        "z": 361.67138671875
                    },
                    "rotation": {
                        "roll": 0.0012982910266146064,
                        "pitch": -2.046652317047119,
                        "yaw": -179.77471923828125
                    }
                },
                "velocity": {
                    "x": -8.703323364257812,
                    "y": -0.03455456718802452,
                    "z": -0.30867284536361694
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.578827857971191,
                "transform": {
                    "location": {
                        "x": -2008.3070068359375,
                        "y": 4062.4609375,
                        "z": 360.99615478515625
                    },
                    "rotation": {
                        "roll": 0.0014144665328785777,
                        "pitch": -2.3169844150543213,
                        "yaw": -179.77163696289062
                    }
                },
                "velocity": {
                    "x": -9.571404457092285,
                    "y": -0.0406830720603466,
                    "z": -0.3748444616794586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.430538177490234,
                "transform": {
                    "location": {
                        "x": -2027.010009765625,
                        "y": 4062.3798828125,
                        "z": 360.20611572265625
                    },
                    "rotation": {
                        "roll": 0.00024117145221680403,
                        "pitch": -2.5346624851226807,
                        "yaw": -179.74911499023438
                    }
                },
                "velocity": {
                    "x": -9.421305656433105,
                    "y": -0.041162289679050446,
                    "z": -0.4151642918586731
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033565521240234,
                "transform": {
                    "location": {
                        "x": -2045.969970703125,
                        "y": 4062.296875,
                        "z": 359.3692626953125
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": -2.4947197437286377,
                        "yaw": -179.748779296875
                    }
                },
                "velocity": {
                    "x": -8.02586555480957,
                    "y": -0.03363513574004173,
                    "z": -0.35003751516342163
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 15.284097671508789,
                "transform": {
                    "location": {
                        "x": -1989.231201171875,
                        "y": 4065.794921875,
                        "z": 361.68499755859375
                    },
                    "rotation": {
                        "roll": 0.001578728319145739,
                        "pitch": -2.033531665802002,
                        "yaw": -179.75498962402344
                    }
                },
                "velocity": {
                    "x": -15.274364471435547,
                    "y": -0.06561838835477829,
                    "z": -0.5414080023765564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.633135795593262,
                "transform": {
                    "location": {
                        "x": -2014.0987548828125,
                        "y": 4065.686279296875,
                        "z": 360.7651062011719
                    },
                    "rotation": {
                        "roll": 0.0023862156085669994,
                        "pitch": -2.3521735668182373,
                        "yaw": -179.76559448242188
                    }
                },
                "velocity": {
                    "x": -15.62027645111084,
                    "y": -0.06461071968078613,
                    "z": -0.6306559443473816
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0011856491910293698,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.727025846776087e-05,
                    "y": 3.3695159800117835e-05,
                    "z": 0.001185044413432479
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4239548444747925,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0950315073132515,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            25.71448590605004,
            0.4102582112143416
        ],
        "target_point_next": [
            76.71160068738844,
            0.9524267056070418
        ]
    },
    "180": {
        "acceleration": [
            0.35160064697265625,
            0.2353435754776001,
            0.02912759780883789
        ],
        "angular_velocity": [
            -0.06166614592075348,
            0.12692613899707794,
            -0.8441799879074097
        ],
        "forward_vector": [
            -0.9988352060317993,
            0.00995953194797039,
            -0.04721256345510483
        ],
        "right_vector": [
            -0.009859617799520493,
            -0.9999486804008484,
            -0.002348695183172822
        ],
        "location": [
            -2037.57275390625,
            4065.869384765625,
            359.7409362792969
        ],
        "rotation": [
            0.13472068309783936,
            -2.7060866355895996,
            179.4287109375
        ],
        "velocity": [
            -15.917763710021973,
            0.1552240401506424,
            -0.7231582999229431
        ],
        "speed": 15.918520535236093,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 106.4922103881836,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.8483123779296875,
                "transform": {
                    "location": {
                        "x": -2094.546142578125,
                        "y": 4071.96435546875,
                        "z": 358.20318603515625
                    },
                    "rotation": {
                        "roll": 0.0029311601538211107,
                        "pitch": 0.5993285775184631,
                        "yaw": 0.8884943127632141
                    }
                },
                "velocity": {
                    "x": 6.8470659255981445,
                    "y": 0.12053310871124268,
                    "z": 0.05040504410862923
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.809558391571045,
                "transform": {
                    "location": {
                        "x": -2094.242431640625,
                        "y": 4068.719970703125,
                        "z": 358.21722412109375
                    },
                    "rotation": {
                        "roll": 0.010639384388923645,
                        "pitch": 0.6138768792152405,
                        "yaw": 0.8681083917617798
                    }
                },
                "velocity": {
                    "x": 6.8081231117248535,
                    "y": 0.12049345672130585,
                    "z": 0.07087621837854385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995220184326172,
                "transform": {
                    "location": {
                        "x": -2053.82080078125,
                        "y": 4072.20703125,
                        "z": 359.0799255371094
                    },
                    "rotation": {
                        "roll": 0.004625800531357527,
                        "pitch": 2.1934468746185303,
                        "yaw": 0.33891838788986206
                    }
                },
                "velocity": {
                    "x": 7.989443302154541,
                    "y": 0.04353858530521393,
                    "z": 0.3007364273071289
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.865828037261963,
                "transform": {
                    "location": {
                        "x": -2053.44140625,
                        "y": 4068.9580078125,
                        "z": 359.0633239746094
                    },
                    "rotation": {
                        "roll": 0.0009729510056786239,
                        "pitch": 2.195523262023926,
                        "yaw": 0.33894187211990356
                    }
                },
                "velocity": {
                    "x": 7.860107898712158,
                    "y": 0.04166506230831146,
                    "z": 0.2970212697982788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032342910766602,
                "transform": {
                    "location": {
                        "x": -2012.3177490234375,
                        "y": 4072.394287109375,
                        "z": 360.8403015136719
                    },
                    "rotation": {
                        "roll": -0.0005493159405887127,
                        "pitch": 2.229421377182007,
                        "yaw": 0.2484736442565918
                    }
                },
                "velocity": {
                    "x": 8.025959014892578,
                    "y": 0.032463591545820236,
                    "z": 0.31853803992271423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027602195739746,
                "transform": {
                    "location": {
                        "x": -2010.9051513671875,
                        "y": 4069.151123046875,
                        "z": 360.8903503417969
                    },
                    "rotation": {
                        "roll": 4.1720341070750067e-10,
                        "pitch": 2.2505745887756348,
                        "yaw": 0.24184107780456543
                    }
                },
                "velocity": {
                    "x": 8.021445274353027,
                    "y": 0.03512991964817047,
                    "z": 0.31236791610717773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064579010009766,
                "transform": {
                    "location": {
                        "x": -1967.2265625,
                        "y": 4072.5908203125,
                        "z": 362.4386901855469
                    },
                    "rotation": {
                        "roll": -0.00042724571540020406,
                        "pitch": 1.8250468969345093,
                        "yaw": 0.24975579977035522
                    }
                },
                "velocity": {
                    "x": 8.060441970825195,
                    "y": 0.03512825071811676,
                    "z": 0.2558656334877014
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977510452270508,
                "transform": {
                    "location": {
                        "x": -1967.1346435546875,
                        "y": 4069.34033203125,
                        "z": 362.4408264160156
                    },
                    "rotation": {
                        "roll": 0.00027026276802644134,
                        "pitch": 1.7979788780212402,
                        "yaw": 0.24908007681369781
                    }
                },
                "velocity": {
                    "x": 7.97341251373291,
                    "y": 0.034704096615314484,
                    "z": 0.2532961666584015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.444066047668457,
                "transform": {
                    "location": {
                        "x": -1991.654296875,
                        "y": 4062.53369140625,
                        "z": 361.59136962890625
                    },
                    "rotation": {
                        "roll": -0.0002441407705191523,
                        "pitch": -1.9998383522033691,
                        "yaw": -179.74050903320312
                    }
                },
                "velocity": {
                    "x": -9.43801498413086,
                    "y": -0.04065937548875809,
                    "z": -0.335578978061676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.97806453704834,
                "transform": {
                    "location": {
                        "x": -2010.7918701171875,
                        "y": 4062.451171875,
                        "z": 360.8984375
                    },
                    "rotation": {
                        "roll": -0.0012207025429233909,
                        "pitch": -2.2840287685394287,
                        "yaw": -179.74742126464844
                    }
                },
                "velocity": {
                    "x": -9.970309257507324,
                    "y": -0.04097720980644226,
                    "z": -0.3911854028701782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.30822467803955,
                "transform": {
                    "location": {
                        "x": -2029.1861572265625,
                        "y": 4062.3701171875,
                        "z": 360.11053466796875
                    },
                    "rotation": {
                        "roll": -0.0006408696644939482,
                        "pitch": -2.5872414112091064,
                        "yaw": -179.74945068359375
                    }
                },
                "velocity": {
                    "x": -8.30007266998291,
                    "y": -0.036250874400138855,
                    "z": -0.36618149280548096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.091875076293945,
                "transform": {
                    "location": {
                        "x": -2047.984375,
                        "y": 4062.288330078125,
                        "z": 359.2815856933594
                    },
                    "rotation": {
                        "roll": 0.0004895873134955764,
                        "pitch": -2.448943614959717,
                        "yaw": -179.75160217285156
                    }
                },
                "velocity": {
                    "x": -8.084306716918945,
                    "y": -0.03512042388319969,
                    "z": -0.34812408685684204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.986138343811035,
                "transform": {
                    "location": {
                        "x": -1993.0103759765625,
                        "y": 4065.779296875,
                        "z": 361.55126953125
                    },
                    "rotation": {
                        "roll": -0.0005493168137036264,
                        "pitch": -2.13470721244812,
                        "yaw": -179.75146484375
                    }
                },
                "velocity": {
                    "x": -14.976581573486328,
                    "y": -0.06480879336595535,
                    "z": -0.5311713814735413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.41900634765625,
                "transform": {
                    "location": {
                        "x": -2017.972412109375,
                        "y": 4065.669677734375,
                        "z": 360.6058044433594
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": -2.4533355236053467,
                        "yaw": -179.7484893798828
                    }
                },
                "velocity": {
                    "x": -15.4053316116333,
                    "y": -0.06802122294902802,
                    "z": -0.6456552147865295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.001327990205027163,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -2.1999179807608016e-05,
                    "y": 7.1203799052455e-06,
                    "z": 0.0013277889229357243
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8249397277832031,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12931227684020996,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            21.720249233950373,
            0.49661546300962767
        ],
        "target_point_next": [
            72.71500838571963,
            1.2275065290115452
        ]
    },
    "185": {
        "acceleration": [
            0.23637771606445312,
            0.22813677787780762,
            0.0025987625122070312
        ],
        "angular_velocity": [
            0.03454048931598663,
            0.09071566164493561,
            -0.832908570766449
        ],
        "forward_vector": [
            -0.9988138675689697,
            0.013608071953058243,
            -0.04675173759460449
        ],
        "right_vector": [
            -0.013508696109056473,
            -0.9999057650566101,
            -0.0024408989120274782
        ],
        "location": [
            -2041.5435791015625,
            4065.91455078125,
            359.5606689453125
        ],
        "rotation": [
            0.1400064378976822,
            -2.6796538829803467,
            179.2194366455078
        ],
        "velocity": [
            -15.851540565490723,
            0.21280810236930847,
            -0.7200731635093689
        ],
        "speed": 15.852968983374438,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 102.52098846435547,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.800621032714844,
                "transform": {
                    "location": {
                        "x": -2092.916015625,
                        "y": 4071.98779296875,
                        "z": 358.21826171875
                    },
                    "rotation": {
                        "roll": 0.009150569327175617,
                        "pitch": 0.5437581539154053,
                        "yaw": 0.8200535178184509
                    }
                },
                "velocity": {
                    "x": 5.799968242645264,
                    "y": 0.06559271365404129,
                    "z": 0.05716495215892792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.691269874572754,
                "transform": {
                    "location": {
                        "x": -2092.555908203125,
                        "y": 4068.741455078125,
                        "z": 358.23541259765625
                    },
                    "rotation": {
                        "roll": 0.00016239070100709796,
                        "pitch": 0.6051684021949768,
                        "yaw": 0.7511083483695984
                    }
                },
                "velocity": {
                    "x": 6.690464496612549,
                    "y": 0.07460054010152817,
                    "z": 0.07218457758426666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.11767292022705,
                "transform": {
                    "location": {
                        "x": -2051.785400390625,
                        "y": 4072.2177734375,
                        "z": 359.1576232910156
                    },
                    "rotation": {
                        "roll": 0.002582551445811987,
                        "pitch": 2.2625341415405273,
                        "yaw": 0.3015596568584442
                    }
                },
                "velocity": {
                    "x": 8.111381530761719,
                    "y": 0.04242609813809395,
                    "z": 0.3167130649089813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.114723205566406,
                "transform": {
                    "location": {
                        "x": -2051.436279296875,
                        "y": 4068.968017578125,
                        "z": 359.1405029296875
                    },
                    "rotation": {
                        "roll": 0.002003423636779189,
                        "pitch": 2.2108638286590576,
                        "yaw": 0.30654022097587585
                    }
                },
                "velocity": {
                    "x": 8.10841178894043,
                    "y": 0.04141174256801605,
                    "z": 0.3172810971736908
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.975778102874756,
                "transform": {
                    "location": {
                        "x": -2010.318115234375,
                        "y": 4072.403076171875,
                        "z": 360.9185485839844
                    },
                    "rotation": {
                        "roll": -3.051702333323192e-05,
                        "pitch": 2.2228918075561523,
                        "yaw": 0.24898914992809296
                    }
                },
                "velocity": {
                    "x": 7.969639301300049,
                    "y": 0.03602976351976395,
                    "z": 0.3107803463935852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026391983032227,
                "transform": {
                    "location": {
                        "x": -2008.899169921875,
                        "y": 4069.1591796875,
                        "z": 360.968505859375
                    },
                    "rotation": {
                        "roll": 0.0019011968979611993,
                        "pitch": 2.2539963722229004,
                        "yaw": 0.26566556096076965
                    }
                },
                "velocity": {
                    "x": 8.020155906677246,
                    "y": 0.03474340960383415,
                    "z": 0.31443777680397034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5056,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1965.145263671875,
                        "y": 4072.5283203125,
                        "z": 362.5018005371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7878906726837158,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5055,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1965.05322265625,
                        "y": 4069.276123046875,
                        "z": 362.50408935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7878906726837158,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.024367332458496,
                "transform": {
                    "location": {
                        "x": -1994.10693359375,
                        "y": 4062.5234375,
                        "z": 361.50445556640625
                    },
                    "rotation": {
                        "roll": 0.0008082046406343579,
                        "pitch": -1.9947839975357056,
                        "yaw": -179.76268005371094
                    }
                },
                "velocity": {
                    "x": -10.018019676208496,
                    "y": -0.04360800236463547,
                    "z": -0.3540194630622864
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.891860961914062,
                "transform": {
                    "location": {
                        "x": -2013.1429443359375,
                        "y": 4062.441162109375,
                        "z": 360.8050842285156
                    },
                    "rotation": {
                        "roll": 0.000841369794216007,
                        "pitch": -2.1571033000946045,
                        "yaw": -179.7680206298828
                    }
                },
                "velocity": {
                    "x": -8.884638786315918,
                    "y": -0.036313850432634354,
                    "z": -0.356453001499176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.998839378356934,
                "transform": {
                    "location": {
                        "x": -2031.3265380859375,
                        "y": 4062.360595703125,
                        "z": 360.0149230957031
                    },
                    "rotation": {
                        "roll": 0.0004456933820620179,
                        "pitch": -2.5437262058258057,
                        "yaw": -179.75584411621094
                    }
                },
                "velocity": {
                    "x": -8.989656448364258,
                    "y": -0.036631807684898376,
                    "z": -0.4047635495662689
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028085708618164,
                "transform": {
                    "location": {
                        "x": -2049.997802734375,
                        "y": 4062.280517578125,
                        "z": 359.19757080078125
                    },
                    "rotation": {
                        "roll": 2.3128983229980804e-05,
                        "pitch": -2.3569273948669434,
                        "yaw": -179.75196838378906
                    }
                },
                "velocity": {
                    "x": -8.021745681762695,
                    "y": -0.034738749265670776,
                    "z": -0.3171064555644989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.794255256652832,
                "transform": {
                    "location": {
                        "x": -1996.7252197265625,
                        "y": 4065.763671875,
                        "z": 361.4192810058594
                    },
                    "rotation": {
                        "roll": -0.0021972660906612873,
                        "pitch": -2.1676013469696045,
                        "yaw": -179.74636840820312
                    }
                },
                "velocity": {
                    "x": -14.784541130065918,
                    "y": -0.0672578439116478,
                    "z": -0.5317897200584412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.329423904418945,
                "transform": {
                    "location": {
                        "x": -2021.8099365234375,
                        "y": 4065.65234375,
                        "z": 360.4451599121094
                    },
                    "rotation": {
                        "roll": 4.099219950148836e-05,
                        "pitch": -2.445371627807617,
                        "yaw": -179.7506866455078
                    }
                },
                "velocity": {
                    "x": -15.315483093261719,
                    "y": -0.06555488705635071,
                    "z": -0.6503031849861145
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0015017075929790735,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.8269940483151004e-05,
                    "y": 8.647214599477593e-06,
                    "z": 0.0015015715034678578
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.1682080179452896,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            17.74721841450246,
            0.5670148117066178
        ],
        "target_point_next": [
            68.73896777202707,
            1.4841626496827742
        ]
    },
    "190": {
        "acceleration": [
            0.23000717163085938,
            0.22525489330291748,
            0.10354042053222656
        ],
        "angular_velocity": [
            0.023134427145123482,
            0.7273001074790955,
            -0.8339465856552124
        ],
        "forward_vector": [
            -0.9988097548484802,
            0.01724306121468544,
            -0.045626409351825714
        ],
        "right_vector": [
            -0.01714489236474037,
            -0.999849796295166,
            -0.002542083617299795
        ],
        "location": [
            -2045.499755859375,
            4065.974609375,
            359.38232421875
        ],
        "rotation": [
            0.14580266177654266,
            -2.6151084899902344,
            179.01097106933594
        ],
        "velocity": [
            -15.794832229614258,
            0.2696148753166199,
            -0.6983546018600464
        ],
        "speed": 15.797133200130121,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 98.56484985351562,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.740634441375732,
                "transform": {
                    "location": {
                        "x": -2091.50390625,
                        "y": 4072.00439453125,
                        "z": 358.2324523925781
                    },
                    "rotation": {
                        "roll": 0.006586897186934948,
                        "pitch": 0.5798147320747375,
                        "yaw": 0.7013002038002014
                    }
                },
                "velocity": {
                    "x": 5.739986419677734,
                    "y": 0.06198127567768097,
                    "z": 0.05998552218079567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.135924816131592,
                "transform": {
                    "location": {
                        "x": -2090.972412109375,
                        "y": 4068.759521484375,
                        "z": 358.25189208984375
                    },
                    "rotation": {
                        "roll": 0.004432846326380968,
                        "pitch": 0.6512585282325745,
                        "yaw": 0.6713094711303711
                    }
                },
                "velocity": {
                    "x": 6.1352219581604,
                    "y": 0.0662393569946289,
                    "z": 0.06510701775550842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.898470401763916,
                "transform": {
                    "location": {
                        "x": -2049.79296875,
                        "y": 4072.227294921875,
                        "z": 359.2385559082031
                    },
                    "rotation": {
                        "roll": 0.0024103864561766386,
                        "pitch": 2.3444690704345703,
                        "yaw": 0.2866186797618866
                    }
                },
                "velocity": {
                    "x": 7.891401290893555,
                    "y": 0.03943440318107605,
                    "z": 0.33175787329673767
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.946432590484619,
                "transform": {
                    "location": {
                        "x": -2049.4296875,
                        "y": 4068.97802734375,
                        "z": 359.2223815917969
                    },
                    "rotation": {
                        "roll": 0.001851784298196435,
                        "pitch": 2.3615105152130127,
                        "yaw": 0.29212486743927
                    }
                },
                "velocity": {
                    "x": 7.9391398429870605,
                    "y": 0.042035531252622604,
                    "z": 0.33776581287384033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032111167907715,
                "transform": {
                    "location": {
                        "x": -2008.318115234375,
                        "y": 4072.4111328125,
                        "z": 360.9965515136719
                    },
                    "rotation": {
                        "roll": -3.0517539926222526e-05,
                        "pitch": 2.227843761444092,
                        "yaw": 0.25043603777885437
                    }
                },
                "velocity": {
                    "x": 8.025910377502441,
                    "y": 0.0350726842880249,
                    "z": 0.3136119544506073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027569770812988,
                "transform": {
                    "location": {
                        "x": -2006.8934326171875,
                        "y": 4069.16845703125,
                        "z": 361.04693603515625
                    },
                    "rotation": {
                        "roll": 0.00018470865325070918,
                        "pitch": 2.255171298980713,
                        "yaw": 0.23581616580486298
                    }
                },
                "velocity": {
                    "x": 8.021316528320312,
                    "y": 0.035392969846725464,
                    "z": 0.31480780243873596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.398438453674316,
                "transform": {
                    "location": {
                        "x": -1996.5809326171875,
                        "y": 4062.513427734375,
                        "z": 361.4169921875
                    },
                    "rotation": {
                        "roll": -0.0007324220496229827,
                        "pitch": -2.0762887001037598,
                        "yaw": -179.73977661132812
                    }
                },
                "velocity": {
                    "x": -9.392160415649414,
                    "y": -0.04235472530126572,
                    "z": -0.3408421576023102
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.501439571380615,
                "transform": {
                    "location": {
                        "x": -2015.2318115234375,
                        "y": 4062.427001953125,
                        "z": 360.7198791503906
                    },
                    "rotation": {
                        "roll": 0.02450569160282612,
                        "pitch": -2.215207815170288,
                        "yaw": 179.6763458251953
                    }
                },
                "velocity": {
                    "x": -7.495028495788574,
                    "y": -0.03607623651623726,
                    "z": -0.307970255613327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.610522270202637,
                "transform": {
                    "location": {
                        "x": -2033.5789794921875,
                        "y": 4062.3505859375,
                        "z": 359.9139404296875
                    },
                    "rotation": {
                        "roll": 0.0004515230539254844,
                        "pitch": -2.618011474609375,
                        "yaw": -179.75596618652344
                    }
                },
                "velocity": {
                    "x": -8.601547241210938,
                    "y": -0.03527797758579254,
                    "z": -0.39145004749298096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.089117050170898,
                "transform": {
                    "location": {
                        "x": -2052.012451171875,
                        "y": 4062.271728515625,
                        "z": 359.1166076660156
                    },
                    "rotation": {
                        "roll": 0.0005816727643832564,
                        "pitch": -2.1917665004730225,
                        "yaw": -179.74510192871094
                    }
                },
                "velocity": {
                    "x": -8.082855224609375,
                    "y": -0.036166075617074966,
                    "z": -0.31616947054862976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.755196571350098,
                "transform": {
                    "location": {
                        "x": -2000.4140625,
                        "y": 4065.746826171875,
                        "z": 361.2851867675781
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -2.1850593090057373,
                        "yaw": -179.73568725585938
                    }
                },
                "velocity": {
                    "x": -14.745091438293457,
                    "y": -0.06761230528354645,
                    "z": -0.5417685508728027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.292815208435059,
                "transform": {
                    "location": {
                        "x": -2025.6329345703125,
                        "y": 4065.63623046875,
                        "z": 360.2799072265625
                    },
                    "rotation": {
                        "roll": 0.001067966572009027,
                        "pitch": -2.5676865577697754,
                        "yaw": -179.7543487548828
                    }
                },
                "velocity": {
                    "x": -15.2777738571167,
                    "y": -0.06581280380487442,
                    "z": -0.6748946905136108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0017994045047089458,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -3.2497086067451164e-05,
                    "y": 3.538204327924177e-05,
                    "z": 0.0017987630562856793
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2189851701259613,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            13.788413975285334,
            0.6233435642065694
        ],
        "target_point_next": [
            64.77648902270495,
            1.7260065480868076
        ]
    },
    "195": {
        "acceleration": [
            0.23586273193359375,
            0.10578334331512451,
            0.46828746795654297
        ],
        "angular_velocity": [
            -0.09309800714254379,
            0.9458311796188354,
            -0.540820837020874
        ],
        "forward_vector": [
            -0.9988420009613037,
            0.0206393264234066,
            -0.043458241969347
        ],
        "right_vector": [
            -0.020550865679979324,
            -0.9997856616973877,
            -0.0024813725613057613
        ],
        "location": [
            -2049.4423828125,
            4066.048095703125,
            359.2113952636719
        ],
        "rotation": [
            0.14230675995349884,
            -2.490758180618286,
            178.81625366210938
        ],
        "velocity": [
            -15.737716674804688,
            0.31836721301078796,
            -0.6522862911224365
        ],
        "speed": 15.740936561041906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 94.62277221679688,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.776761054992676,
                "transform": {
                    "location": {
                        "x": -2090.003662109375,
                        "y": 4072.020751953125,
                        "z": 358.2477111816406
                    },
                    "rotation": {
                        "roll": 0.00424532312899828,
                        "pitch": 0.6468257308006287,
                        "yaw": 0.6184144616127014
                    }
                },
                "velocity": {
                    "x": 6.775984287261963,
                    "y": 0.07348592579364777,
                    "z": 0.07161123305559158
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.528987407684326,
                "transform": {
                    "location": {
                        "x": -2089.40771484375,
                        "y": 4068.77685546875,
                        "z": 358.26898193359375
                    },
                    "rotation": {
                        "roll": 0.0030362324323505163,
                        "pitch": 0.5724586248397827,
                        "yaw": 0.647935688495636
                    }
                },
                "velocity": {
                    "x": 6.528249263763428,
                    "y": 0.0695335790514946,
                    "z": 0.06929460167884827
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.057476997375488,
                "transform": {
                    "location": {
                        "x": -2047.8009033203125,
                        "y": 4072.2373046875,
                        "z": 359.3212890625
                    },
                    "rotation": {
                        "roll": 0.0022574940230697393,
                        "pitch": 2.5125463008880615,
                        "yaw": 0.2823549807071686
                    }
                },
                "velocity": {
                    "x": 8.049882888793945,
                    "y": 0.03800530359148979,
                    "z": 0.3476901054382324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023262023925781,
                "transform": {
                    "location": {
                        "x": -2047.4371337890625,
                        "y": 4068.98779296875,
                        "z": 359.30621337890625
                    },
                    "rotation": {
                        "roll": 0.0010819941526278853,
                        "pitch": 2.480587959289551,
                        "yaw": 0.28031399846076965
                    }
                },
                "velocity": {
                    "x": 8.015693664550781,
                    "y": 0.0390300527215004,
                    "z": 0.34621551632881165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9763665199279785,
                "transform": {
                    "location": {
                        "x": -2006.3189697265625,
                        "y": 4072.419921875,
                        "z": 361.0745544433594
                    },
                    "rotation": {
                        "roll": -0.0007324226899072528,
                        "pitch": 2.221115827560425,
                        "yaw": 0.2507309913635254
                    }
                },
                "velocity": {
                    "x": 7.970502853393555,
                    "y": 0.034660473465919495,
                    "z": 0.3038194477558136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028364181518555,
                "transform": {
                    "location": {
                        "x": -2004.88818359375,
                        "y": 4069.177001953125,
                        "z": 361.1233215332031
                    },
                    "rotation": {
                        "roll": 0.0001869873667601496,
                        "pitch": 2.1584489345550537,
                        "yaw": 0.2701468765735626
                    }
                },
                "velocity": {
                    "x": 8.022564888000488,
                    "y": 0.036230526864528656,
                    "z": 0.30294063687324524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.842817783355713,
                "transform": {
                    "location": {
                        "x": -1998.72119140625,
                        "y": 4062.503662109375,
                        "z": 361.33990478515625
                    },
                    "rotation": {
                        "roll": 0.0007606575964018703,
                        "pitch": -2.1933579444885254,
                        "yaw": -179.75877380371094
                    }
                },
                "velocity": {
                    "x": -7.8375067710876465,
                    "y": -0.03443846479058266,
                    "z": -0.28651925921440125
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.334529876708984,
                "transform": {
                    "location": {
                        "x": -2017.054443359375,
                        "y": 4062.4208984375,
                        "z": 360.645263671875
                    },
                    "rotation": {
                        "roll": 0.013676173985004425,
                        "pitch": -2.329463243484497,
                        "yaw": 179.88748168945312
                    }
                },
                "velocity": {
                    "x": -7.3280863761901855,
                    "y": -0.028224600479006767,
                    "z": -0.3060685992240906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.398216247558594,
                "transform": {
                    "location": {
                        "x": -2035.6612548828125,
                        "y": 4062.341064453125,
                        "z": 359.8194580078125
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": -2.61944580078125,
                        "yaw": -179.75511169433594
                    }
                },
                "velocity": {
                    "x": -8.389551162719727,
                    "y": -0.03584302216768265,
                    "z": -0.3797103762626648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026601791381836,
                "transform": {
                    "location": {
                        "x": -2054.02587890625,
                        "y": 4062.262451171875,
                        "z": 359.03961181640625
                    },
                    "rotation": {
                        "roll": 0.0004775464767590165,
                        "pitch": -2.1766035556793213,
                        "yaw": -179.74362182617188
                    }
                },
                "velocity": {
                    "x": -8.02122688293457,
                    "y": -0.035912659019231796,
                    "z": -0.2914808988571167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.738410949707031,
                "transform": {
                    "location": {
                        "x": -2004.0989990234375,
                        "y": 4065.73046875,
                        "z": 361.14959716796875
                    },
                    "rotation": {
                        "roll": 0.002432600362226367,
                        "pitch": -2.155272960662842,
                        "yaw": -179.75328063964844
                    }
                },
                "velocity": {
                    "x": -14.72830867767334,
                    "y": -0.06420652568340302,
                    "z": -0.5417977571487427
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.241376876831055,
                "transform": {
                    "location": {
                        "x": -2029.446044921875,
                        "y": 4065.61962890625,
                        "z": 360.1111755371094
                    },
                    "rotation": {
                        "roll": 0.0006882664747536182,
                        "pitch": -2.5569698810577393,
                        "yaw": -179.75381469726562
                    }
                },
                "velocity": {
                    "x": -15.226340293884277,
                    "y": -0.06449197232723236,
                    "z": -0.6737546324729919
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.000958499382250011,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.5880688806646504e-05,
                    "y": -1.352827553091629e-06,
                    "z": 0.000958366843406111
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2740645706653595,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            9.842912297755975,
            0.6622207900822816
        ],
        "target_point_next": [
            60.826945605512606,
            1.9381558867384387
        ]
    },
    "200": {
        "acceleration": [
            0.2362823486328125,
            -0.33830225467681885,
            0.13095974922180176
        ],
        "angular_velocity": [
            -0.4572359025478363,
            0.09111835062503815,
            1.4427794218063354
        ],
        "forward_vector": [
            -0.9990664720535278,
            0.017826011404395103,
            -0.03934916481375694
        ],
        "right_vector": [
            -0.017808491364121437,
            -0.9998410940170288,
            -0.0007957617053762078
        ],
        "location": [
            -2053.37109375,
            4066.123046875,
            359.05413818359375
        ],
        "rotation": [
            0.04562912881374359,
            -2.2551233768463135,
            178.97779846191406
        ],
        "velocity": [
            -15.677787780761719,
            0.26885250210762024,
            -0.6013504862785339
        ],
        "speed": 15.680092836666848,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 90.69501495361328,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2129.585205078125,
                        "y": 4071.78271484375,
                        "z": 358.7033386230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -2.044644355773926,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2128.09765625,
                        "y": 4068.5390625,
                        "z": 358.8714294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7195751667022705,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.440202713012695,
                "transform": {
                    "location": {
                        "x": -2088.026611328125,
                        "y": 4072.039794921875,
                        "z": 358.2681884765625
                    },
                    "rotation": {
                        "roll": 0.007992736995220184,
                        "pitch": 0.7066786289215088,
                        "yaw": 0.5559850931167603
                    }
                },
                "velocity": {
                    "x": 8.439486503601074,
                    "y": 0.06586502492427826,
                    "z": 0.08802146464586258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.196626663208008,
                "transform": {
                    "location": {
                        "x": -2087.66064453125,
                        "y": 4068.792724609375,
                        "z": 358.28759765625
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": 0.5458208918571472,
                        "yaw": 0.539417564868927
                    }
                },
                "velocity": {
                    "x": 7.196024417877197,
                    "y": 0.053638752549886703,
                    "z": 0.07608509063720703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.022995948791504,
                "transform": {
                    "location": {
                        "x": -2045.786865234375,
                        "y": 4072.247314453125,
                        "z": 359.4093322753906
                    },
                    "rotation": {
                        "roll": 0.0009816434467211366,
                        "pitch": 2.5096163749694824,
                        "yaw": 0.2636629641056061
                    }
                },
                "velocity": {
                    "x": 8.014883041381836,
                    "y": 0.036920320242643356,
                    "z": 0.3588126301765442
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.981962203979492,
                "transform": {
                    "location": {
                        "x": -2045.4365234375,
                        "y": 4068.997802734375,
                        "z": 359.3937683105469
                    },
                    "rotation": {
                        "roll": 0.0006110789836384356,
                        "pitch": 2.492048978805542,
                        "yaw": 0.2714235484600067
                    }
                },
                "velocity": {
                    "x": 7.973891258239746,
                    "y": 0.03564578667283058,
                    "z": 0.3570820391178131
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03608512878418,
                "transform": {
                    "location": {
                        "x": -2004.3193359375,
                        "y": 4072.427978515625,
                        "z": 361.1498718261719
                    },
                    "rotation": {
                        "roll": -0.00018310570158064365,
                        "pitch": 2.1180005073547363,
                        "yaw": 0.25029897689819336
                    }
                },
                "velocity": {
                    "x": 8.030531883239746,
                    "y": 0.035086698830127716,
                    "z": 0.2966344952583313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.030467987060547,
                "transform": {
                    "location": {
                        "x": -2002.8828125,
                        "y": 4069.185546875,
                        "z": 361.197998046875
                    },
                    "rotation": {
                        "roll": 0.0002167881466448307,
                        "pitch": 2.1059794425964355,
                        "yaw": 0.23358036577701569
                    }
                },
                "velocity": {
                    "x": 8.025084495544434,
                    "y": 0.034058842808008194,
                    "z": 0.2920204997062683
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.859109401702881,
                "transform": {
                    "location": {
                        "x": -2000.6468505859375,
                        "y": 4062.49560546875,
                        "z": 361.26873779296875
                    },
                    "rotation": {
                        "roll": 0.00012207162217237055,
                        "pitch": -2.127228260040283,
                        "yaw": -179.7311553955078
                    }
                },
                "velocity": {
                    "x": -7.8537492752075195,
                    "y": -0.03433014452457428,
                    "z": -0.28817135095596313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.801324367523193,
                "transform": {
                    "location": {
                        "x": -2018.953369140625,
                        "y": 4062.414794921875,
                        "z": 360.5667419433594
                    },
                    "rotation": {
                        "roll": 0.006599000189453363,
                        "pitch": -2.4134814739227295,
                        "yaw": -179.88148498535156
                    }
                },
                "velocity": {
                    "x": -7.794546127319336,
                    "y": -0.03176283836364746,
                    "z": -0.32359087467193604
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.760563850402832,
                "transform": {
                    "location": {
                        "x": -2037.841552734375,
                        "y": 4062.331787109375,
                        "z": 359.7204284667969
                    },
                    "rotation": {
                        "roll": 0.0018140815664082766,
                        "pitch": -2.5830681324005127,
                        "yaw": -179.7654266357422
                    }
                },
                "velocity": {
                    "x": -8.751519203186035,
                    "y": -0.03580255061388016,
                    "z": -0.396371454000473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.085909843444824,
                "transform": {
                    "location": {
                        "x": -2056.03955078125,
                        "y": 4062.253662109375,
                        "z": 358.9670715332031
                    },
                    "rotation": {
                        "roll": 0.0001293103414354846,
                        "pitch": -1.9991415739059448,
                        "yaw": -179.75064086914062
                    }
                },
                "velocity": {
                    "x": -8.080796241760254,
                    "y": -0.03506428748369217,
                    "z": -0.28538233041763306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.687408447265625,
                "transform": {
                    "location": {
                        "x": -2007.773681640625,
                        "y": 4065.71484375,
                        "z": 361.0104675292969
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": -2.3026068210601807,
                        "yaw": -179.74575805664062
                    }
                },
                "velocity": {
                    "x": -14.676158905029297,
                    "y": -0.0649026557803154,
                    "z": -0.5710733532905579
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.182467460632324,
                "transform": {
                    "location": {
                        "x": -2033.244384765625,
                        "y": 4065.60302734375,
                        "z": 359.94146728515625
                    },
                    "rotation": {
                        "roll": 0.0006624836823903024,
                        "pitch": -2.6301212310791016,
                        "yaw": -179.7539520263672
                    }
                },
                "velocity": {
                    "x": -15.166953086853027,
                    "y": -0.06533003598451614,
                    "z": -0.683072030544281
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0010478977346792817,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.3886316992284264e-05,
                    "y": 5.291120487527223e-06,
                    "z": 0.0010477923788130283
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.30830055475234985,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            56.90274569484809,
            1.7714978102743673
        ],
        "target_point_next": [
            102.89136154511414,
            2.7925103050301683
        ]
    },
    "205": {
        "acceleration": [
            0.24293899536132812,
            -0.5938419699668884,
            0.3072333335876465
        ],
        "angular_velocity": [
            -0.5180783271789551,
            0.4113837778568268,
            2.3325390815734863
        ],
        "forward_vector": [
            -0.9993480443954468,
            0.008750827051699162,
            -0.035026174038648605
        ],
        "right_vector": [
            -0.008810569532215595,
            -0.9999600052833557,
            0.0015516690909862518
        ],
        "location": [
            -2057.284423828125,
            4066.1748046875,
            358.9124450683594
        ],
        "rotation": [
            -0.08895871043205261,
            -2.007262706756592,
            179.49830627441406
        ],
        "velocity": [
            -15.613439559936523,
            0.13715948164463043,
            -0.5362448692321777
        ],
        "speed": 15.61404200119866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 86.78277587890625,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.0615234375,
                4065.219970703125,
                359.18377685546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2127.504638671875,
                        "y": 4071.791748046875,
                        "z": 358.5992431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7195751667022705,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.402807235717773,
                "transform": {
                    "location": {
                        "x": -2126.02880859375,
                        "y": 4068.548095703125,
                        "z": 358.6147155761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7195751667022705,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 8.27536678314209,
                    "y": 0.0390581414103508,
                    "z": -1.457377314567566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.970407962799072,
                "transform": {
                    "location": {
                        "x": -2085.968017578125,
                        "y": 4072.05615234375,
                        "z": 358.29052734375
                    },
                    "rotation": {
                        "roll": 0.003552085952833295,
                        "pitch": 0.6069032549858093,
                        "yaw": 0.4137234687805176
                    }
                },
                "velocity": {
                    "x": 7.9697699546813965,
                    "y": 0.056181006133556366,
                    "z": 0.0837634801864624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.621135711669922,
                "transform": {
                    "location": {
                        "x": -2085.584228515625,
                        "y": 4068.808349609375,
                        "z": 358.30999755859375
                    },
                    "rotation": {
                        "roll": 0.001582661410793662,
                        "pitch": 0.4809204339981079,
                        "yaw": 0.44482874870300293
                    }
                },
                "velocity": {
                    "x": 8.620433807373047,
                    "y": 0.06215335801243782,
                    "z": 0.0907435193657875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.956248760223389,
                "transform": {
                    "location": {
                        "x": -2043.797119140625,
                        "y": 4072.257080078125,
                        "z": 359.4976501464844
                    },
                    "rotation": {
                        "roll": 0.00012859710841439664,
                        "pitch": 2.5972886085510254,
                        "yaw": 0.25902971625328064
                    }
                },
                "velocity": {
                    "x": 7.948220252990723,
                    "y": 0.03591277077794075,
                    "z": 0.35552290081977844
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023368835449219,
                "transform": {
                    "location": {
                        "x": -2043.4376220703125,
                        "y": 4069.00732421875,
                        "z": 359.4828186035156
                    },
                    "rotation": {
                        "roll": -0.0001220706180902198,
                        "pitch": 2.5825557708740234,
                        "yaw": 0.26490530371665955
                    }
                },
                "velocity": {
                    "x": 8.015220642089844,
                    "y": 0.036861617118120193,
                    "z": 0.35962995886802673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.975614070892334,
                "transform": {
                    "location": {
                        "x": -2002.31982421875,
                        "y": 4072.43701171875,
                        "z": 361.2237854003906
                    },
                    "rotation": {
                        "roll": -0.00012207063264213502,
                        "pitch": 2.0772242546081543,
                        "yaw": 0.2541062831878662
                    }
                },
                "velocity": {
                    "x": 7.9702301025390625,
                    "y": 0.03512941673398018,
                    "z": 0.2908834218978882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027844429016113,
                "transform": {
                    "location": {
                        "x": -2000.8768310546875,
                        "y": 4069.193603515625,
                        "z": 361.2711486816406
                    },
                    "rotation": {
                        "roll": 0.00039139360887929797,
                        "pitch": 2.1110405921936035,
                        "yaw": 0.26504209637641907
                    }
                },
                "velocity": {
                    "x": 8.022451400756836,
                    "y": 0.03538220748305321,
                    "z": 0.29207906126976013
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5054,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.957340240478516,
                "transform": {
                    "location": {
                        "x": -2002.74560546875,
                        "y": 4062.48583984375,
                        "z": 361.1912841796875
                    },
                    "rotation": {
                        "roll": 0.000519075314514339,
                        "pitch": -2.0519115924835205,
                        "yaw": -179.75985717773438
                    }
                },
                "velocity": {
                    "x": -8.951250076293945,
                    "y": -0.039815161377191544,
                    "z": -0.327840656042099
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5053,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.502516746520996,
                "transform": {
                    "location": {
                        "x": -2021.130859375,
                        "y": 4062.40673828125,
                        "z": 360.4771728515625
                    },
                    "rotation": {
                        "roll": 0.0025676691439002752,
                        "pitch": -2.530701160430908,
                        "yaw": -179.78094482421875
                    }
                },
                "velocity": {
                    "x": -9.49420166015625,
                    "y": -0.04162495583295822,
                    "z": -0.3952619135379791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5052,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010008811950684,
                "transform": {
                    "location": {
                        "x": -2039.911865234375,
                        "y": 4062.322998046875,
                        "z": 359.626953125
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": -2.6364049911499023,
                        "yaw": -179.75596618652344
                    }
                },
                "velocity": {
                    "x": -8.001760482788086,
                    "y": -0.03411120921373367,
                    "z": -0.36180686950683594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5051,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02770709991455,
                "transform": {
                    "location": {
                        "x": -2058.052490234375,
                        "y": 4062.244873046875,
                        "z": 358.89691162109375
                    },
                    "rotation": {
                        "roll": -0.00027465782477520406,
                        "pitch": -1.9483318328857422,
                        "yaw": -179.746826171875
                    }
                },
                "velocity": {
                    "x": -8.022950172424316,
                    "y": -0.03756071627140045,
                    "z": -0.27374303340911865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.625186920166016,
                "transform": {
                    "location": {
                        "x": -2011.434326171875,
                        "y": 4065.69873046875,
                        "z": 360.8666076660156
                    },
                    "rotation": {
                        "roll": 0.00021834715153090656,
                        "pitch": -2.3108508586883545,
                        "yaw": -179.7427520751953
                    }
                },
                "velocity": {
                    "x": -14.613696098327637,
                    "y": -0.06552150845527649,
                    "z": -0.5759359002113342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.121667861938477,
                "transform": {
                    "location": {
                        "x": -2037.028076171875,
                        "y": 4065.586181640625,
                        "z": 359.7697448730469
                    },
                    "rotation": {
                        "roll": -0.0014648429350927472,
                        "pitch": -2.6293630599975586,
                        "yaw": -179.74652099609375
                    }
                },
                "velocity": {
                    "x": -15.105949401855469,
                    "y": -0.0677594467997551,
                    "z": -0.6859526038169861
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.0615234375,
                        "y": 4065.219970703125,
                        "z": 359.18377685546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0013314993120729923,
                "transform": {
                    "location": {
                        "x": -2100.6845703125,
                        "y": 4062.158935546875,
                        "z": 358.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00024210763513110578,
                        "pitch": -0.39121273159980774,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": -1.9739642084459774e-05,
                    "y": -4.501260718825506e-06,
                    "z": 0.0013313452946022153
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.32466647028923035,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            53.00285702263053,
            1.2720050633026645
        ],
        "target_point_next": [
            98.99885030284707,
            1.8752102556395362
        ]
    },
    "210": {
        "acceleration": [
            0.2648162841796875,
            -0.6515639424324036,
            0.05104541778564453
        ],
        "angular_velocity": [
            -0.3104177415370941,
            1.3440786600112915,
            2.417823076248169
        ],
        "forward_vector": [
            -0.9995074272155762,
            -0.0017619130667299032,
            -0.031334392726421356
        ],
        "right_vector": [
            0.001662548165768385,
            -0.9999935030937195,
            0.003196880454197526
        ],
        "location": [
            -2061.181396484375,
            4066.18994140625,
            358.7854309082031
        ],
        "rotation": [
            -0.1832580417394638,
            -1.79562246799469,
            -179.8990020751953
        ],
        "velocity": [
            -15.549872398376465,
            -0.02213849313557148,
            -0.4844617247581482
        ],
        "speed": 15.549888157754337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.3033218383789,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2144.47802734375,
                4065.218017578125,
                359.19842529296875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071442604064941,
                "transform": {
                    "location": {
                        "x": -2125.474609375,
                        "y": 4071.81201171875,
                        "z": 358.478271484375
                    },
                    "rotation": {
                        "roll": -0.02642822451889515,
                        "pitch": -1.8149724006652832,
                        "yaw": 0.6415076851844788
                    }
                },
                "velocity": {
                    "x": 8.059304237365723,
                    "y": 0.13652902841567993,
                    "z": -0.42089706659317017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.358447551727295,
                "transform": {
                    "location": {
                        "x": -2124.13427734375,
                        "y": 4068.5693359375,
                        "z": 358.4107360839844
                    },
                    "rotation": {
                        "roll": -0.0442810095846653,
                        "pitch": -1.819330096244812,
                        "yaw": 0.7198604941368103
                    }
                },
                "velocity": {
                    "x": 7.355111598968506,
                    "y": 0.12059728056192398,
                    "z": -0.1858336180448532
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.971898555755615,
                "transform": {
                    "location": {
                        "x": -2083.995849609375,
                        "y": 4072.069580078125,
                        "z": 358.3122253417969
                    },
                    "rotation": {
                        "roll": 0.0019760176073759794,
                        "pitch": 0.6417850255966187,
                        "yaw": 0.42328527569770813
                    }
                },
                "velocity": {
                    "x": 7.971120834350586,
                    "y": 0.056568443775177,
                    "z": 0.09592447429895401
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.021289825439453,
                "transform": {
                    "location": {
                        "x": -2083.506103515625,
                        "y": 4068.822998046875,
                        "z": 358.3321838378906
                    },
                    "rotation": {
                        "roll": 0.0010090124560520053,
                        "pitch": 0.6940974593162537,
                        "yaw": 0.4041501581668854
                    }
                },
                "velocity": {
                    "x": 8.020532608032227,
                    "y": 0.048339132219552994,
                    "z": 0.09908304363489151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.060147285461426,
                "transform": {
                    "location": {
                        "x": -2041.7933349609375,
                        "y": 4072.265869140625,
                        "z": 359.5881652832031
                    },
                    "rotation": {
                        "roll": -0.0001525885018054396,
                        "pitch": 2.616420030593872,
                        "yaw": 0.255135178565979
                    }
                },
                "velocity": {
                    "x": 8.051733016967773,
                    "y": 0.03600698336958885,
                    "z": 0.36642569303512573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.970582008361816,
                "transform": {
                    "location": {
                        "x": -2041.4410400390625,
                        "y": 4069.016357421875,
                        "z": 359.5732727050781
                    },
                    "rotation": {
                        "roll": -0.0008544919546693563,
                        "pitch": 2.5870773792266846,
                        "yaw": 0.2554624676704407
                    }
                },
                "velocity": {
                    "x": 7.962282657623291,
                    "y": 0.033667441457509995,
                    "z": 0.36207669973373413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036252975463867,
                "transform": {
                    "location": {
                        "x": -2000.3193359375,
                        "y": 4072.446044921875,
                        "z": 361.2967834472656
                    },
                    "rotation": {
                        "roll": -0.0007324220496229827,
                        "pitch": 2.086164951324463,
                        "yaw": 0.2508293092250824
                    }
                },
                "velocity": {
                    "x": 8.030811309814453,
                    "y": 0.03502275049686432,
                    "z": 0.2936222553253174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028587341308594,
                "transform": {
                    "location": {
                        "x": -1998.87109375,
                        "y": 4069.203125,
                        "z": 361.3445129394531
                    },
                    "rotation": {
                        "roll": -0.0006713870097883046,
                        "pitch": 2.112884759902954,
                        "yaw": 0.2426152229309082
                    }
                },
                "velocity": {
                    "x": 8.023093223571777,
                    "y": 0.03627025708556175,
                    "z": 0.2947409152984619
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.56954288482666,
                "transform": {
                    "location": {
                        "x": -2015.0794677734375,
                        "y": 4065.68310546875,
                        "z": 360.7211608886719
                    },
                    "rotation": {
                        "roll": 0.0002590088115539402,
                        "pitch": -2.40362548828125,
                        "yaw": -179.74415588378906
                    }
                },
                "velocity": {
                    "x": -14.55736255645752,
                    "y": -0.06512448936700821,
                    "z": -0.592068076133728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.059592247009277,
                "transform": {
                    "location": {
                        "x": -2040.796630859375,
                        "y": 4065.5703125,
                        "z": 359.5989074707031
                    },
                    "rotation": {
                        "roll": 0.002344501903280616,
                        "pitch": -2.6267404556274414,
                        "yaw": -179.75267028808594
                    }
                },
                "velocity": {
                    "x": -15.043990135192871,
                    "y": -0.06361070275306702,
                    "z": -0.682368814945221
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2144.47802734375,
                        "y": 4065.218017578125,
                        "z": 359.19842529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0179929733276367,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.733154296875,
                        "y": 4065.138427734375,
                        "z": 359.8793029785156
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.5165502429008484,
                "transform": {
                    "location": {
                        "x": -2100.700927734375,
                        "y": 4062.161376953125,
                        "z": 358.1551513671875
                    },
                    "rotation": {
                        "roll": 0.04263640567660332,
                        "pitch": -0.3298024833202362,
                        "yaw": -179.84500122070312
                    }
                },
                "velocity": {
                    "x": -0.5093777179718018,
                    "y": 0.0857730284333229,
                    "z": -0.0012070368975400925
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.3130000829696655,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            49.116364761174566,
            0.7364130329923254
        ],
        "target_point_next": [
            95.1161583529349,
            0.8557606481001482
        ]
    },
    "215": {
        "acceleration": [
            0.29323577880859375,
            -0.6528601050376892,
            0.15049755573272705
        ],
        "angular_velocity": [
            -0.1872115284204483,
            1.3306024074554443,
            2.4236702919006348
        ],
        "forward_vector": [
            -0.9995215535163879,
            -0.012307532131671906,
            -0.02837694063782692
        ],
        "right_vector": [
            0.012196045368909836,
            -0.999917209148407,
            0.004098540637642145
        ],
        "location": [
            -2065.061767578125,
            4066.164794921875,
            358.67279052734375
        ],
        "rotation": [
            -0.2349243462085724,
            -1.6260972023010254,
            -179.29452514648438
        ],
        "velocity": [
            -15.481303215026855,
            -0.186497762799263,
            -0.418007493019104
        ],
        "speed": 15.482426510438536,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 81.056396484375,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2146.110595703125,
                4065.210205078125,
                359.23468017578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.181711196899414,
                "transform": {
                    "location": {
                        "x": -2123.44287109375,
                        "y": 4071.84375,
                        "z": 358.3985595703125
                    },
                    "rotation": {
                        "roll": -0.016082763671875,
                        "pitch": -1.6231329441070557,
                        "yaw": 0.8995782136917114
                    }
                },
                "velocity": {
                    "x": 8.176787376403809,
                    "y": 0.10636309534311295,
                    "z": -0.2631247341632843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.627181529998779,
                "transform": {
                    "location": {
                        "x": -2122.257568359375,
                        "y": 4068.59521484375,
                        "z": 358.3668518066406
                    },
                    "rotation": {
                        "roll": -0.019195556640625,
                        "pitch": -1.5521535873413086,
                        "yaw": 0.7877705693244934
                    }
                },
                "velocity": {
                    "x": 7.624366760253906,
                    "y": 0.10268877446651459,
                    "z": -0.179959237575531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.125532150268555,
                "transform": {
                    "location": {
                        "x": -2081.969482421875,
                        "y": 4072.08251953125,
                        "z": 358.3361511230469
                    },
                    "rotation": {
                        "roll": 0.0019015948055312037,
                        "pitch": 0.7463688850402832,
                        "yaw": 0.3294183909893036
                    }
                },
                "velocity": {
                    "x": 8.124772071838379,
                    "y": 0.04452753812074661,
                    "z": 0.10179629921913147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.85849666595459,
                "transform": {
                    "location": {
                        "x": -2081.54150390625,
                        "y": 4068.835205078125,
                        "z": 358.3559265136719
                    },
                    "rotation": {
                        "roll": 0.0006219177157618105,
                        "pitch": 0.7538957595825195,
                        "yaw": 0.3464087247848511
                    }
                },
                "velocity": {
                    "x": 7.857751846313477,
                    "y": 0.04339512810111046,
                    "z": 0.09911607205867767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.968167304992676,
                "transform": {
                    "location": {
                        "x": -2039.79248046875,
                        "y": 4072.275146484375,
                        "z": 359.6790466308594
                    },
                    "rotation": {
                        "roll": 0.000982588855549693,
                        "pitch": 2.603073835372925,
                        "yaw": 0.25388723611831665
                    }
                },
                "velocity": {
                    "x": 7.959896564483643,
                    "y": 0.033931631594896317,
                    "z": 0.3613590896129608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030357360839844,
                "transform": {
                    "location": {
                        "x": -2039.4427490234375,
                        "y": 4069.025634765625,
                        "z": 359.6639404296875
                    },
                    "rotation": {
                        "roll": -3.051710154977627e-05,
                        "pitch": 2.5812785625457764,
                        "yaw": 0.25666698813438416
                    }
                },
                "velocity": {
                    "x": 8.022050857543945,
                    "y": 0.03604062274098396,
                    "z": 0.36337700486183167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.976185321807861,
                "transform": {
                    "location": {
                        "x": -1998.3197021484375,
                        "y": 4072.45458984375,
                        "z": 361.3699951171875
                    },
                    "rotation": {
                        "roll": -9.155255975201726e-05,
                        "pitch": 2.0882277488708496,
                        "yaw": 0.2539654076099396
                    }
                },
                "velocity": {
                    "x": 7.970766544342041,
                    "y": 0.03549841791391373,
                    "z": 0.2918143570423126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.030779838562012,
                "transform": {
                    "location": {
                        "x": -1996.865478515625,
                        "y": 4069.212158203125,
                        "z": 361.41729736328125
                    },
                    "rotation": {
                        "roll": 0.0006661137449555099,
                        "pitch": 2.0808510780334473,
                        "yaw": 0.27121827006340027
                    }
                },
                "velocity": {
                    "x": 8.025444030761719,
                    "y": 0.036422379314899445,
                    "z": 0.29041749238967896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.511978149414062,
                "transform": {
                    "location": {
                        "x": -2018.710693359375,
                        "y": 4065.66748046875,
                        "z": 360.5707092285156
                    },
                    "rotation": {
                        "roll": -0.0014953615609556437,
                        "pitch": -2.4586493968963623,
                        "yaw": -179.74380493164062
                    }
                },
                "velocity": {
                    "x": -14.49913501739502,
                    "y": -0.06477051228284836,
                    "z": -0.606964647769928
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.995859146118164,
                "transform": {
                    "location": {
                        "x": -2044.5498046875,
                        "y": 4065.5546875,
                        "z": 359.4293518066406
                    },
                    "rotation": {
                        "roll": 4.004110451205634e-06,
                        "pitch": -2.6027801036834717,
                        "yaw": -179.75515747070312
                    }
                },
                "velocity": {
                    "x": -14.980897903442383,
                    "y": -0.06530492007732391,
                    "z": -0.6664987206459045
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2146.110595703125,
                        "y": 4065.210205078125,
                        "z": 359.23468017578125
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2162.81298828125,
                        "y": 4065.137939453125,
                        "z": 359.8756103515625
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 1.8031727075576782,
                "transform": {
                    "location": {
                        "x": -2100.9921875,
                        "y": 4062.25439453125,
                        "z": 358.1534423828125
                    },
                    "rotation": {
                        "roll": 0.3545278012752533,
                        "pitch": -0.137785404920578,
                        "yaw": 176.65780639648438
                    }
                },
                "velocity": {
                    "x": -1.6714069843292236,
                    "y": 0.6765900254249573,
                    "z": -0.007516155019402504
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2827530801296234,
        "expert_target_speed": 15.999999999999998,
        "target_point": [
            45.24101384856415,
            0.24083576812651153
        ],
        "target_point_next": [
            91.239506603941,
            -0.12511309624226785
        ]
    },
    "220": {
        "acceleration": [
            0.3148460388183594,
            -0.4677087068557739,
            0.40554165840148926
        ],
        "angular_velocity": [
            0.07166342437267303,
            0.9718856811523438,
            1.7874972820281982
        ],
        "forward_vector": [
            -0.9994463920593262,
            -0.021640190854668617,
            -0.025270631536841393
        ],
        "right_vector": [
            0.021540913730859756,
            -0.9997591972351074,
            0.004194191191345453
        ],
        "location": [
            -2068.924072265625,
            4066.1015625,
            358.5736999511719
        ],
        "rotation": [
            -0.24038691818714142,
            -1.4480546712875366,
            -178.75961303710938
        ],
        "velocity": [
            -15.406648635864258,
            -0.32567283511161804,
            -0.35917335748672485
        ],
        "speed": 15.41009036263278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.27033996582031,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2147.186279296875,
                4065.204833984375,
                359.258544921875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.164986610412598,
                "transform": {
                    "location": {
                        "x": -2121.3994140625,
                        "y": 4071.869384765625,
                        "z": 358.3384704589844
                    },
                    "rotation": {
                        "roll": -0.009185791015625,
                        "pitch": -1.5072928667068481,
                        "yaw": 0.7254096269607544
                    }
                },
                "velocity": {
                    "x": 8.161893844604492,
                    "y": 0.09492891281843185,
                    "z": -0.20366576313972473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.616471290588379,
                "transform": {
                    "location": {
                        "x": -2120.4267578125,
                        "y": 4068.61962890625,
                        "z": 358.3248596191406
                    },
                    "rotation": {
                        "roll": -0.013397215865552425,
                        "pitch": -1.5028395652770996,
                        "yaw": 0.7603985071182251
                    }
                },
                "velocity": {
                    "x": 6.614152908325195,
                    "y": 0.0866684690117836,
                    "z": -0.15219996869564056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.986946105957031,
                "transform": {
                    "location": {
                        "x": -2079.959228515625,
                        "y": 4072.093994140625,
                        "z": 358.3620910644531
                    },
                    "rotation": {
                        "roll": 0.0013619194505736232,
                        "pitch": 0.7340745329856873,
                        "yaw": 0.336563378572464
                    }
                },
                "velocity": {
                    "x": 7.986049652099609,
                    "y": 0.04452645033597946,
                    "z": 0.11106080561876297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.144413948059082,
                "transform": {
                    "location": {
                        "x": -2079.531005859375,
                        "y": 4068.84716796875,
                        "z": 358.3829345703125
                    },
                    "rotation": {
                        "roll": 0.0006150543340481818,
                        "pitch": 0.7481173872947693,
                        "yaw": 0.3255930244922638
                    }
                },
                "velocity": {
                    "x": 8.143321990966797,
                    "y": 0.043224673718214035,
                    "z": 0.1261919140815735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029228210449219,
                "transform": {
                    "location": {
                        "x": -2037.79638671875,
                        "y": 4072.28369140625,
                        "z": 359.7694396972656
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": 2.607137680053711,
                        "yaw": 0.24884754419326782
                    }
                },
                "velocity": {
                    "x": 8.020913124084473,
                    "y": 0.034916240721940994,
                    "z": 0.3636534810066223
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.968782901763916,
                "transform": {
                    "location": {
                        "x": -2037.4449462890625,
                        "y": 4069.03369140625,
                        "z": 359.75445556640625
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 2.5821733474731445,
                        "yaw": 0.24991153180599213
                    }
                },
                "velocity": {
                    "x": 7.9605021476745605,
                    "y": 0.03470604494214058,
                    "z": 0.3615309000015259
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1996.2869873046875,
                        "y": 4072.434326171875,
                        "z": 361.4421691894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0278830528259277,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1994.8160400390625,
                        "y": 4069.149169921875,
                        "z": 361.49139404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0278830528259277,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.450584411621094,
                "transform": {
                    "location": {
                        "x": -2022.3275146484375,
                        "y": 4065.65185546875,
                        "z": 360.41888427734375
                    },
                    "rotation": {
                        "roll": 0.00014191422087606043,
                        "pitch": -2.4826369285583496,
                        "yaw": -179.74490356445312
                    }
                },
                "velocity": {
                    "x": -14.437226295471191,
                    "y": -0.06443411111831665,
                    "z": -0.6178545951843262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.925585746765137,
                "transform": {
                    "location": {
                        "x": -2048.287109375,
                        "y": 4065.5390625,
                        "z": 359.2656555175781
                    },
                    "rotation": {
                        "roll": 0.00019525345123838633,
                        "pitch": -2.4911131858825684,
                        "yaw": -179.75177001953125
                    }
                },
                "velocity": {
                    "x": -14.9116849899292,
                    "y": -0.06440610438585281,
                    "z": -0.6407850980758667
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2147.186279296875,
                        "y": 4065.204833984375,
                        "z": 359.258544921875
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2163.326416015625,
                        "y": 4065.135498046875,
                        "z": 359.85174560546875
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 2.680922031402588,
                "transform": {
                    "location": {
                        "x": -2101.469482421875,
                        "y": 4062.52734375,
                        "z": 358.1510009765625
                    },
                    "rotation": {
                        "roll": 0.6009306311607361,
                        "pitch": -0.13590025901794434,
                        "yaw": 168.0022735595703
                    }
                },
                "velocity": {
                    "x": -2.1599879264831543,
                    "y": 1.587982416152954,
                    "z": -0.01034657470881939
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.23679384589195251,
        "expert_target_speed": 0,
        "target_point": [
            41.37852220444977,
            -0.1611479627122152
        ],
        "target_point_next": [
            87.37159389469751,
            -0.956516326126579
        ]
    },
    "225": {
        "acceleration": [
            0.3076934814453125,
            -0.030878782272338867,
            0.11155843734741211
        ],
        "angular_velocity": [
            0.45157840847969055,
            0.029589638113975525,
            -0.2209967076778412
        ],
        "forward_vector": [
            -0.9994747042655945,
            -0.024140862748026848,
            -0.021622639149427414
        ],
        "right_vector": [
            0.024091001600027084,
            -0.9997064471244812,
            0.0025634889025241137
        ],
        "location": [
            -2072.767578125,
            4066.01513671875,
            358.4884948730469
        ],
        "rotation": [
            -0.1469115912914276,
            -1.2389825582504272,
            -178.6163787841797
        ],
        "velocity": [
            -15.328963279724121,
            -0.35972675681114197,
            -0.3173171877861023
        ],
        "speed": 15.333183575849352,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.33959197998047,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2148.0986328125,
                4065.201171875,
                359.27880859375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.262808799743652,
                "transform": {
                    "location": {
                        "x": -2119.343994140625,
                        "y": 4071.893310546875,
                        "z": 358.28955078125
                    },
                    "rotation": {
                        "roll": -0.009490966796875,
                        "pitch": -1.2513725757598877,
                        "yaw": 0.6578878164291382
                    }
                },
                "velocity": {
                    "x": 8.260174751281738,
                    "y": 0.09474574029445648,
                    "z": -0.18585631251335144
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.330556392669678,
                "transform": {
                    "location": {
                        "x": -2118.841796875,
                        "y": 4068.6396484375,
                        "z": 358.2879638671875
                    },
                    "rotation": {
                        "roll": -0.004974364768713713,
                        "pitch": -1.2801549434661865,
                        "yaw": 0.726344645023346
                    }
                },
                "velocity": {
                    "x": 6.328673362731934,
                    "y": 0.07107982039451599,
                    "z": -0.13706231117248535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057135581970215,
                "transform": {
                    "location": {
                        "x": -2077.95458984375,
                        "y": 4072.1044921875,
                        "z": 358.3923034667969
                    },
                    "rotation": {
                        "roll": 0.0014901366084814072,
                        "pitch": 0.9337619543075562,
                        "yaw": 0.280200719833374
                    }
                },
                "velocity": {
                    "x": 8.055999755859375,
                    "y": 0.03905347362160683,
                    "z": 0.12952060997486115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.96563196182251,
                "transform": {
                    "location": {
                        "x": -2077.515869140625,
                        "y": 4068.857177734375,
                        "z": 358.413818359375
                    },
                    "rotation": {
                        "roll": 0.0005844369297847152,
                        "pitch": 0.9553316831588745,
                        "yaw": 0.29632142186164856
                    }
                },
                "velocity": {
                    "x": 7.964484691619873,
                    "y": 0.04085727035999298,
                    "z": 0.12886132299900055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995953559875488,
                "transform": {
                    "location": {
                        "x": -2035.793701171875,
                        "y": 4072.29150390625,
                        "z": 359.8601989746094
                    },
                    "rotation": {
                        "roll": 0.0005204251501709223,
                        "pitch": 2.606215715408325,
                        "yaw": 0.24940623342990875
                    }
                },
                "velocity": {
                    "x": 7.987687587738037,
                    "y": 0.034799057990312576,
                    "z": 0.36181679368019104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029657363891602,
                "transform": {
                    "location": {
                        "x": -2035.4466552734375,
                        "y": 4069.04345703125,
                        "z": 359.8449401855469
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": 2.5809507369995117,
                        "yaw": 0.2552416920661926
                    }
                },
                "velocity": {
                    "x": 8.021329879760742,
                    "y": 0.03571534529328346,
                    "z": 0.3638461232185364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5059,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1994.2054443359375,
                        "y": 4072.383544921875,
                        "z": 361.51422119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0278830528259277,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5058,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -1992.734619140625,
                        "y": 4069.133056640625,
                        "z": 361.56536865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 2.0278830528259277,
                        "yaw": 0.24983224272727966
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.38238525390625,
                "transform": {
                    "location": {
                        "x": -2025.9268798828125,
                        "y": 4065.6357421875,
                        "z": 360.2626953125
                    },
                    "rotation": {
                        "roll": 0.0003375138039700687,
                        "pitch": -2.6078412532806396,
                        "yaw": -179.73806762695312
                    }
                },
                "velocity": {
                    "x": -14.368186950683594,
                    "y": -0.06407225877046585,
                    "z": -0.635689377784729
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.846393585205078,
                "transform": {
                    "location": {
                        "x": -2052.007568359375,
                        "y": 4065.52294921875,
                        "z": 359.1131896972656
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -2.237788438796997,
                        "yaw": -179.74330139160156
                    }
                },
                "velocity": {
                    "x": -14.834675788879395,
                    "y": -0.06762047857046127,
                    "z": -0.5858359336853027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2148.0986328125,
                        "y": 4065.201171875,
                        "z": 359.27880859375
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2164.265380859375,
                        "y": 4065.131591796875,
                        "z": 359.8080749511719
                    },
                    "rotation": {
                        "roll": -4.1709952158797137e-10,
                        "pitch": 1.8520125150680542,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 2.980005979537964,
                "transform": {
                    "location": {
                        "x": -2102.059326171875,
                        "y": 4062.987060546875,
                        "z": 358.1480712890625
                    },
                    "rotation": {
                        "roll": 0.3977358043193817,
                        "pitch": -0.14551034569740295,
                        "yaw": 157.15838623046875
                    }
                },
                "velocity": {
                    "x": -2.2870304584503174,
                    "y": 1.9104472398757935,
                    "z": -0.010853128507733345
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.41638341546058655,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20757628977298737,
        "expert_target_speed": 14.93451050141205,
        "target_point": [
            37.533517921256895,
            -0.2581889853390308
        ],
        "target_point_next": [
            83.52445741230257,
            -1.1685400543032545
        ]
    },
    "230": {
        "acceleration": [
            0.32497406005859375,
            0.2707958221435547,
            0.2895873785018921
        ],
        "angular_velocity": [
            0.45058777928352356,
            0.38641518354415894,
            -1.065024971961975
        ],
        "forward_vector": [
            -0.9996179342269897,
            -0.021472468972206116,
            -0.01740713231265545
        ],
        "right_vector": [
            0.02146470732986927,
            -0.9997694492340088,
            0.0006326709990389645
        ],
        "location": [
            -2076.591552734375,
            4065.9287109375,
            358.4171447753906
        ],
        "rotation": [
            -0.0362548753619194,
            -0.9974056482315063,
            -178.76943969726562
        ],
        "velocity": [
            -15.246744155883789,
            -0.3223123550415039,
            -0.2573491334915161
        ],
        "speed": 15.250150576607068,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 72.77455139160156,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2149.35693359375,
                4065.196044921875,
                359.3103942871094
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.636504173278809,
                "transform": {
                    "location": {
                        "x": -2117.40673828125,
                        "y": 4071.912353515625,
                        "z": 358.24945068359375
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -1.2388869524002075,
                        "yaw": 0.5247983932495117
                    }
                },
                "velocity": {
                    "x": 6.635324001312256,
                    "y": 0.051990024745464325,
                    "z": -0.11383615434169769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.412269115447998,
                "transform": {
                    "location": {
                        "x": -2117.185791015625,
                        "y": 4068.65576171875,
                        "z": 358.2561340332031
                    },
                    "rotation": {
                        "roll": 0.0001152045006165281,
                        "pitch": -0.9895918965339661,
                        "yaw": 0.5814763903617859
                    }
                },
                "velocity": {
                    "x": 7.410721302032471,
                    "y": 0.0689907968044281,
                    "z": -0.13485285639762878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044098854064941,
                "transform": {
                    "location": {
                        "x": -2075.939208984375,
                        "y": 4072.1142578125,
                        "z": 358.42572021484375
                    },
                    "rotation": {
                        "roll": 0.0006846359465271235,
                        "pitch": 0.9936831593513489,
                        "yaw": 0.297309547662735
                    }
                },
                "velocity": {
                    "x": 8.042813301086426,
                    "y": 0.03926456719636917,
                    "z": 0.1383579671382904
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03724193572998,
                "transform": {
                    "location": {
                        "x": -2075.51904296875,
                        "y": 4068.8671875,
                        "z": 358.4473876953125
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": 0.9865456223487854,
                        "yaw": 0.2875441014766693
                    }
                },
                "velocity": {
                    "x": 8.035953521728516,
                    "y": 0.03773507848381996,
                    "z": 0.1388697624206543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016277313232422,
                "transform": {
                    "location": {
                        "x": -2033.795166015625,
                        "y": 4072.300537109375,
                        "z": 359.9506530761719
                    },
                    "rotation": {
                        "roll": 0.001196419121697545,
                        "pitch": 2.6052114963531494,
                        "yaw": 0.25198113918304443
                    }
                },
                "velocity": {
                    "x": 8.00796890258789,
                    "y": 0.033649276942014694,
                    "z": 0.36333274841308594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.969602584838867,
                "transform": {
                    "location": {
                        "x": -2033.4488525390625,
                        "y": 4069.052978515625,
                        "z": 359.9354248046875
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 2.582350969314575,
                        "yaw": 0.2552879750728607
                    }
                },
                "velocity": {
                    "x": 7.9613494873046875,
                    "y": 0.035458050668239594,
                    "z": 0.36086395382881165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.305301666259766,
                "transform": {
                    "location": {
                        "x": -2029.509033203125,
                        "y": 4065.619873046875,
                        "z": 360.10400390625
                    },
                    "rotation": {
                        "roll": 0.0005698634777218103,
                        "pitch": -2.604583263397217,
                        "yaw": -179.74551391601562
                    }
                },
                "velocity": {
                    "x": -14.29112434387207,
                    "y": -0.0638057291507721,
                    "z": -0.6335164308547974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.765730857849121,
                "transform": {
                    "location": {
                        "x": -2055.707763671875,
                        "y": 4065.505615234375,
                        "z": 358.9750671386719
                    },
                    "rotation": {
                        "roll": -0.0021362300030887127,
                        "pitch": -2.0631062984466553,
                        "yaw": -179.7316436767578
                    }
                },
                "velocity": {
                    "x": -14.755951881408691,
                    "y": -0.06740272045135498,
                    "z": -0.5330449342727661
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2149.35693359375,
                        "y": 4065.196044921875,
                        "z": 359.3103942871094
                    },
                    "rotation": {
                        "roll": -4.1712983067654363e-10,
                        "pitch": 1.9765063524246216,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2165.5986328125,
                        "y": 4065.125732421875,
                        "z": 359.8501892089844
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 1.4492655992507935,
                "transform": {
                    "location": {
                        "x": -2102.533935546875,
                        "y": 4063.376708984375,
                        "z": 358.14599609375
                    },
                    "rotation": {
                        "roll": 0.05537211894989014,
                        "pitch": -0.3599236309528351,
                        "yaw": 150.84584045410156
                    }
                },
                "velocity": {
                    "x": -1.0939053297042847,
                    "y": 0.9506399035453796,
                    "z": -0.0050426386296749115
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.1773689240217209,
        "expert_target_speed": 14.587892042456883,
        "target_point": [
            33.7091249509528,
            -0.16220902306632468
        ],
        "target_point_next": [
            79.70233212207327,
            -0.9497040720542966
        ]
    },
    "235": {
        "acceleration": [
            2.5632286071777344,
            0.37030547857284546,
            0.07995188236236572
        ],
        "angular_velocity": [
            0.22013838589191437,
            0.7343690991401672,
            -1.3102473020553589
        ],
        "forward_vector": [
            -0.9997643232345581,
            -0.016012322157621384,
            -0.014660666696727276
        ],
        "right_vector": [
            0.016026794910430908,
            -0.9998712539672852,
            -0.0008701492333784699
        ],
        "location": [
            -2080.382568359375,
            4065.857666015625,
            358.3595886230469
        ],
        "rotation": [
            0.04986124485731125,
            -0.8400244116783142,
            -179.08242797851562
        ],
        "velocity": [
            -14.963526725769043,
            -0.24109376966953278,
            -0.20665723085403442
        ],
        "speed": 14.965468862637678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.56645965576172,
        "front_vehicle_info": {
            "id": 5048,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -2150.938720703125,
                4065.18896484375,
                359.3634338378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -2156.372314453125,
                        "y": 4071.666259765625,
                        "z": 359.9303894042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.917999029159546,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": -5.764970723021179e-10,
                    "y": -2.513769791281928e-12,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2155.951416015625,
                        "y": 4068.41796875,
                        "z": 359.8401794433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9350266456604004,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.467174530029297,
                "transform": {
                    "location": {
                        "x": -2115.962646484375,
                        "y": 4071.92333984375,
                        "z": 358.22418212890625
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -1.0439192056655884,
                        "yaw": 0.4462985694408417
                    }
                },
                "velocity": {
                    "x": 5.466270446777344,
                    "y": 0.03950478136539459,
                    "z": -0.09123776108026505
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.514739036560059,
                "transform": {
                    "location": {
                        "x": -2115.106201171875,
                        "y": 4068.674560546875,
                        "z": 358.2185974121094
                    },
                    "rotation": {
                        "roll": 0.0005766199319623411,
                        "pitch": -0.7033318877220154,
                        "yaw": 0.5084238052368164
                    }
                },
                "velocity": {
                    "x": 8.51323127746582,
                    "y": 0.07354453206062317,
                    "z": -0.1423836052417755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024371147155762,
                "transform": {
                    "location": {
                        "x": -2073.931884765625,
                        "y": 4072.124267578125,
                        "z": 358.4630126953125
                    },
                    "rotation": {
                        "roll": -0.000427245773607865,
                        "pitch": 1.0978299379348755,
                        "yaw": 0.2606116831302643
                    }
                },
                "velocity": {
                    "x": 8.022605895996094,
                    "y": 0.036657754331827164,
                    "z": 0.1642662137746811
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002159118652344,
                "transform": {
                    "location": {
                        "x": -2073.51220703125,
                        "y": 4068.876708984375,
                        "z": 358.4859924316406
                    },
                    "rotation": {
                        "roll": -0.0003051759267691523,
                        "pitch": 1.1208407878875732,
                        "yaw": 0.2761094570159912
                    }
                },
                "velocity": {
                    "x": 8.000381469726562,
                    "y": 0.03503616899251938,
                    "z": 0.1649567037820816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99653434753418,
                "transform": {
                    "location": {
                        "x": -2031.7958984375,
                        "y": 4072.309326171875,
                        "z": 360.0408935546875
                    },
                    "rotation": {
                        "roll": 0.00017026934074237943,
                        "pitch": 2.591366767883301,
                        "yaw": 0.25445616245269775
                    }
                },
                "velocity": {
                    "x": 7.988530158996582,
                    "y": 0.03708815574645996,
                    "z": 0.3557732403278351
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030908584594727,
                "transform": {
                    "location": {
                        "x": -2031.4505615234375,
                        "y": 4069.061767578125,
                        "z": 360.0255126953125
                    },
                    "rotation": {
                        "roll": 0.0007965652621351182,
                        "pitch": 2.5618536472320557,
                        "yaw": 0.2523516118526459
                    }
                },
                "velocity": {
                    "x": 8.022926330566406,
                    "y": 0.03530548885464668,
                    "z": 0.3562454283237457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.228339195251465,
                "transform": {
                    "location": {
                        "x": -2033.0711669921875,
                        "y": 4065.604248046875,
                        "z": 359.94488525390625
                    },
                    "rotation": {
                        "roll": 0.0019237599335610867,
                        "pitch": -2.6696133613586426,
                        "yaw": -179.74810791015625
                    }
                },
                "velocity": {
                    "x": -14.213790893554688,
                    "y": -0.06271447986364365,
                    "z": -0.6401963829994202
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.672805786132812,
                "transform": {
                    "location": {
                        "x": -2059.3876953125,
                        "y": 4065.489013671875,
                        "z": 358.8494567871094
                    },
                    "rotation": {
                        "roll": 0.0004887781688012183,
                        "pitch": -1.9104925394058228,
                        "yaw": -179.7469482421875
                    }
                },
                "velocity": {
                    "x": -14.665162086486816,
                    "y": -0.06547661870718002,
                    "z": -0.4689861238002777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2150.938720703125,
                        "y": 4065.18896484375,
                        "z": 359.3634338378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.9350061416625977,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2167.243408203125,
                        "y": 4065.117919921875,
                        "z": 359.90185546875
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 1.9976558685302734,
                "transform": {
                    "location": {
                        "x": -2102.849365234375,
                        "y": 4063.650634765625,
                        "z": 358.1443786621094
                    },
                    "rotation": {
                        "roll": 0.1432359218597412,
                        "pitch": -0.1470334678888321,
                        "yaw": 147.6924285888672
                    }
                },
                "velocity": {
                    "x": -1.4920631647109985,
                    "y": 1.3282849788665771,
                    "z": -0.005957555491477251
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.16693614423274994,
        "expert_target_speed": 14.119603516029887,
        "target_point": [
            29.917840878086455,
            0.011608468342063694
        ],
        "target_point_next": [
            75.91466360627817,
            -0.5246314491337153
        ]
    },
    "240": {
        "acceleration": [
            5.398979187011719,
            0.3837329149246216,
            0.1422816514968872
        ],
        "angular_velocity": [
            0.15493671596050262,
            -0.5512962937355042,
            -1.291383147239685
        ],
        "forward_vector": [
            -0.9997995495796204,
            -0.010323164984583855,
            -0.017154088243842125
        ],
        "right_vector": [
            0.01035295519977808,
            -0.9999450445175171,
            -0.0016487325774505734
        ],
        "location": [
            -2083.991455078125,
            4065.8095703125,
            358.31683349609375
        ],
        "rotation": [
            0.09447936713695526,
            -0.9829051494598389,
            -179.40843200683594
        ],
        "velocity": [
            -13.859049797058105,
            -0.14424656331539154,
            -0.14957310259342194
        ],
        "speed": 13.859800444031098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.42494010925293,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2103.338134765625,
                4064.076416015625,
                358.142333984375
            ],
            "velocity": [
                -2.377410888671875,
                2.109039783477783,
                -0.006744823418557644
            ],
            "speed_kmh": 11.441079135084102,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2154.338623046875,
                        "y": 4071.67529296875,
                        "z": 359.4793395996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9350266456604004,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2153.907958984375,
                        "y": 4068.4267578125,
                        "z": 359.46527099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.9350266456604004,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.959979057312012,
                "transform": {
                    "location": {
                        "x": -2114.534423828125,
                        "y": 4071.934326171875,
                        "z": 358.1997985839844
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.8647428750991821,
                        "yaw": 0.42974185943603516
                    }
                },
                "velocity": {
                    "x": 5.9591240882873535,
                    "y": 0.0446087047457695,
                    "z": -0.09054205566644669
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.882646560668945,
                "transform": {
                    "location": {
                        "x": -2113.0673828125,
                        "y": 4068.6904296875,
                        "z": 358.1906433105469
                    },
                    "rotation": {
                        "roll": 0.004511096980422735,
                        "pitch": -0.7575362324714661,
                        "yaw": 0.43278422951698303
                    }
                },
                "velocity": {
                    "x": 7.881862640380859,
                    "y": 0.05581529438495636,
                    "z": -0.09612676501274109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045526504516602,
                "transform": {
                    "location": {
                        "x": -2071.921630859375,
                        "y": 4072.133544921875,
                        "z": 358.50347900390625
                    },
                    "rotation": {
                        "roll": 0.00012642428919207305,
                        "pitch": 1.251611590385437,
                        "yaw": 0.27801620960235596
                    }
                },
                "velocity": {
                    "x": 8.043571472167969,
                    "y": 0.03795180097222328,
                    "z": 0.17323584854602814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039798736572266,
                "transform": {
                    "location": {
                        "x": -2071.5068359375,
                        "y": 4068.88525390625,
                        "z": 358.5267639160156
                    },
                    "rotation": {
                        "roll": 0.00047887026448734105,
                        "pitch": 1.2445628643035889,
                        "yaw": 0.2599307596683502
                    }
                },
                "velocity": {
                    "x": 8.037858009338379,
                    "y": 0.038881368935108185,
                    "z": 0.17229263484477997
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024759292602539,
                "transform": {
                    "location": {
                        "x": -2029.7952880859375,
                        "y": 4072.318115234375,
                        "z": 360.1302185058594
                    },
                    "rotation": {
                        "roll": 0.0007141882088035345,
                        "pitch": 2.535926103591919,
                        "yaw": 0.249159038066864
                    }
                },
                "velocity": {
                    "x": 8.01681137084961,
                    "y": 0.03464822843670845,
                    "z": 0.3553912341594696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.969574451446533,
                "transform": {
                    "location": {
                        "x": -2029.4532470703125,
                        "y": 4069.06982421875,
                        "z": 360.11431884765625
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": 2.5102241039276123,
                        "yaw": 0.24017854034900665
                    }
                },
                "velocity": {
                    "x": 7.961669921875,
                    "y": 0.03313745558261871,
                    "z": 0.35331717133522034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.082141876220703,
                "transform": {
                    "location": {
                        "x": -2036.6097412109375,
                        "y": 4065.588623046875,
                        "z": 359.7843933105469
                    },
                    "rotation": {
                        "roll": 0.000315531506203115,
                        "pitch": -2.691797971725464,
                        "yaw": -179.74417114257812
                    }
                },
                "velocity": {
                    "x": -14.067482948303223,
                    "y": -0.06272896379232407,
                    "z": -0.6393141150474548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.171703338623047,
                "transform": {
                    "location": {
                        "x": -2063.007568359375,
                        "y": 4065.473388671875,
                        "z": 358.73736572265625
                    },
                    "rotation": {
                        "roll": -0.0013122559757903218,
                        "pitch": -1.793088436126709,
                        "yaw": -179.74652099609375
                    }
                },
                "velocity": {
                    "x": -14.16543197631836,
                    "y": -0.06373735517263412,
                    "z": -0.41672801971435547
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.685041904449463,
                "transform": {
                    "location": {
                        "x": -2152.69970703125,
                        "y": 4065.177001953125,
                        "z": 359.43896484375
                    },
                    "rotation": {
                        "roll": -0.01123047061264515,
                        "pitch": 1.6962636709213257,
                        "yaw": -179.57972717285156
                    }
                },
                "velocity": {
                    "x": -5.676682472229004,
                    "y": -0.0855192169547081,
                    "z": 0.296085000038147
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2169.072021484375,
                        "y": 4065.110595703125,
                        "z": 359.95941162109375
                    },
                    "rotation": {
                        "roll": -4.1708986264765713e-10,
                        "pitch": 1.8105055093765259,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 3.178077459335327,
                "transform": {
                    "location": {
                        "x": -2103.338134765625,
                        "y": 4064.076416015625,
                        "z": 358.142333984375
                    },
                    "rotation": {
                        "roll": 0.16613586246967316,
                        "pitch": 0.09229633957147598,
                        "yaw": 144.41085815429688
                    }
                },
                "velocity": {
                    "x": -2.377410888671875,
                    "y": 2.109039783477783,
                    "z": -0.006744823418557644
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.16702362895011902,
        "expert_target_speed": 0,
        "target_point": [
            26.308099562674943,
            0.1710106370079249
        ],
        "target_point_next": [
            72.3072289095249,
            -0.10349559162144695
        ]
    },
    "245": {
        "acceleration": [
            6.164226531982422,
            0.2986103296279907,
            0.085630863904953
        ],
        "angular_velocity": [
            -0.011218002997338772,
            -0.6410945653915405,
            -1.0729570388793945
        ],
        "forward_vector": [
            -0.9997892379760742,
            -0.005188522394746542,
            -0.019862178713083267
        ],
        "right_vector": [
            0.00522515457123518,
            -0.9999847412109375,
            -0.001792863360606134
        ],
        "location": [
            -2087.2578125,
            4065.78369140625,
            358.28338623046875
        ],
        "rotation": [
            0.10274382680654526,
            -1.1380938291549683,
            -179.70266723632812
        ],
        "velocity": [
            -12.332159042358398,
            -0.06141585856676102,
            -0.12336879223585129
        ],
        "speed": 12.332311971147401,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.838045120239258,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2104.061279296875,
                4064.714599609375,
                358.1408996582031
            ],
            "velocity": [
                -3.292604923248291,
                2.9670639038085938,
                -0.0016044806689023972
            ],
            "speed_kmh": 15.956050414076888,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.5198073387146,
                "transform": {
                    "location": {
                        "x": -2152.743408203125,
                        "y": 4071.686767578125,
                        "z": 359.3619384765625
                    },
                    "rotation": {
                        "roll": -0.00811767578125,
                        "pitch": -1.9794570207595825,
                        "yaw": 0.44195884466171265
                    }
                },
                "velocity": {
                    "x": 5.519062519073486,
                    "y": 0.07275647670030594,
                    "z": 0.05411204323172569
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.139473915100098,
                "transform": {
                    "location": {
                        "x": -2152.36328125,
                        "y": 4068.442626953125,
                        "z": 359.3765563964844
                    },
                    "rotation": {
                        "roll": -0.030822748318314552,
                        "pitch": -2.1655523777008057,
                        "yaw": 0.54438716173172
                    }
                },
                "velocity": {
                    "x": 6.138945579528809,
                    "y": 0.07865652441978455,
                    "z": -0.017374591901898384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.042263984680176,
                "transform": {
                    "location": {
                        "x": -2112.811279296875,
                        "y": 4071.945556640625,
                        "z": 358.17669677734375
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.5963437557220459,
                        "yaw": 0.3768027722835541
                    }
                },
                "velocity": {
                    "x": 8.041646957397461,
                    "y": 0.04656045883893967,
                    "z": -0.08807236701250076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053207397460938,
                "transform": {
                    "location": {
                        "x": -2111.088623046875,
                        "y": 4068.703857421875,
                        "z": 358.16741943359375
                    },
                    "rotation": {
                        "roll": 0.0038983335252851248,
                        "pitch": -0.522919237613678,
                        "yaw": 0.36773180961608887
                    }
                },
                "velocity": {
                    "x": 8.052653312683105,
                    "y": 0.05049726366996765,
                    "z": -0.0798875242471695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029990196228027,
                "transform": {
                    "location": {
                        "x": -2069.912109375,
                        "y": 4072.1435546875,
                        "z": 358.5476989746094
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 1.2673687934875488,
                        "yaw": 0.2430894672870636
                    }
                },
                "velocity": {
                    "x": 8.027571678161621,
                    "y": 0.03360213711857796,
                    "z": 0.19418059289455414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.980923175811768,
                "transform": {
                    "location": {
                        "x": -2069.5048828125,
                        "y": 4068.89453125,
                        "z": 358.5718994140625
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 1.2964380979537964,
                        "yaw": 0.25669896602630615
                    }
                },
                "velocity": {
                    "x": 7.97839879989624,
                    "y": 0.034269846975803375,
                    "z": 0.1977681666612625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.988062381744385,
                "transform": {
                    "location": {
                        "x": -2027.79638671875,
                        "y": 4072.326171875,
                        "z": 360.21832275390625
                    },
                    "rotation": {
                        "roll": -0.0011901857797056437,
                        "pitch": 2.530864953994751,
                        "yaw": 0.24957416951656342
                    }
                },
                "velocity": {
                    "x": 7.980227947235107,
                    "y": 0.036152008920907974,
                    "z": 0.35185134410858154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030386924743652,
                "transform": {
                    "location": {
                        "x": -2027.4549560546875,
                        "y": 4069.07763671875,
                        "z": 360.2024230957031
                    },
                    "rotation": {
                        "roll": 0.00025288702454417944,
                        "pitch": 2.507669687271118,
                        "yaw": 0.24619628489017487
                    }
                },
                "velocity": {
                    "x": 8.022573471069336,
                    "y": 0.03458466753363609,
                    "z": 0.3524758815765381
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.371443748474121,
                "transform": {
                    "location": {
                        "x": -2040.0499267578125,
                        "y": 4065.57373046875,
                        "z": 359.6287536621094
                    },
                    "rotation": {
                        "roll": 0.0035048506688326597,
                        "pitch": -2.8382303714752197,
                        "yaw": -179.75396728515625
                    }
                },
                "velocity": {
                    "x": -13.357592582702637,
                    "y": -0.055718738585710526,
                    "z": -0.605911910533905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.932563781738281,
                "transform": {
                    "location": {
                        "x": -2066.39892578125,
                        "y": 4065.4580078125,
                        "z": 358.6438293457031
                    },
                    "rotation": {
                        "roll": -0.00015258837083820254,
                        "pitch": -1.6848094463348389,
                        "yaw": -179.74241638183594
                    }
                },
                "velocity": {
                    "x": -12.927958488464355,
                    "y": -0.05792766809463501,
                    "z": -0.3401987850666046
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.810243129730225,
                "transform": {
                    "location": {
                        "x": -2154.13623046875,
                        "y": 4065.1552734375,
                        "z": 359.5002746582031
                    },
                    "rotation": {
                        "roll": 0.010127279907464981,
                        "pitch": 1.8658504486083984,
                        "yaw": -179.1964569091797
                    }
                },
                "velocity": {
                    "x": -5.805020809173584,
                    "y": -0.10983187705278397,
                    "z": 0.22044824063777924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2170.834716796875,
                        "y": 4065.102783203125,
                        "z": 360.0144958496094
                    },
                    "rotation": {
                        "roll": -4.170804257519478e-10,
                        "pitch": 1.7690120935440063,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 4.432236194610596,
                "transform": {
                    "location": {
                        "x": -2104.061279296875,
                        "y": 4064.714599609375,
                        "z": 358.1408996582031
                    },
                    "rotation": {
                        "roll": 0.1412903219461441,
                        "pitch": 0.18080875277519226,
                        "yaw": 141.3880157470703
                    }
                },
                "velocity": {
                    "x": -3.292604923248291,
                    "y": 2.9670639038085938,
                    "z": -0.0016044806689023972
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.17030835151672363,
        "expert_target_speed": 0,
        "target_point": [
            23.0404266782512,
            0.2971858872098298
        ],
        "target_point_next": [
            69.04035917255543,
            0.25891243371831585
        ]
    },
    "250": {
        "acceleration": [
            5.974884033203125,
            0.18370583653450012,
            0.03359541296958923
        ],
        "angular_velocity": [
            -0.0202126894146204,
            -0.0016900448827072978,
            -0.9354904294013977
        ],
        "forward_vector": [
            -0.9997875094413757,
            -0.0008256192086264491,
            -0.020595403388142586
        ],
        "right_vector": [
            0.000860058527905494,
            -0.9999982714653015,
            -0.0016633800696581602
        ],
        "location": [
            -2090.15771484375,
            4065.77587890625,
            358.25433349609375
        ],
        "rotation": [
            0.09532492607831955,
            -1.1801131963729858,
            -179.9526824951172
        ],
        "velocity": [
            -11.008099555969238,
            -0.002053233329206705,
            -0.11345081031322479
        ],
        "speed": 11.00809974745402,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.856367111206055,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2105.01025390625,
                4065.458251953125,
                358.14105224609375
            ],
            "velocity": [
                -4.314064979553223,
                2.684142589569092,
                0.006023835856467485
            ],
            "speed_kmh": 18.291335498182157,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.836507797241211,
                "transform": {
                    "location": {
                        "x": -2151.31982421875,
                        "y": 4071.704833984375,
                        "z": 359.361083984375
                    },
                    "rotation": {
                        "roll": -0.0174865685403347,
                        "pitch": -1.9469316005706787,
                        "yaw": 0.7121068239212036
                    }
                },
                "velocity": {
                    "x": 5.834770202636719,
                    "y": 0.08825094252824783,
                    "z": -0.11174765974283218
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.992036819458008,
                "transform": {
                    "location": {
                        "x": -2150.846435546875,
                        "y": 4068.463623046875,
                        "z": 359.3513488769531
                    },
                    "rotation": {
                        "roll": -0.02920532040297985,
                        "pitch": -2.0164151191711426,
                        "yaw": 0.7496961951255798
                    }
                },
                "velocity": {
                    "x": 5.989288330078125,
                    "y": 0.08761797100305557,
                    "z": -0.15892048180103302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.272226333618164,
                "transform": {
                    "location": {
                        "x": -2110.718505859375,
                        "y": 4071.95751953125,
                        "z": 358.1535949707031
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": -0.4805857539176941,
                        "yaw": 0.3401106297969818
                    }
                },
                "velocity": {
                    "x": 8.271706581115723,
                    "y": 0.04922627657651901,
                    "z": -0.07859005033969879
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.12173843383789,
                "transform": {
                    "location": {
                        "x": -2109.052490234375,
                        "y": 4068.715576171875,
                        "z": 358.1526794433594
                    },
                    "rotation": {
                        "roll": 0.0006763970013707876,
                        "pitch": -0.34241101145744324,
                        "yaw": 0.34490835666656494
                    }
                },
                "velocity": {
                    "x": 8.121420860290527,
                    "y": 0.04791545122861862,
                    "z": -0.05350228771567345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.035446166992188,
                "transform": {
                    "location": {
                        "x": -2067.904052734375,
                        "y": 4072.15234375,
                        "z": 358.5959167480469
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": 1.4697678089141846,
                        "yaw": 0.27355027198791504
                    }
                },
                "velocity": {
                    "x": 8.03293228149414,
                    "y": 0.03775007277727127,
                    "z": 0.19740502536296844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.046238899230957,
                "transform": {
                    "location": {
                        "x": -2067.50048828125,
                        "y": 4068.903076171875,
                        "z": 358.62042236328125
                    },
                    "rotation": {
                        "roll": 0.000633413321338594,
                        "pitch": 1.4735380411148071,
                        "yaw": 0.2539269030094147
                    }
                },
                "velocity": {
                    "x": 8.043671607971191,
                    "y": 0.0373678095638752,
                    "z": 0.1997758001089096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028036117553711,
                "transform": {
                    "location": {
                        "x": -2025.7958984375,
                        "y": 4072.3359375,
                        "z": 360.3063659667969
                    },
                    "rotation": {
                        "roll": 8.433846960542724e-05,
                        "pitch": 2.534792423248291,
                        "yaw": 0.2569391429424286
                    }
                },
                "velocity": {
                    "x": 8.020150184631348,
                    "y": 0.035948026925325394,
                    "z": 0.3539385199546814
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.970329761505127,
                "transform": {
                    "location": {
                        "x": -2025.4571533203125,
                        "y": 4069.087158203125,
                        "z": 360.2902526855469
                    },
                    "rotation": {
                        "roll": 0.0002645260246936232,
                        "pitch": 2.5104973316192627,
                        "yaw": 0.2552088499069214
                    }
                },
                "velocity": {
                    "x": 7.962527275085449,
                    "y": 0.03547583892941475,
                    "z": 0.3507946729660034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.103547096252441,
                "transform": {
                    "location": {
                        "x": -2043.2296142578125,
                        "y": 4065.559814453125,
                        "z": 359.4854736328125
                    },
                    "rotation": {
                        "roll": -0.0025024416390806437,
                        "pitch": -3.062035083770752,
                        "yaw": -179.74273681640625
                    }
                },
                "velocity": {
                    "x": -12.091064453125,
                    "y": -0.05543072521686554,
                    "z": -0.5467578768730164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.47365665435791,
                "transform": {
                    "location": {
                        "x": -2069.439697265625,
                        "y": 4065.444580078125,
                        "z": 358.56951904296875
                    },
                    "rotation": {
                        "roll": 0.0014081938425078988,
                        "pitch": -1.6404337882995605,
                        "yaw": -179.7476043701172
                    }
                },
                "velocity": {
                    "x": -11.470507621765137,
                    "y": -0.050750985741615295,
                    "z": -0.2639637887477875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.351047992706299,
                "transform": {
                    "location": {
                        "x": -2155.542724609375,
                        "y": 4065.135009765625,
                        "z": 359.5502014160156
                    },
                    "rotation": {
                        "roll": 0.02451966144144535,
                        "pitch": 1.9027061462402344,
                        "yaw": -179.18646240234375
                    }
                },
                "velocity": {
                    "x": -5.347467422485352,
                    "y": -0.06571804732084274,
                    "z": 0.18436653912067413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2172.43994140625,
                        "y": 4065.09521484375,
                        "z": 360.0646057128906
                    },
                    "rotation": {
                        "roll": -4.170804257519478e-10,
                        "pitch": 1.7690120935440063,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 5.080926418304443,
                "transform": {
                    "location": {
                        "x": -2105.01025390625,
                        "y": 4065.458251953125,
                        "z": 358.14105224609375
                    },
                    "rotation": {
                        "roll": -0.52734375,
                        "pitch": 0.15212880074977875,
                        "yaw": 142.25587463378906
                    }
                },
                "velocity": {
                    "x": -4.314064979553223,
                    "y": 2.684142589569092,
                    "z": 0.006023835856467485
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.20873109996318817,
        "expert_target_speed": 0,
        "target_point": [
            20.139002744027508,
            0.39230300338716195
        ],
        "target_point_next": [
            66.13866431632809,
            0.5547516771267582
        ]
    },
    "255": {
        "acceleration": [
            6.834068298339844,
            -0.12568296492099762,
            0.069752037525177
        ],
        "angular_velocity": [
            -0.29623839259147644,
            -0.11657451093196869,
            0.4211292564868927
        ],
        "forward_vector": [
            -0.9996753931045532,
            0.0007094544125720859,
            -0.025469288229942322
        ],
        "right_vector": [
            -0.0006917883292771876,
            -0.9999995231628418,
            -0.0007024265942163765
        ],
        "location": [
            -2092.58203125,
            4065.776123046875,
            358.230224609375
        ],
        "rotation": [
            0.040259141474962234,
            -1.4594405889511108,
            179.95933532714844
        ],
        "velocity": [
            -8.653547286987305,
            -0.0033859573304653168,
            -0.090413399040699
        ],
        "speed": 8.653547949415453,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.617104530334473,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2106.197998046875,
                4065.928955078125,
                358.1429138183594
            ],
            "velocity": [
                -5.151920795440674,
                0.8665831089019775,
                0.006490116007626057
            ],
            "speed_kmh": 18.80747510704171,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.663150310516357,
                "transform": {
                    "location": {
                        "x": -2149.884033203125,
                        "y": 4071.72607421875,
                        "z": 359.319091796875
                    },
                    "rotation": {
                        "roll": -0.0200805626809597,
                        "pitch": -1.9837327003479004,
                        "yaw": 0.8568053245544434
                    }
                },
                "velocity": {
                    "x": 5.659086227416992,
                    "y": 0.09109547734260559,
                    "z": -0.19420844316482544
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.308988571166992,
                "transform": {
                    "location": {
                        "x": -2149.404296875,
                        "y": 4068.485595703125,
                        "z": 359.30718994140625
                    },
                    "rotation": {
                        "roll": -0.02774047665297985,
                        "pitch": -2.1531965732574463,
                        "yaw": 0.8768793344497681
                    }
                },
                "velocity": {
                    "x": 5.30548095703125,
                    "y": 0.08336533606052399,
                    "z": -0.1740073710680008
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.87404727935791,
                "transform": {
                    "location": {
                        "x": -2108.71240234375,
                        "y": 4071.96923828125,
                        "z": 358.140380859375
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.34612664580345154,
                        "yaw": 0.32458242774009705
                    }
                },
                "velocity": {
                    "x": 7.873838901519775,
                    "y": 0.042013492435216904,
                    "z": -0.038920335471630096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8562798500061035,
                "transform": {
                    "location": {
                        "x": -2107.067626953125,
                        "y": 4068.7265625,
                        "z": 358.1414489746094
                    },
                    "rotation": {
                        "roll": 0.0015340200625360012,
                        "pitch": -0.23141363263130188,
                        "yaw": 0.30837684869766235
                    }
                },
                "velocity": {
                    "x": 7.856114387512207,
                    "y": 0.04266904667019844,
                    "z": -0.027990320697426796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036426544189453,
                "transform": {
                    "location": {
                        "x": -2065.896240234375,
                        "y": 4072.161376953125,
                        "z": 358.6474609375
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 1.489513874053955,
                        "yaw": 0.23052462935447693
                    }
                },
                "velocity": {
                    "x": 8.033673286437988,
                    "y": 0.03139312565326691,
                    "z": 0.20797982811927795
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.978243350982666,
                "transform": {
                    "location": {
                        "x": -2065.497802734375,
                        "y": 4068.912109375,
                        "z": 358.6722106933594
                    },
                    "rotation": {
                        "roll": 0.0003572901478037238,
                        "pitch": 1.4859007596969604,
                        "yaw": 0.2548005282878876
                    }
                },
                "velocity": {
                    "x": 7.975220203399658,
                    "y": 0.03407370671629906,
                    "z": 0.21695153415203094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.991143226623535,
                "transform": {
                    "location": {
                        "x": -2023.7955322265625,
                        "y": 4072.345458984375,
                        "z": 360.3944091796875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 2.5304415225982666,
                        "yaw": 0.2571302354335785
                    }
                },
                "velocity": {
                    "x": 7.983559608459473,
                    "y": 0.03575815260410309,
                    "z": 0.34621894359588623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032021522521973,
                "transform": {
                    "location": {
                        "x": -2023.458740234375,
                        "y": 4069.095458984375,
                        "z": 360.37811279296875
                    },
                    "rotation": {
                        "roll": -0.0004577642248477787,
                        "pitch": 2.5005593299865723,
                        "yaw": 0.2522423565387726
                    }
                },
                "velocity": {
                    "x": 8.024584770202637,
                    "y": 0.03523513302206993,
                    "z": 0.34375426173210144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.847657203674316,
                "transform": {
                    "location": {
                        "x": -2046.0927734375,
                        "y": 4065.54736328125,
                        "z": 359.3580322265625
                    },
                    "rotation": {
                        "roll": 0.0008723227656446397,
                        "pitch": -3.04119610786438,
                        "yaw": -179.74937438964844
                    }
                },
                "velocity": {
                    "x": -10.837059020996094,
                    "y": -0.04761648178100586,
                    "z": -0.4770195782184601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.032063484191895,
                "transform": {
                    "location": {
                        "x": -2072.143798828125,
                        "y": 4065.43310546875,
                        "z": 358.50921630859375
                    },
                    "rotation": {
                        "roll": 0.0012004345189779997,
                        "pitch": -1.5030854940414429,
                        "yaw": -179.75503540039062
                    }
                },
                "velocity": {
                    "x": -10.029763221740723,
                    "y": -0.04384404420852661,
                    "z": -0.21026359498500824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.141197681427002,
                "transform": {
                    "location": {
                        "x": -2156.81005859375,
                        "y": 4065.11865234375,
                        "z": 359.59326171875
                    },
                    "rotation": {
                        "roll": 0.019604861736297607,
                        "pitch": 1.9125553369522095,
                        "yaw": -179.24758911132812
                    }
                },
                "velocity": {
                    "x": -5.137847900390625,
                    "y": -0.06022435426712036,
                    "z": 0.17551280558109283
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2173.83984375,
                        "y": 4065.089599609375,
                        "z": 360.1083068847656
                    },
                    "rotation": {
                        "roll": -4.170804257519478e-10,
                        "pitch": 1.7690120935440063,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 5.224298477172852,
                "transform": {
                    "location": {
                        "x": -2106.197998046875,
                        "y": 4065.928955078125,
                        "z": 358.1429138183594
                    },
                    "rotation": {
                        "roll": -1.2944945096969604,
                        "pitch": 0.15459449589252472,
                        "yaw": 154.14402770996094
                    }
                },
                "velocity": {
                    "x": -5.151920795440674,
                    "y": 0.8665831089019775,
                    "z": 0.006490116007626057
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.5767310857772827,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26841723918914795,
        "expert_target_speed": 8.699596123418322,
        "target_point": [
            17.714060687989356,
            0.4217483042356449
        ],
        "target_point_next": [
            63.713418612033664,
            0.6548253589835128
        ]
    },
    "260": {
        "acceleration": [
            3.984823226928711,
            -0.0736410915851593,
            0.04775136709213257
        ],
        "angular_velocity": [
            -0.10380373895168304,
            0.9911428689956665,
            0.7179434895515442
        ],
        "forward_vector": [
            -0.9997203350067139,
            -0.0023152672220021486,
            -0.023535341024398804
        ],
        "right_vector": [
            0.002313526812940836,
            -0.9999973177909851,
            0.00010117208876181394
        ],
        "location": [
            -2094.539306640625,
            4065.771728515625,
            358.2093200683594
        ],
        "rotation": [
            -0.00579833984375,
            -1.3486002683639526,
            -179.8673095703125
        ],
        "velocity": [
            -7.248223304748535,
            -0.027537385001778603,
            -0.07565963268280029
        ],
        "speed": 7.248275614452896,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.0332612991333,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2107.570556640625,
                4065.99169921875,
                358.14581298828125
            ],
            "velocity": [
                -5.7865424156188965,
                -0.16192226111888885,
                0.020389718934893608
            ],
            "speed_kmh": 20.839836170758325,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.418002128601074,
                "transform": {
                    "location": {
                        "x": -2148.388916015625,
                        "y": 4071.748046875,
                        "z": 359.2669982910156
                    },
                    "rotation": {
                        "roll": -0.0184936486184597,
                        "pitch": -2.0006988048553467,
                        "yaw": 0.8278594017028809
                    }
                },
                "velocity": {
                    "x": 6.41355562210083,
                    "y": 0.07653525471687317,
                    "z": -0.22626635432243347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.442068099975586,
                "transform": {
                    "location": {
                        "x": -2148.087890625,
                        "y": 4068.502685546875,
                        "z": 359.2624206542969
                    },
                    "rotation": {
                        "roll": -0.004364012740552425,
                        "pitch": -2.044309616088867,
                        "yaw": 0.6346426010131836
                    }
                },
                "velocity": {
                    "x": 5.438441753387451,
                    "y": 0.05939878895878792,
                    "z": -0.1895458996295929
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.10195541381836,
                "transform": {
                    "location": {
                        "x": -2106.7197265625,
                        "y": 4071.979248046875,
                        "z": 358.1303405761719
                    },
                    "rotation": {
                        "roll": 0.0005365614779293537,
                        "pitch": -0.18890252709388733,
                        "yaw": 0.2971992790699005
                    }
                },
                "velocity": {
                    "x": 8.101802825927734,
                    "y": 0.041876621544361115,
                    "z": -0.026874346658587456
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.158592224121094,
                "transform": {
                    "location": {
                        "x": -2105.0595703125,
                        "y": 4068.736083984375,
                        "z": 358.1394958496094
                    },
                    "rotation": {
                        "roll": 0.0012490180088207126,
                        "pitch": 0.039806339889764786,
                        "yaw": 0.2993084490299225
                    }
                },
                "velocity": {
                    "x": 8.158479690551758,
                    "y": 0.04235697165131569,
                    "z": -0.006609592121094465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030153274536133,
                "transform": {
                    "location": {
                        "x": -2063.888427734375,
                        "y": 4072.169677734375,
                        "z": 358.7031555175781
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 1.6382139921188354,
                        "yaw": 0.2630651891231537
                    }
                },
                "velocity": {
                    "x": 8.026701927185059,
                    "y": 0.036649491637945175,
                    "z": 0.23256345093250275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.04000473022461,
                "transform": {
                    "location": {
                        "x": -2063.4951171875,
                        "y": 4068.921875,
                        "z": 358.72894287109375
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 1.6504672765731812,
                        "yaw": 0.2536788284778595
                    }
                },
                "velocity": {
                    "x": 8.036454200744629,
                    "y": 0.03559092804789543,
                    "z": 0.2362356334924698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2021.7464599609375,
                        "y": 4072.319580078125,
                        "z": 360.4706115722656
                    },
                    "rotation": {
                        "roll": 8.344946955674004e-10,
                        "pitch": 2.3991310596466064,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2021.3941650390625,
                        "y": 4069.059814453125,
                        "z": 360.46478271484375
                    },
                    "rotation": {
                        "roll": 8.344946955674004e-10,
                        "pitch": 2.3991310596466064,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.670821189880371,
                "transform": {
                    "location": {
                        "x": -2048.5751953125,
                        "y": 4065.536865234375,
                        "z": 359.2505798339844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -3.0415923595428467,
                        "yaw": -179.75021362304688
                    }
                },
                "velocity": {
                    "x": -9.661821365356445,
                    "y": -0.04348732531070709,
                    "z": -0.41485464572906494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.113323211669922,
                "transform": {
                    "location": {
                        "x": -2074.359375,
                        "y": 4065.423095703125,
                        "z": 358.4660949707031
                    },
                    "rotation": {
                        "roll": -0.00015258770145010203,
                        "pitch": -1.4649593830108643,
                        "yaw": -179.7526397705078
                    }
                },
                "velocity": {
                    "x": -8.111823081970215,
                    "y": -0.034985996782779694,
                    "z": -0.1520720273256302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.649341106414795,
                "transform": {
                    "location": {
                        "x": -2158.15283203125,
                        "y": 4065.102783203125,
                        "z": 359.6380920410156
                    },
                    "rotation": {
                        "roll": 0.016794417053461075,
                        "pitch": 1.9796209335327148,
                        "yaw": -179.28204345703125
                    }
                },
                "velocity": {
                    "x": -5.64575719833374,
                    "y": -0.06568169593811035,
                    "z": 0.1901690810918808
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2174.886962890625,
                        "y": 4065.084228515625,
                        "z": 360.14068603515625
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 5.788843631744385,
                "transform": {
                    "location": {
                        "x": -2107.570556640625,
                        "y": 4065.99169921875,
                        "z": 358.14581298828125
                    },
                    "rotation": {
                        "roll": -0.9668883681297302,
                        "pitch": 0.2750926911830902,
                        "yaw": 171.18267822265625
                    }
                },
                "velocity": {
                    "x": -5.7865424156188965,
                    "y": -0.16192226111888885,
                    "z": 0.020389718934893608
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.30766817927360535,
        "expert_target_speed": 7.55385045515802,
        "target_point": [
            15.757975304057162,
            0.3682905481935397
        ],
        "target_point_next": [
            61.75782787378153,
            0.4621942297504651
        ]
    },
    "265": {
        "acceleration": [
            3.7259769439697266,
            -0.05125947296619415,
            0.07507942616939545
        ],
        "angular_velocity": [
            -0.011495312675833702,
            -0.24317233264446259,
            0.3352895975112915
        ],
        "forward_vector": [
            -0.9995604157447815,
            -0.004094881471246481,
            -0.029363462701439857
        ],
        "right_vector": [
            0.004089547321200371,
            -0.9999915957450867,
            0.0002417107461951673
        ],
        "location": [
            -2095.97998046875,
            4065.764404296875,
            358.1952209472656
        ],
        "rotation": [
            -0.013854979537427425,
            -1.6826443672180176,
            -179.76527404785156
        ],
        "velocity": [
            -4.389837741851807,
            -0.029950086027383804,
            -0.04891112819314003
        ],
        "speed": 4.3899399093199,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.133926391601562,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2109.112548828125,
                4065.948974609375,
                358.1554260253906
            ],
            "velocity": [
                -7.070073127746582,
                -0.40054023265838623,
                0.04857746884226799
            ],
            "speed_kmh": 25.493675541016714,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.842806816101074,
                "transform": {
                    "location": {
                        "x": -2146.608642578125,
                        "y": 4071.76904296875,
                        "z": 359.20416259765625
                    },
                    "rotation": {
                        "roll": -0.01275634579360485,
                        "pitch": -1.9772918224334717,
                        "yaw": 0.6641268730163574
                    }
                },
                "velocity": {
                    "x": 7.837581634521484,
                    "y": 0.08181432634592056,
                    "z": -0.27430233359336853
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.976490020751953,
                "transform": {
                    "location": {
                        "x": -2146.612060546875,
                        "y": 4068.51806640625,
                        "z": 359.21087646484375
                    },
                    "rotation": {
                        "roll": -0.006500243674963713,
                        "pitch": -1.7679738998413086,
                        "yaw": 0.5934827327728271
                    }
                },
                "velocity": {
                    "x": 6.97188663482666,
                    "y": 0.069828562438488,
                    "z": -0.24358882009983063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083745956420898,
                "transform": {
                    "location": {
                        "x": -2104.685791015625,
                        "y": 4071.989013671875,
                        "z": 358.1291809082031
                    },
                    "rotation": {
                        "roll": 0.0002270305558340624,
                        "pitch": 0.0358789823949337,
                        "yaw": 0.28651514649391174
                    }
                },
                "velocity": {
                    "x": 8.08364200592041,
                    "y": 0.040485646575689316,
                    "z": 0.00637269951403141
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02635383605957,
                "transform": {
                    "location": {
                        "x": -2103.0302734375,
                        "y": 4068.745849609375,
                        "z": 358.1408386230469
                    },
                    "rotation": {
                        "roll": 0.00019601575331762433,
                        "pitch": 0.13760781288146973,
                        "yaw": 0.2865627110004425
                    }
                },
                "velocity": {
                    "x": 8.026196479797363,
                    "y": 0.03951122611761093,
                    "z": 0.031144684180617332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.034102439880371,
                "transform": {
                    "location": {
                        "x": -2061.880126953125,
                        "y": 4072.1787109375,
                        "z": 358.76165771484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.7457962036132812,
                        "yaw": 0.23539549112319946
                    }
                },
                "velocity": {
                    "x": 8.03032398223877,
                    "y": 0.03343547508120537,
                    "z": 0.24407605826854706
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.981706142425537,
                "transform": {
                    "location": {
                        "x": -2061.4931640625,
                        "y": 4068.930419921875,
                        "z": 358.78765869140625
                    },
                    "rotation": {
                        "roll": -0.0007324214093387127,
                        "pitch": 1.7356055974960327,
                        "yaw": 0.2463504821062088
                    }
                },
                "velocity": {
                    "x": 7.977954387664795,
                    "y": 0.03560890257358551,
                    "z": 0.24210278689861298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2019.664306640625,
                        "y": 4072.271484375,
                        "z": 360.5404968261719
                    },
                    "rotation": {
                        "roll": 8.344946955674004e-10,
                        "pitch": 2.3991310596466064,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2019.312744140625,
                        "y": 4069.013916015625,
                        "z": 360.55181884765625
                    },
                    "rotation": {
                        "roll": 8.344946955674004e-10,
                        "pitch": 2.3991310596466064,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.061771392822266,
                "transform": {
                    "location": {
                        "x": -2051.060546875,
                        "y": 4065.525146484375,
                        "z": 359.14678955078125
                    },
                    "rotation": {
                        "roll": 0.0005437735235318542,
                        "pitch": -2.402491569519043,
                        "yaw": -179.74781799316406
                    }
                },
                "velocity": {
                    "x": -10.053529739379883,
                    "y": -0.044216930866241455,
                    "z": -0.40474721789360046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.224702835083008,
                "transform": {
                    "location": {
                        "x": -2076.371826171875,
                        "y": 4065.414794921875,
                        "z": 358.42913818359375
                    },
                    "rotation": {
                        "roll": 0.00043153855949640274,
                        "pitch": -1.0461117029190063,
                        "yaw": -179.7540740966797
                    }
                },
                "velocity": {
                    "x": -8.223469734191895,
                    "y": -0.035344403237104416,
                    "z": -0.13793788850307465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.700411796569824,
                "transform": {
                    "location": {
                        "x": -2159.62939453125,
                        "y": 4065.0849609375,
                        "z": 359.6865234375
                    },
                    "rotation": {
                        "roll": 0.017433105036616325,
                        "pitch": 1.9861984252929688,
                        "yaw": -179.40579223632812
                    }
                },
                "velocity": {
                    "x": -6.6965484619140625,
                    "y": -0.058809954673051834,
                    "z": 0.21975655853748322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2175.662353515625,
                        "y": 4065.08056640625,
                        "z": 360.1643371582031
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 7.081576824188232,
                "transform": {
                    "location": {
                        "x": -2109.112548828125,
                        "y": 4065.948974609375,
                        "z": 358.1554260253906
                    },
                    "rotation": {
                        "roll": -0.4494933784008026,
                        "pitch": 0.5847939252853394,
                        "yaw": 179.48728942871094
                    }
                },
                "velocity": {
                    "x": -7.070073127746582,
                    "y": -0.40054023265838623,
                    "z": 0.04857746884226799
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.32129648327827454,
        "expert_target_speed": 5.141718293500933,
        "target_point": [
            14.317914488618117,
            0.3388034954023497
        ],
        "target_point_next": [
            60.31786134570275,
            0.3507819417625134
        ]
    },
    "270": {
        "acceleration": [
            -0.8860969543457031,
            -0.025755204260349274,
            0.02874143421649933
        ],
        "angular_velocity": [
            0.04492758587002754,
            2.691793918609619,
            0.3149189352989197
        ],
        "forward_vector": [
            -0.9997808337211609,
            -0.005747702904045582,
            -0.0201305840164423
        ],
        "right_vector": [
            0.005745415575802326,
            -0.9999834895133972,
            0.00017147282778751105
        ],
        "location": [
            -2097.0380859375,
            4065.7568359375,
            358.182373046875
        ],
        "rotation": [
            -0.00982666015625,
            -1.1534754037857056,
            -179.6706085205078
        ],
        "velocity": [
            -4.201075553894043,
            -0.03245268017053604,
            -0.03912355750799179
        ],
        "speed": 4.201200898073834,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.022833824157715,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2111.060546875,
                4065.858154296875,
                358.16888427734375
            ],
            "velocity": [
                -8.228707313537598,
                -0.3971003592014313,
                0.06877744197845459
            ],
            "speed_kmh": 29.658853625256075,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.443984985351562,
                "transform": {
                    "location": {
                        "x": -2144.517822265625,
                        "y": 4071.791259765625,
                        "z": 359.1310119628906
                    },
                    "rotation": {
                        "roll": -0.011169432662427425,
                        "pitch": -1.989804744720459,
                        "yaw": 0.5765842795372009
                    }
                },
                "velocity": {
                    "x": 8.438405990600586,
                    "y": 0.08237699419260025,
                    "z": -0.29564765095710754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.462843894958496,
                "transform": {
                    "location": {
                        "x": -2144.616943359375,
                        "y": 4068.5380859375,
                        "z": 359.14105224609375
                    },
                    "rotation": {
                        "roll": -0.009490966796875,
                        "pitch": -1.7089815139770508,
                        "yaw": 0.5646610260009766
                    }
                },
                "velocity": {
                    "x": 8.457260131835938,
                    "y": 0.0846693217754364,
                    "z": -0.29548853635787964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.969676971435547,
                "transform": {
                    "location": {
                        "x": -2102.685791015625,
                        "y": 4071.998779296875,
                        "z": 358.1320495605469
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.14711543917655945,
                        "yaw": 0.2832903563976288
                    }
                },
                "velocity": {
                    "x": 7.9695000648498535,
                    "y": 0.03728095814585686,
                    "z": 0.03780415281653404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023152351379395,
                "transform": {
                    "location": {
                        "x": -2101.02880859375,
                        "y": 4068.755615234375,
                        "z": 358.15093994140625
                    },
                    "rotation": {
                        "roll": 0.0013251334894448519,
                        "pitch": 0.3789593577384949,
                        "yaw": 0.2830696403980255
                    }
                },
                "velocity": {
                    "x": 8.022957801818848,
                    "y": 0.039442017674446106,
                    "z": 0.03952858969569206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027204513549805,
                "transform": {
                    "location": {
                        "x": -2059.87255859375,
                        "y": 4072.18701171875,
                        "z": 358.8241271972656
                    },
                    "rotation": {
                        "roll": -6.103543273638934e-05,
                        "pitch": 1.8031766414642334,
                        "yaw": 0.2679152190685272
                    }
                },
                "velocity": {
                    "x": 8.022624015808105,
                    "y": 0.03688618913292885,
                    "z": 0.2686251699924469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034346580505371,
                "transform": {
                    "location": {
                        "x": -2059.491455078125,
                        "y": 4068.939208984375,
                        "z": 358.85107421875
                    },
                    "rotation": {
                        "roll": 0.00034984847297891974,
                        "pitch": 1.8221782445907593,
                        "yaw": 0.248009592294693
                    }
                },
                "velocity": {
                    "x": 8.029662132263184,
                    "y": 0.03489430248737335,
                    "z": 0.2720980942249298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5061,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2017.5823974609375,
                        "y": 4072.277099609375,
                        "z": 360.6254577636719
                    },
                    "rotation": {
                        "roll": -4.172226453214023e-10,
                        "pitch": 2.316711187362671,
                        "yaw": 0.24983206391334534
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5060,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2017.231201171875,
                        "y": 4069.022705078125,
                        "z": 360.6376953125
                    },
                    "rotation": {
                        "roll": -4.172226453214023e-10,
                        "pitch": 2.316711187362671,
                        "yaw": 0.24983206391334534
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.768488883972168,
                "transform": {
                    "location": {
                        "x": -2053.828369140625,
                        "y": 4065.5126953125,
                        "z": 359.0369873046875
                    },
                    "rotation": {
                        "roll": -0.0026245112530887127,
                        "pitch": -1.8153685331344604,
                        "yaw": -179.74542236328125
                    }
                },
                "velocity": {
                    "x": -11.760196685791016,
                    "y": -0.05352885648608208,
                    "z": -0.43844184279441833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.13124942779541,
                "transform": {
                    "location": {
                        "x": -2078.56298828125,
                        "y": 4065.405029296875,
                        "z": 358.3943786621094
                    },
                    "rotation": {
                        "roll": 0.0012181616621091962,
                        "pitch": -0.7651928663253784,
                        "yaw": -179.75401306152344
                    }
                },
                "velocity": {
                    "x": -9.130169868469238,
                    "y": -0.03925551846623421,
                    "z": -0.13482923805713654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.440424919128418,
                "transform": {
                    "location": {
                        "x": -2161.492431640625,
                        "y": 4065.068359375,
                        "z": 359.7477722167969
                    },
                    "rotation": {
                        "roll": 0.01126763503998518,
                        "pitch": 1.9439195394515991,
                        "yaw": -179.5098114013672
                    }
                },
                "velocity": {
                    "x": -7.436262130737305,
                    "y": -0.05899826064705849,
                    "z": 0.24176880717277527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2175.982666015625,
                        "y": 4065.078857421875,
                        "z": 360.1741638183594
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 8.238570213317871,
                "transform": {
                    "location": {
                        "x": -2111.060546875,
                        "y": 4065.858154296875,
                        "z": 358.16888427734375
                    },
                    "rotation": {
                        "roll": -0.1033019870519638,
                        "pitch": 0.8318350315093994,
                        "yaw": -177.74853515625
                    }
                },
                "velocity": {
                    "x": -8.228707313537598,
                    "y": -0.3971003592014313,
                    "z": 0.06877744197845459
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.32021886110305786,
        "expert_target_speed": 5.0728649767805924,
        "target_point": [
            13.260323086822662,
            0.31366775678931913
        ],
        "target_point_next": [
            59.260226978097755,
            0.24966516900192676
        ]
    },
    "275": {
        "acceleration": [
            -3.090372085571289,
            -0.05078554153442383,
            -0.061850547790527344
        ],
        "angular_velocity": [
            -0.039035018533468246,
            1.9074175357818604,
            0.3532136380672455
        ],
        "forward_vector": [
            -0.9999263286590576,
            -0.007192833814769983,
            -0.009779536165297031
        ],
        "right_vector": [
            0.0071912347339093685,
            -0.9999741315841675,
            0.0001986623101402074
        ],
        "location": [
            -2098.165771484375,
            4065.748046875,
            358.17034912109375
        ],
        "rotation": [
            -0.011383056640625,
            -0.5603350400924683,
            -179.58786010742188
        ],
        "velocity": [
            -4.827878952026367,
            -0.0433085672557354,
            -0.04237194359302521
        ],
        "speed": 4.828073198224832,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.073994636535645,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2113.23974609375,
                4065.747314453125,
                358.1947937011719
            ],
            "velocity": [
                -9.16842269897461,
                -0.49267011880874634,
                0.12102735042572021
            ],
            "speed_kmh": 33.056811815926515,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.926595687866211,
                "transform": {
                    "location": {
                        "x": -2142.480224609375,
                        "y": 4071.809326171875,
                        "z": 359.0599060058594
                    },
                    "rotation": {
                        "roll": -0.00677490234375,
                        "pitch": -2.0151994228363037,
                        "yaw": 0.483340859413147
                    }
                },
                "velocity": {
                    "x": 7.921485900878906,
                    "y": 0.059943798929452896,
                    "z": -0.2781881093978882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.952854633331299,
                "transform": {
                    "location": {
                        "x": -2142.5673828125,
                        "y": 4068.555908203125,
                        "z": 359.0692138671875
                    },
                    "rotation": {
                        "roll": 0.00018502742750570178,
                        "pitch": -2.0238258838653564,
                        "yaw": 0.5021322965621948
                    }
                },
                "velocity": {
                    "x": 7.947761535644531,
                    "y": 0.06283209472894669,
                    "z": -0.2775494456291199
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.107704162597656,
                "transform": {
                    "location": {
                        "x": -2100.6708984375,
                        "y": 4072.008544921875,
                        "z": 358.14288330078125
                    },
                    "rotation": {
                        "roll": 0.0008987724431790411,
                        "pitch": 0.4113481342792511,
                        "yaw": 0.27599743008613586
                    }
                },
                "velocity": {
                    "x": 8.107439994812012,
                    "y": 0.039095718413591385,
                    "z": 0.05250995606184006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.071078300476074,
                "transform": {
                    "location": {
                        "x": -2099.01220703125,
                        "y": 4068.765625,
                        "z": 358.16510009765625
                    },
                    "rotation": {
                        "roll": 0.0011440841481089592,
                        "pitch": 0.4872725009918213,
                        "yaw": 0.2805231213569641
                    }
                },
                "velocity": {
                    "x": 8.070629119873047,
                    "y": 0.03977188095450401,
                    "z": 0.07531797140836716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029855728149414,
                "transform": {
                    "location": {
                        "x": -2057.865478515625,
                        "y": 4072.19580078125,
                        "z": 358.89007568359375
                    },
                    "rotation": {
                        "roll": 0.0001386342046316713,
                        "pitch": 1.994818091392517,
                        "yaw": 0.2285054326057434
                    }
                },
                "velocity": {
                    "x": 8.025147438049316,
                    "y": 0.032340675592422485,
                    "z": 0.2730392515659332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9793701171875,
                "transform": {
                    "location": {
                        "x": -2057.490234375,
                        "y": 4068.947021484375,
                        "z": 358.9172058105469
                    },
                    "rotation": {
                        "roll": 3.395539170014672e-05,
                        "pitch": 1.9858568906784058,
                        "yaw": 0.24858178198337555
                    }
                },
                "velocity": {
                    "x": 7.97465181350708,
                    "y": 0.03457644209265709,
                    "z": 0.27218708395957947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.896331787109375,
                "transform": {
                    "location": {
                        "x": -2056.84619140625,
                        "y": 4065.499267578125,
                        "z": 358.92822265625
                    },
                    "rotation": {
                        "roll": 0.0006395800737664104,
                        "pitch": -1.732818841934204,
                        "yaw": -179.75088500976562
                    }
                },
                "velocity": {
                    "x": -11.889041900634766,
                    "y": -0.05175874009728432,
                    "z": -0.41317832469940186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.783323287963867,
                "transform": {
                    "location": {
                        "x": -2080.822509765625,
                        "y": 4065.395263671875,
                        "z": 358.3614807128906
                    },
                    "rotation": {
                        "roll": 0.00011231518146814778,
                        "pitch": -0.7313219904899597,
                        "yaw": -179.7539520263672
                    }
                },
                "velocity": {
                    "x": -8.782461166381836,
                    "y": -0.03764542564749718,
                    "z": -0.117154061794281
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.2553911209106445,
                "transform": {
                    "location": {
                        "x": -2163.162353515625,
                        "y": 4065.055908203125,
                        "z": 359.8035888671875
                    },
                    "rotation": {
                        "roll": 0.00816025584936142,
                        "pitch": 1.718174934387207,
                        "yaw": -179.48887634277344
                    }
                },
                "velocity": {
                    "x": -5.252508640289307,
                    "y": -0.04111269488930702,
                    "z": 0.16911758482456207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2176.392333984375,
                        "y": 4065.076904296875,
                        "z": 360.18658447265625
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 9.18244743347168,
                "transform": {
                    "location": {
                        "x": -2113.23974609375,
                        "y": 4065.747314453125,
                        "z": 358.1947937011719
                    },
                    "rotation": {
                        "roll": -0.02737426944077015,
                        "pitch": 0.9634664058685303,
                        "yaw": -177.05821228027344
                    }
                },
                "velocity": {
                    "x": -9.16842269897461,
                    "y": -0.49267011880874634,
                    "z": 0.12102735042572021
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.30400770902633667,
        "expert_target_speed": 5.754992692268606,
        "target_point": [
            12.133042704734248,
            0.293837674860845
        ],
        "target_point_next": [
            58.13280617396991,
            0.16339568714456493
        ]
    },
    "280": {
        "acceleration": [
            0.1743030548095703,
            -0.04072248935699463,
            0.003073364496231079
        ],
        "angular_velocity": [
            -0.04222704470157623,
            -0.22286397218704224,
            0.4402638375759125
        ],
        "forward_vector": [
            -0.9999432563781738,
            -0.008926988579332829,
            -0.005805102176964283
        ],
        "right_vector": [
            0.008925791829824448,
            -0.9999601244926453,
            0.00023222369782160968
        ],
        "location": [
            -2099.447509765625,
            4065.735595703125,
            358.15850830078125
        ],
        "rotation": [
            -0.01330566219985485,
            -0.33260971307754517,
            -179.48851013183594
        ],
        "velocity": [
            -5.158231258392334,
            -0.053920965641736984,
            -0.045110687613487244
        ],
        "speed": 5.158513078939657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.182235717773438,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2115.62939453125,
                4065.655029296875,
                358.2282409667969
            ],
            "velocity": [
                -9.664861679077148,
                -0.3732905983924866,
                0.16974171996116638
            ],
            "speed_kmh": 34.82480601236088,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095953941345215,
                "transform": {
                    "location": {
                        "x": -2140.491943359375,
                        "y": 4071.823974609375,
                        "z": 358.98956298828125
                    },
                    "rotation": {
                        "roll": -0.0050048828125,
                        "pitch": -2.033989191055298,
                        "yaw": 0.40005841851234436
                    }
                },
                "velocity": {
                    "x": 8.090668678283691,
                    "y": 0.053886670619249344,
                    "z": -0.28745630383491516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.986234188079834,
                "transform": {
                    "location": {
                        "x": -2140.595947265625,
                        "y": 4068.5703125,
                        "z": 358.99951171875
                    },
                    "rotation": {
                        "roll": 0.0007556467899121344,
                        "pitch": -2.045621156692505,
                        "yaw": 0.40890100598335266
                    }
                },
                "velocity": {
                    "x": 7.981046199798584,
                    "y": 0.05646573007106781,
                    "z": -0.2822185456752777
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.99715518951416,
                "transform": {
                    "location": {
                        "x": -2098.6572265625,
                        "y": 4072.018310546875,
                        "z": 358.15838623046875
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.48380959033966064,
                        "yaw": 0.270245224237442
                    }
                },
                "velocity": {
                    "x": 7.996695518493652,
                    "y": 0.03609281778335571,
                    "z": 0.077794149518013
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.030147552490234,
                "transform": {
                    "location": {
                        "x": -2096.999755859375,
                        "y": 4068.775146484375,
                        "z": 358.1840515136719
                    },
                    "rotation": {
                        "roll": 0.0002490847837179899,
                        "pitch": 0.5946362614631653,
                        "yaw": 0.2706386148929596
                    }
                },
                "velocity": {
                    "x": 8.029714584350586,
                    "y": 0.03688643127679825,
                    "z": 0.07484380900859833
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030797004699707,
                "transform": {
                    "location": {
                        "x": -2055.859619140625,
                        "y": 4072.203857421875,
                        "z": 358.9595642089844
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 1.9889509677886963,
                        "yaw": 0.2641522288322449
                    }
                },
                "velocity": {
                    "x": 8.02569580078125,
                    "y": 0.03679298236966133,
                    "z": 0.2838097810745239
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034490585327148,
                "transform": {
                    "location": {
                        "x": -2055.4892578125,
                        "y": 4068.95556640625,
                        "z": 358.9871826171875
                    },
                    "rotation": {
                        "roll": 0.00027169749955646694,
                        "pitch": 1.9993534088134766,
                        "yaw": 0.2516343593597412
                    }
                },
                "velocity": {
                    "x": 8.028861999511719,
                    "y": 0.035383936017751694,
                    "z": 0.29861095547676086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.05492115020752,
                "transform": {
                    "location": {
                        "x": -2059.673583984375,
                        "y": 4065.4873046875,
                        "z": 358.835693359375
                    },
                    "rotation": {
                        "roll": 0.0026921271346509457,
                        "pitch": -2.0715620517730713,
                        "yaw": -179.77005004882812
                    }
                },
                "velocity": {
                    "x": -11.049335479736328,
                    "y": -0.04436173662543297,
                    "z": -0.3485671281814575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.491055488586426,
                "transform": {
                    "location": {
                        "x": -2082.849365234375,
                        "y": 4065.386474609375,
                        "z": 358.3366394042969
                    },
                    "rotation": {
                        "roll": -0.0001525876868981868,
                        "pitch": -0.9191589951515198,
                        "yaw": -179.75367736816406
                    }
                },
                "velocity": {
                    "x": -7.4904913902282715,
                    "y": -0.03218488767743111,
                    "z": -0.08608272671699524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0021874760277569294,
                "transform": {
                    "location": {
                        "x": -2163.65771484375,
                        "y": 4065.052734375,
                        "z": 359.8222961425781
                    },
                    "rotation": {
                        "roll": 0.006111765746027231,
                        "pitch": 1.368660569190979,
                        "yaw": -179.45335388183594
                    }
                },
                "velocity": {
                    "x": 0.0014548370381817222,
                    "y": 0.00010941173968603835,
                    "z": 0.0016298865666612983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2177.0615234375,
                        "y": 4065.07421875,
                        "z": 360.2070617675781
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 9.67355728149414,
                "transform": {
                    "location": {
                        "x": -2115.62939453125,
                        "y": 4065.655029296875,
                        "z": 358.2282409667969
                    },
                    "rotation": {
                        "roll": 0.06068316102027893,
                        "pitch": 1.076717734336853,
                        "yaw": -177.77615356445312
                    }
                },
                "velocity": {
                    "x": -9.664861679077148,
                    "y": -0.3732905983924866,
                    "z": 0.16974171996116638
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.3137029707431793,
        "expert_target_speed": 6.129331090568422,
        "target_point": [
            10.85173568813041,
            0.27178714015936045
        ],
        "target_point_next": [
            56.851203762087096,
            0.06156998855745677
        ]
    },
    "285": {
        "acceleration": [
            -10.769052505493164,
            -0.055191367864608765,
            0.11154666543006897
        ],
        "angular_velocity": [
            0.002899481914937496,
            2.924116849899292,
            0.13837821781635284
        ],
        "forward_vector": [
            -0.9999334216117859,
            -0.010425878688693047,
            -0.0049379863776266575
        ],
        "right_vector": [
            0.010425119660794735,
            -0.9999456405639648,
            0.00017949486209545285
        ],
        "location": [
            -2100.756103515625,
            4065.72119140625,
            358.1484375
        ],
        "rotation": [
            -0.010284423828125,
            -0.28292691707611084,
            -179.40261840820312
        ],
        "velocity": [
            -5.729157447814941,
            -0.06262651085853577,
            -0.03160225972533226
        ],
        "speed": 5.72949972874733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.512418746948242,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2118.267333984375,
                4065.563232421875,
                358.2774963378906
            ],
            "velocity": [
                -11.10772705078125,
                -0.23822608590126038,
                0.2091440111398697
            ],
            "speed_kmh": 40.004098875439496,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.137102127075195,
                "transform": {
                    "location": {
                        "x": -2138.451416015625,
                        "y": 4071.83740234375,
                        "z": 358.9171447753906
                    },
                    "rotation": {
                        "roll": -0.0027160642202943563,
                        "pitch": -2.046652317047119,
                        "yaw": 0.35302966833114624
                    }
                },
                "velocity": {
                    "x": 8.131778717041016,
                    "y": 0.0467359758913517,
                    "z": -0.2905603349208832
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.171610832214355,
                "transform": {
                    "location": {
                        "x": -2138.5634765625,
                        "y": 4068.583984375,
                        "z": 358.9273986816406
                    },
                    "rotation": {
                        "roll": -0.0018005376914516091,
                        "pitch": -2.033531665802002,
                        "yaw": 0.40312471985816956
                    }
                },
                "velocity": {
                    "x": 8.166253089904785,
                    "y": 0.05221982300281525,
                    "z": -0.291238009929657
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068940162658691,
                "transform": {
                    "location": {
                        "x": -2096.6494140625,
                        "y": 4072.028076171875,
                        "z": 358.1775817871094
                    },
                    "rotation": {
                        "roll": 0.00029057945357635617,
                        "pitch": 0.6108033061027527,
                        "yaw": 0.26174795627593994
                    }
                },
                "velocity": {
                    "x": 8.068459510803223,
                    "y": 0.03698761761188507,
                    "z": 0.0799618512392044
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045913696289062,
                "transform": {
                    "location": {
                        "x": -2094.990478515625,
                        "y": 4068.784912109375,
                        "z": 358.2049255371094
                    },
                    "rotation": {
                        "roll": 0.00047740706941112876,
                        "pitch": 0.6157619953155518,
                        "yaw": 0.2581123411655426
                    }
                },
                "velocity": {
                    "x": 8.045355796813965,
                    "y": 0.0365176796913147,
                    "z": 0.08743663877248764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025941848754883,
                "transform": {
                    "location": {
                        "x": -2053.853271484375,
                        "y": 4072.213623046875,
                        "z": 359.0334777832031
                    },
                    "rotation": {
                        "roll": -0.0005187991191633046,
                        "pitch": 2.175333261489868,
                        "yaw": 0.23778510093688965
                    }
                },
                "velocity": {
                    "x": 8.020102500915527,
                    "y": 0.03591808304190636,
                    "z": 0.30397969484329224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.974031925201416,
                "transform": {
                    "location": {
                        "x": -2053.4892578125,
                        "y": 4068.96435546875,
                        "z": 359.0616455078125
                    },
                    "rotation": {
                        "roll": -9.15528871701099e-05,
                        "pitch": 2.1777920722961426,
                        "yaw": 0.2518645226955414
                    }
                },
                "velocity": {
                    "x": 7.968234062194824,
                    "y": 0.035031504929065704,
                    "z": 0.3019958734512329
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.861983299255371,
                "transform": {
                    "location": {
                        "x": -2062.147705078125,
                        "y": 4065.476806640625,
                        "z": 358.760498046875
                    },
                    "rotation": {
                        "roll": 1.7394522728864104e-06,
                        "pitch": -2.3578152656555176,
                        "yaw": -179.7447967529297
                    }
                },
                "velocity": {
                    "x": -8.857996940612793,
                    "y": -0.03784216195344925,
                    "z": -0.26306214928627014
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.253482341766357,
                "transform": {
                    "location": {
                        "x": -2084.43115234375,
                        "y": 4065.379638671875,
                        "z": 358.31842041015625
                    },
                    "rotation": {
                        "roll": -0.00274658203125,
                        "pitch": -1.1945453882217407,
                        "yaw": -179.91258239746094
                    }
                },
                "velocity": {
                    "x": -4.2530670166015625,
                    "y": -0.025309834629297256,
                    "z": -0.05376996472477913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3241095542907715,
                "transform": {
                    "location": {
                        "x": -2163.8603515625,
                        "y": 4065.05126953125,
                        "z": 359.8250427246094
                    },
                    "rotation": {
                        "roll": 0.008598781190812588,
                        "pitch": 1.8201428651809692,
                        "yaw": -179.45994567871094
                    }
                },
                "velocity": {
                    "x": -1.32334303855896,
                    "y": -0.010251828469336033,
                    "z": 0.04386655613780022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2177.843994140625,
                        "y": 4065.071044921875,
                        "z": 360.23089599609375
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 11.112249374389648,
                "transform": {
                    "location": {
                        "x": -2118.267333984375,
                        "y": 4065.563232421875,
                        "z": 358.2774963378906
                    },
                    "rotation": {
                        "roll": 0.14508764445781708,
                        "pitch": 1.4700888395309448,
                        "yaw": -178.1428985595703
                    }
                },
                "velocity": {
                    "x": -11.10772705078125,
                    "y": -0.23822608590126038,
                    "z": 0.2091440111398697
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.28661537170410156,
        "expert_target_speed": 6.742712968785388,
        "target_point": [
            9.543458145458684,
            0.2547585139344579
        ],
        "target_point_next": [
            55.5425593744657,
            -0.024419675318059775
        ]
    },
    "290": {
        "acceleration": [
            -5.149774551391602,
            0.012353882193565369,
            -0.014124400913715363
        ],
        "angular_velocity": [
            -0.0054504238069057465,
            1.4250940084457397,
            -0.7034021615982056
        ],
        "forward_vector": [
            -0.9999499320983887,
            -0.009154745377600193,
            0.004044640343636274
        ],
        "right_vector": [
            0.009153924882411957,
            -0.9999580979347229,
            -0.00022132019512355328
        ],
        "location": [
            -2102.37060546875,
            4065.706787109375,
            358.1396789550781
        ],
        "rotation": [
            0.01268081646412611,
            0.23174147307872772,
            -179.4754638671875
        ],
        "velocity": [
            -7.055840492248535,
            -0.05529867112636566,
            -0.026994628831744194
        ],
        "speed": 7.056057184793955,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.781660079956055,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2121.14990234375,
                4065.489990234375,
                358.3440856933594
            ],
            "velocity": [
                -11.876832962036133,
                -0.2845950722694397,
                0.2964535653591156
            ],
            "speed_kmh": 42.78218556858311,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.036176681518555,
                "transform": {
                    "location": {
                        "x": -2136.436279296875,
                        "y": 4071.848388671875,
                        "z": 358.8451232910156
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": -2.0485239028930664,
                        "yaw": 0.30996009707450867
                    }
                },
                "velocity": {
                    "x": 8.0309419631958,
                    "y": 0.04197055101394653,
                    "z": -0.2869616448879242
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.985682487487793,
                "transform": {
                    "location": {
                        "x": -2136.548583984375,
                        "y": 4068.595947265625,
                        "z": 358.85546875
                    },
                    "rotation": {
                        "roll": 0.001048803678713739,
                        "pitch": -2.083829164505005,
                        "yaw": 0.3230954110622406
                    }
                },
                "velocity": {
                    "x": 7.980423450469971,
                    "y": 0.044380560517311096,
                    "z": -0.2863503694534302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021039962768555,
                "transform": {
                    "location": {
                        "x": -2094.636962890625,
                        "y": 4072.037109375,
                        "z": 358.1989440917969
                    },
                    "rotation": {
                        "roll": 0.00073584308847785,
                        "pitch": 0.6131255626678467,
                        "yaw": 0.24915336072444916
                    }
                },
                "velocity": {
                    "x": 8.020503044128418,
                    "y": 0.033218346536159515,
                    "z": 0.08663754910230637
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048482894897461,
                "transform": {
                    "location": {
                        "x": -2092.97802734375,
                        "y": 4068.7939453125,
                        "z": 358.2264404296875
                    },
                    "rotation": {
                        "roll": 0.0002345346729271114,
                        "pitch": 0.6102500557899475,
                        "yaw": 0.25211799144744873
                    }
                },
                "velocity": {
                    "x": 8.04794692993164,
                    "y": 0.03520616143941879,
                    "z": 0.08598724007606506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029380798339844,
                "transform": {
                    "location": {
                        "x": -2051.84716796875,
                        "y": 4072.2216796875,
                        "z": 359.1102294921875
                    },
                    "rotation": {
                        "roll": -0.0007934567984193563,
                        "pitch": 2.2422964572906494,
                        "yaw": 0.2658388316631317
                    }
                },
                "velocity": {
                    "x": 8.023159980773926,
                    "y": 0.037154339253902435,
                    "z": 0.313829243183136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035063743591309,
                "transform": {
                    "location": {
                        "x": -2051.48876953125,
                        "y": 4068.97314453125,
                        "z": 359.1383972167969
                    },
                    "rotation": {
                        "roll": -0.0007934572640806437,
                        "pitch": 2.225323438644409,
                        "yaw": 0.2507795989513397
                    }
                },
                "velocity": {
                    "x": 8.02888011932373,
                    "y": 0.03505415841937065,
                    "z": 0.3132230043411255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.880915641784668,
                "transform": {
                    "location": {
                        "x": -2064.195068359375,
                        "y": 4065.467529296875,
                        "z": 358.70159912109375
                    },
                    "rotation": {
                        "roll": -0.0023803715594112873,
                        "pitch": -2.228485584259033,
                        "yaw": -179.76101684570312
                    }
                },
                "velocity": {
                    "x": -7.877967834472656,
                    "y": -0.034784793853759766,
                    "z": -0.2127140313386917
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.51444935798645,
                "transform": {
                    "location": {
                        "x": -2085.211181640625,
                        "y": 4065.376220703125,
                        "z": 358.3094177246094
                    },
                    "rotation": {
                        "roll": 0.00587551761418581,
                        "pitch": -0.8814085721969604,
                        "yaw": -179.93507385253906
                    }
                },
                "velocity": {
                    "x": -3.5141987800598145,
                    "y": -0.011508512310683727,
                    "z": -0.040357716381549835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1353704929351807,
                "transform": {
                    "location": {
                        "x": -2164.287353515625,
                        "y": 4065.047607421875,
                        "z": 359.83795166015625
                    },
                    "rotation": {
                        "roll": 0.010234621353447437,
                        "pitch": 1.9268782138824463,
                        "yaw": -179.46917724609375
                    }
                },
                "velocity": {
                    "x": -2.13419771194458,
                    "y": -0.01648212969303131,
                    "z": 0.06881057471036911
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2178.92138671875,
                        "y": 4065.067138671875,
                        "z": 360.2637939453125
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 11.883940696716309,
                "transform": {
                    "location": {
                        "x": -2121.14990234375,
                        "y": 4065.489990234375,
                        "z": 358.3440856933594
                    },
                    "rotation": {
                        "roll": 0.07652834802865982,
                        "pitch": 1.6524958610534668,
                        "yaw": -178.60824584960938
                    }
                },
                "velocity": {
                    "x": -11.876832962036133,
                    "y": -0.2845950722694397,
                    "z": 0.2964535653591156
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.261645644903183,
        "expert_target_speed": 8.083313949207195,
        "target_point": [
            7.928560408844525,
            0.26726773200064025
        ],
        "target_point_next": [
            53.92797937352786,
            0.04656601175639408
        ]
    },
    "295": {
        "acceleration": [
            -3.9014530181884766,
            0.04382111132144928,
            0.17109812796115875
        ],
        "angular_velocity": [
            -0.03298322856426239,
            0.12121924012899399,
            -0.6490302681922913
        ],
        "forward_vector": [
            -0.9999488592147827,
            -0.006863025017082691,
            0.007427623495459557
        ],
        "right_vector": [
            0.006860458757728338,
            -0.999976396560669,
            -0.00037095427978783846
        ],
        "location": [
            -2104.283935546875,
            4065.693603515625,
            358.13275146484375
        ],
        "rotation": [
            0.021254701539874077,
            0.4255754053592682,
            -179.6067657470703
        ],
        "velocity": [
            -8.154272079467773,
            -0.04650166258215904,
            -0.009749536402523518
        ],
        "speed": 8.154404671747079,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.930906295776367,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2124.2109375,
                4065.431884765625,
                358.4278564453125
            ],
            "velocity": [
                -12.562370300292969,
                -0.22108811140060425,
                0.38675177097320557
            ],
            "speed_kmh": 45.25296005383065,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091803550720215,
                "transform": {
                    "location": {
                        "x": -2134.4228515625,
                        "y": 4071.8583984375,
                        "z": 358.7731628417969
                    },
                    "rotation": {
                        "roll": -0.0015563967172056437,
                        "pitch": -2.0446784496307373,
                        "yaw": 0.29344886541366577
                    }
                },
                "velocity": {
                    "x": 8.08657455444336,
                    "y": 0.04052725061774254,
                    "z": -0.2880237400531769
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.069305419921875,
                "transform": {
                    "location": {
                        "x": -2134.546630859375,
                        "y": 4068.607666015625,
                        "z": 358.7839050292969
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": -2.0544729232788086,
                        "yaw": 0.32523542642593384
                    }
                },
                "velocity": {
                    "x": 8.064053535461426,
                    "y": 0.04379715770483017,
                    "z": -0.2877660095691681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.061689376831055,
                "transform": {
                    "location": {
                        "x": -2092.627197265625,
                        "y": 4072.044921875,
                        "z": 358.2203674316406
                    },
                    "rotation": {
                        "roll": -0.0003662107919808477,
                        "pitch": 0.606138288974762,
                        "yaw": 0.2417558878660202
                    }
                },
                "velocity": {
                    "x": 8.061174392700195,
                    "y": 0.03402559459209442,
                    "z": 0.08446729183197021
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039262771606445,
                "transform": {
                    "location": {
                        "x": -2090.967529296875,
                        "y": 4068.802978515625,
                        "z": 358.2477111816406
                    },
                    "rotation": {
                        "roll": 0.0007502723019570112,
                        "pitch": 0.6089591383934021,
                        "yaw": 0.2489471286535263
                    }
                },
                "velocity": {
                    "x": 8.038749694824219,
                    "y": 0.035129569470882416,
                    "z": 0.08372102677822113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022164344787598,
                "transform": {
                    "location": {
                        "x": -2049.841552734375,
                        "y": 4072.231201171875,
                        "z": 359.1910095214844
                    },
                    "rotation": {
                        "roll": -0.0004882815410383046,
                        "pitch": 2.339667558670044,
                        "yaw": 0.2337433397769928
                    }
                },
                "velocity": {
                    "x": 8.014988899230957,
                    "y": 0.03259849175810814,
                    "z": 0.33765485882759094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.96906852722168,
                "transform": {
                    "location": {
                        "x": -2049.489990234375,
                        "y": 4068.981689453125,
                        "z": 359.2199401855469
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 2.351067066192627,
                        "yaw": 0.2492208629846573
                    }
                },
                "velocity": {
                    "x": 7.9618096351623535,
                    "y": 0.034328706562519073,
                    "z": 0.3383166491985321
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.675762176513672,
                "transform": {
                    "location": {
                        "x": -2066.17041015625,
                        "y": 4065.459716796875,
                        "z": 358.6465148925781
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -1.7412678003311157,
                        "yaw": -179.7333526611328
                    }
                },
                "velocity": {
                    "x": -7.673013687133789,
                    "y": -0.0347919687628746,
                    "z": -0.20243728160858154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.9735517501831055,
                "transform": {
                    "location": {
                        "x": -2086.285888671875,
                        "y": 4065.372314453125,
                        "z": 358.29827880859375
                    },
                    "rotation": {
                        "roll": 4.966961932950653e-05,
                        "pitch": -0.4307595193386078,
                        "yaw": -179.8574981689453
                    }
                },
                "velocity": {
                    "x": -4.9732465744018555,
                    "y": -0.018267765641212463,
                    "z": -0.051970258355140686
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6272118091583252,
                "transform": {
                    "location": {
                        "x": -2164.785888671875,
                        "y": 4065.044921875,
                        "z": 359.8552551269531
                    },
                    "rotation": {
                        "roll": 0.011684673838317394,
                        "pitch": 1.7855684757232666,
                        "yaw": -179.4051055908203
                    }
                },
                "velocity": {
                    "x": -0.6268788576126099,
                    "y": 0.0035302683245390654,
                    "z": 0.02012741006910801
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2180.3720703125,
                        "y": 4065.060791015625,
                        "z": 360.3077392578125
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 12.570266723632812,
                "transform": {
                    "location": {
                        "x": -2124.2109375,
                        "y": 4065.431884765625,
                        "z": 358.4278564453125
                    },
                    "rotation": {
                        "roll": 0.06486931443214417,
                        "pitch": 1.8816691637039185,
                        "yaw": -179.03280639648438
                    }
                },
                "velocity": {
                    "x": -12.562370300292969,
                    "y": -0.22108811140060425,
                    "z": 0.38675177097320557
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.23017045855522156,
        "expert_target_speed": 9.145938797286805,
        "target_point": [
            52.01435547190052,
            0.17012517958252021
        ],
        "target_point_next": [
            52.01435547190052,
            0.17012517958252021
        ]
    },
    "300": {
        "acceleration": [
            -0.14730453491210938,
            0.09289443492889404,
            0.006863996386528015
        ],
        "angular_velocity": [
            -0.034359391778707504,
            -0.16817690432071686,
            -0.6055448651313782
        ],
        "forward_vector": [
            -0.9999403953552246,
            -0.0043348465114831924,
            0.010017108172178268
        ],
        "right_vector": [
            0.004330077674239874,
            -0.9999904632568359,
            -0.0004976897034794092
        ],
        "location": [
            -2106.44677734375,
            4065.683349609375,
            358.1354064941406
        ],
        "rotation": [
            0.028516951948404312,
            0.5739476084709167,
            -179.75161743164062
        ],
        "velocity": [
            -8.887866973876953,
            -0.029336486011743546,
            0.01796761527657509
        ],
        "speed": 8.887915389715644,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.999780654907227,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2127.440673828125,
                4065.382080078125,
                358.53082275390625
            ],
            "velocity": [
                -13.224754333496094,
                -0.14018432796001434,
                0.4586126506328583
            ],
            "speed_kmh": 47.64040714456825,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.105487823486328,
                "transform": {
                    "location": {
                        "x": -2132.396240234375,
                        "y": 4071.868408203125,
                        "z": 358.7008972167969
                    },
                    "rotation": {
                        "roll": -9.155302541330457e-05,
                        "pitch": -2.0456552505493164,
                        "yaw": 0.27500444650650024
                    }
                },
                "velocity": {
                    "x": 8.100276947021484,
                    "y": 0.03865984082221985,
                    "z": -0.28800833225250244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.081025123596191,
                "transform": {
                    "location": {
                        "x": -2132.5244140625,
                        "y": 4068.617431640625,
                        "z": 358.7117919921875
                    },
                    "rotation": {
                        "roll": 0.0024733375757932663,
                        "pitch": -2.0574371814727783,
                        "yaw": 0.2721205949783325
                    }
                },
                "velocity": {
                    "x": 8.075828552246094,
                    "y": 0.038545262068510056,
                    "z": -0.2871626019477844
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017833709716797,
                "transform": {
                    "location": {
                        "x": -2090.617431640625,
                        "y": 4072.052734375,
                        "z": 358.2415466308594
                    },
                    "rotation": {
                        "roll": 0.0005822782986797392,
                        "pitch": 0.6062407493591309,
                        "yaw": 0.24116340279579163
                    }
                },
                "velocity": {
                    "x": 8.017317771911621,
                    "y": 0.033750589936971664,
                    "z": 0.08452177047729492
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046391487121582,
                "transform": {
                    "location": {
                        "x": -2088.956787109375,
                        "y": 4068.810791015625,
                        "z": 358.2689514160156
                    },
                    "rotation": {
                        "roll": 0.0007254357333295047,
                        "pitch": 0.6079550981521606,
                        "yaw": 0.24473442137241364
                    }
                },
                "velocity": {
                    "x": 8.045880317687988,
                    "y": 0.03416496515274048,
                    "z": 0.08399923145771027
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025860786437988,
                "transform": {
                    "location": {
                        "x": -2047.8365478515625,
                        "y": 4072.2392578125,
                        "z": 359.2748107910156
                    },
                    "rotation": {
                        "roll": 0.001997376559302211,
                        "pitch": 2.4975130558013916,
                        "yaw": 0.26112744212150574
                    }
                },
                "velocity": {
                    "x": 8.018287658691406,
                    "y": 0.03638182207942009,
                    "z": 0.3466798961162567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031763076782227,
                "transform": {
                    "location": {
                        "x": -2047.4906005859375,
                        "y": 4068.990478515625,
                        "z": 359.3038635253906
                    },
                    "rotation": {
                        "roll": 0.00014971784548833966,
                        "pitch": 2.4805948734283447,
                        "yaw": 0.2521134316921234
                    }
                },
                "velocity": {
                    "x": 8.024202346801758,
                    "y": 0.03520292416214943,
                    "z": 0.3466484844684601
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.790057182312012,
                "transform": {
                    "location": {
                        "x": -2067.964111328125,
                        "y": 4065.451904296875,
                        "z": 358.60113525390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.8109972476959229,
                        "yaw": -179.73106384277344
                    }
                },
                "velocity": {
                    "x": -6.787907600402832,
                    "y": -0.03006143495440483,
                    "z": -0.16815705597400665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.510585308074951,
                "transform": {
                    "location": {
                        "x": -2087.621826171875,
                        "y": 4065.36669921875,
                        "z": 358.2845153808594
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.48284652829170227,
                        "yaw": -179.80075073242188
                    }
                },
                "velocity": {
                    "x": -5.510241985321045,
                    "y": -0.02232666127383709,
                    "z": -0.05733772739768028
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0282453298568726,
                "transform": {
                    "location": {
                        "x": -2164.919921875,
                        "y": 4065.044189453125,
                        "z": 359.8591003417969
                    },
                    "rotation": {
                        "roll": 0.010306574404239655,
                        "pitch": 1.8432425260543823,
                        "yaw": -179.40354919433594
                    }
                },
                "velocity": {
                    "x": -1.0276775360107422,
                    "y": -0.006199818570166826,
                    "z": 0.03359890729188919
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2182.119384765625,
                        "y": 4065.052978515625,
                        "z": 360.3607482910156
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 13.233447074890137,
                "transform": {
                    "location": {
                        "x": -2127.440673828125,
                        "y": 4065.382080078125,
                        "z": 358.53082275390625
                    },
                    "rotation": {
                        "roll": 0.08374485373497009,
                        "pitch": 2.1169214248657227,
                        "yaw": -179.2044219970703
                    }
                },
                "velocity": {
                    "x": -13.224754333496094,
                    "y": -0.14018432796001434,
                    "z": 0.4586126506328583
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.22492052614688873,
        "expert_target_speed": 9.851811694226095,
        "target_point": [
            49.85089320715243,
            0.30074864799993195
        ],
        "target_point_next": [
            49.85089320715243,
            0.30074864799993195
        ]
    },
    "305": {
        "acceleration": [
            -3.845500946044922,
            0.10576878488063812,
            0.26963675022125244
        ],
        "angular_velocity": [
            0.0030049795750528574,
            1.137797236442566,
            -0.6744186282157898
        ],
        "forward_vector": [
            -0.9998896718025208,
            -0.0015382592100650072,
            0.014774140901863575
        ],
        "right_vector": [
            0.0015294040786102414,
            -0.9999986290931702,
            -0.0006106464425101876
        ],
        "location": [
            -2108.843017578125,
            4065.678466796875,
            358.14398193359375
        ],
        "rotation": [
            0.03499128669500351,
            0.8465267419815063,
            -179.91184997558594
        ],
        "velocity": [
            -10.22487735748291,
            -0.005764131899923086,
            0.07160558551549911
        ],
        "speed": 10.224878982207235,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.996936798095703,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2130.83154296875,
                4065.341064453125,
                358.6501159667969
            ],
            "velocity": [
                -13.867033004760742,
                -0.15709909796714783,
                0.5001460313796997
            ],
            "speed_kmh": 49.95697968978872,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050963401794434,
                "transform": {
                    "location": {
                        "x": -2130.380615234375,
                        "y": 4071.8779296875,
                        "z": 358.6290283203125
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -2.046051263809204,
                        "yaw": 0.26321449875831604
                    }
                },
                "velocity": {
                    "x": 8.045754432678223,
                    "y": 0.03796723112463951,
                    "z": -0.2870790362358093
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030563354492188,
                "transform": {
                    "location": {
                        "x": -2130.514404296875,
                        "y": 4068.62744140625,
                        "z": 358.6401062011719
                    },
                    "rotation": {
                        "roll": 0.00019477607565931976,
                        "pitch": -2.068782329559326,
                        "yaw": 0.28844699263572693
                    }
                },
                "velocity": {
                    "x": 8.025333404541016,
                    "y": 0.038590479642152786,
                    "z": -0.2872081398963928
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067529678344727,
                "transform": {
                    "location": {
                        "x": -2088.6064453125,
                        "y": 4072.060546875,
                        "z": 358.2627258300781
                    },
                    "rotation": {
                        "roll": 0.000717613089364022,
                        "pitch": 0.6058719158172607,
                        "yaw": 0.24550385773181915
                    }
                },
                "velocity": {
                    "x": 8.067005157470703,
                    "y": 0.03457053005695343,
                    "z": 0.08521667122840881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043679237365723,
                "transform": {
                    "location": {
                        "x": -2086.9453125,
                        "y": 4068.818603515625,
                        "z": 358.2900695800781
                    },
                    "rotation": {
                        "roll": 0.00010334328544558957,
                        "pitch": 0.608535647392273,
                        "yaw": 0.24574603140354156
                    }
                },
                "velocity": {
                    "x": 8.043161392211914,
                    "y": 0.03464197739958763,
                    "z": 0.0844612643122673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02447509765625,
                "transform": {
                    "location": {
                        "x": -2045.832763671875,
                        "y": 4072.248046875,
                        "z": 359.3620300292969
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 2.496201753616333,
                        "yaw": 0.22861303389072418
                    }
                },
                "velocity": {
                    "x": 8.016517639160156,
                    "y": 0.03469887748360634,
                    "z": 0.35558217763900757
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.968236446380615,
                "transform": {
                    "location": {
                        "x": -2045.4925537109375,
                        "y": 4068.999267578125,
                        "z": 359.3913269042969
                    },
                    "rotation": {
                        "roll": -0.00027465802850201726,
                        "pitch": 2.4926364421844482,
                        "yaw": 0.25174885988235474
                    }
                },
                "velocity": {
                    "x": 7.960192680358887,
                    "y": 0.03500464931130409,
                    "z": 0.35623618960380554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.8370819091796875,
                "transform": {
                    "location": {
                        "x": -2069.487060546875,
                        "y": 4065.445556640625,
                        "z": 358.5657043457031
                    },
                    "rotation": {
                        "roll": 5.253540803096257e-05,
                        "pitch": -1.752838134765625,
                        "yaw": -179.7080535888672
                    }
                },
                "velocity": {
                    "x": -5.835507869720459,
                    "y": -0.027296032756567,
                    "z": -0.1327638179063797
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.855793476104736,
                "transform": {
                    "location": {
                        "x": -2089.088623046875,
                        "y": 4065.360595703125,
                        "z": 358.26910400390625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.3565358519554138,
                        "yaw": -179.77052307128906
                    }
                },
                "velocity": {
                    "x": -6.855340003967285,
                    "y": -0.029712824150919914,
                    "z": -0.0730857104063034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.822239875793457,
                "transform": {
                    "location": {
                        "x": -2165.287353515625,
                        "y": 4065.041748046875,
                        "z": 359.8702697753906
                    },
                    "rotation": {
                        "roll": 0.011429671198129654,
                        "pitch": 1.9258264303207397,
                        "yaw": -179.432373046875
                    }
                },
                "velocity": {
                    "x": -1.821259617805481,
                    "y": -0.011226198635995388,
                    "z": 0.058697354048490524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2184.114013671875,
                        "y": 4065.044921875,
                        "z": 360.4212951660156
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 13.876938819885254,
                "transform": {
                    "location": {
                        "x": -2130.83154296875,
                        "y": 4065.341064453125,
                        "z": 358.6501159667969
                    },
                    "rotation": {
                        "roll": 0.040152717381715775,
                        "pitch": 2.230480194091797,
                        "yaw": -179.3549041748047
                    }
                },
                "velocity": {
                    "x": -13.867033004760742,
                    "y": -0.15709909796714783,
                    "z": 0.5001460313796997
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.2075084000825882,
        "expert_target_speed": 11.08766748322456,
        "target_point": [
            47.45361226112165,
            0.43896608814460486
        ],
        "target_point_next": [
            47.45361226112165,
            0.43896608814460486
        ]
    },
    "310": {
        "acceleration": [
            -3.0701637268066406,
            -0.07520148158073425,
            0.28848037123680115
        ],
        "angular_velocity": [
            -0.1337243765592575,
            -0.030754322186112404,
            0.34342166781425476
        ],
        "forward_vector": [
            -0.9998371601104736,
            -0.000598007463850081,
            0.018036460503935814
        ],
        "right_vector": [
            0.0005956341628916562,
            -0.9999998211860657,
            -0.00013695309462491423
        ],
        "location": [
            -2111.5048828125,
            4065.6767578125,
            358.1648864746094
        ],
        "rotation": [
            0.007848110981285572,
            1.0334690809249878,
            -179.96572875976562
        ],
        "velocity": [
            -11.001379013061523,
            -0.012504147365689278,
            0.1044042780995369
        ],
        "speed": 11.001386119154798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.88667106628418,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2134.38037109375,
                4065.30810546875,
                358.7779541015625
            ],
            "velocity": [
                -14.4976806640625,
                -0.1304008811712265,
                0.5206069350242615
            ],
            "speed_kmh": 52.227400056639574,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.108244895935059,
                "transform": {
                    "location": {
                        "x": -2128.360595703125,
                        "y": 4071.8876953125,
                        "z": 358.5578918457031
                    },
                    "rotation": {
                        "roll": 0.000240997425862588,
                        "pitch": -1.9926393032073975,
                        "yaw": 0.258378267288208
                    }
                },
                "velocity": {
                    "x": 8.103565216064453,
                    "y": 0.0349145382642746,
                    "z": -0.27322086691856384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067726135253906,
                "transform": {
                    "location": {
                        "x": -2128.502685546875,
                        "y": 4068.63671875,
                        "z": 358.5693359375
                    },
                    "rotation": {
                        "roll": 0.0013833545381203294,
                        "pitch": -2.0100631713867188,
                        "yaw": 0.25688648223876953
                    }
                },
                "velocity": {
                    "x": 8.062926292419434,
                    "y": 0.03610948845744133,
                    "z": -0.2759140431880951
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014509201049805,
                "transform": {
                    "location": {
                        "x": -2086.596435546875,
                        "y": 4072.0693359375,
                        "z": 358.283935546875
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.6052435040473938,
                        "yaw": 0.2499406933784485
                    }
                },
                "velocity": {
                    "x": 8.013995170593262,
                    "y": 0.03492354601621628,
                    "z": 0.08377952128648758
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041996002197266,
                "transform": {
                    "location": {
                        "x": -2084.935302734375,
                        "y": 4068.827392578125,
                        "z": 358.3113098144531
                    },
                    "rotation": {
                        "roll": 0.0004677461402025074,
                        "pitch": 0.6150311827659607,
                        "yaw": 0.25240686535835266
                    }
                },
                "velocity": {
                    "x": 8.041428565979004,
                    "y": 0.03526955842971802,
                    "z": 0.08879133313894272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023926734924316,
                "transform": {
                    "location": {
                        "x": -2043.828125,
                        "y": 4072.255859375,
                        "z": 359.45111083984375
                    },
                    "rotation": {
                        "roll": 0.0004370541137177497,
                        "pitch": 2.593682289123535,
                        "yaw": 0.2619880437850952
                    }
                },
                "velocity": {
                    "x": 8.015783309936523,
                    "y": 0.034151457250118256,
                    "z": 0.359801322221756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029751777648926,
                "transform": {
                    "location": {
                        "x": -2043.49365234375,
                        "y": 4069.00830078125,
                        "z": 359.4803771972656
                    },
                    "rotation": {
                        "roll": 0.0003485481138341129,
                        "pitch": 2.5794003009796143,
                        "yaw": 0.2518600821495056
                    }
                },
                "velocity": {
                    "x": 8.021602630615234,
                    "y": 0.03529275208711624,
                    "z": 0.3599487841129303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.01442813873291,
                "transform": {
                    "location": {
                        "x": -2070.974609375,
                        "y": 4065.439208984375,
                        "z": 358.53021240234375
                    },
                    "rotation": {
                        "roll": 0.0010295783868059516,
                        "pitch": -1.3346189260482788,
                        "yaw": -179.76290893554688
                    }
                },
                "velocity": {
                    "x": -6.012907028198242,
                    "y": -0.025267967954277992,
                    "z": -0.13288018107414246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.744850158691406,
                "transform": {
                    "location": {
                        "x": -2091.076416015625,
                        "y": 4065.35205078125,
                        "z": 358.2481689453125
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.2390497773885727,
                        "yaw": -179.762939453125
                    }
                },
                "velocity": {
                    "x": -8.74427318572998,
                    "y": -0.038151662796735764,
                    "z": -0.09298017621040344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9187159538269043,
                "transform": {
                    "location": {
                        "x": -2165.878173828125,
                        "y": 4065.037841796875,
                        "z": 359.8890075683594
                    },
                    "rotation": {
                        "roll": 0.009746822528541088,
                        "pitch": 1.9649087190628052,
                        "yaw": -179.49363708496094
                    }
                },
                "velocity": {
                    "x": -2.917161464691162,
                    "y": -0.017535733059048653,
                    "z": 0.09361900389194489
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2186.196533203125,
                        "y": 4065.0361328125,
                        "z": 360.48443603515625
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 14.507610321044922,
                "transform": {
                    "location": {
                        "x": -2134.38037109375,
                        "y": 4065.30810546875,
                        "z": 358.7779541015625
                    },
                    "rotation": {
                        "roll": 0.02844897098839283,
                        "pitch": 2.208855628967285,
                        "yaw": -179.49900817871094
                    }
                },
                "velocity": {
                    "x": -14.4976806640625,
                    "y": -0.1304008811712265,
                    "z": 0.5206069350242615
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.20155932009220123,
        "expert_target_speed": 11.796150949320484,
        "target_point": [
            44.79131296205362,
            0.4834489664953378
        ],
        "target_point_next": [
            44.79131296205362,
            0.4834489664953378
        ]
    },
    "315": {
        "acceleration": [
            -2.5986480712890625,
            -0.10046064853668213,
            0.04879951477050781
        ],
        "angular_velocity": [
            -0.11630214750766754,
            1.2230350971221924,
            0.5010976195335388
        ],
        "forward_vector": [
            -0.9997643232345581,
            -0.0025944928638637066,
            0.021554825827479362
        ],
        "right_vector": [
            0.0026015937328338623,
            -0.9999966025352478,
            0.0003013997047673911
        ],
        "location": [
            -2114.347412109375,
            4065.671142578125,
            358.20050048828125
        ],
        "rotation": [
            -0.0172729454934597,
            1.2350962162017822,
            -179.851318359375
        ],
        "velocity": [
            -11.69255256652832,
            -0.03505236282944679,
            0.16164621710777283
        ],
        "speed": 11.692605107039574,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.719411849975586,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2138.052978515625,
                4065.278564453125,
                358.9093933105469
            ],
            "velocity": [
                -14.860013008117676,
                -0.11225814372301102,
                0.5310409665107727
            ],
            "speed_kmh": 53.531720739061,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.063773155212402,
                "transform": {
                    "location": {
                        "x": -2126.339599609375,
                        "y": 4071.897216796875,
                        "z": 358.489013671875
                    },
                    "rotation": {
                        "roll": -0.0006103518535383046,
                        "pitch": -1.8692587614059448,
                        "yaw": 0.25190937519073486
                    }
                },
                "velocity": {
                    "x": 8.059207916259766,
                    "y": 0.035531435161828995,
                    "z": -0.26897236704826355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.058539390563965,
                "transform": {
                    "location": {
                        "x": -2126.486083984375,
                        "y": 4068.646728515625,
                        "z": 358.50042724609375
                    },
                    "rotation": {
                        "roll": 0.0002220385940745473,
                        "pitch": -1.8966273069381714,
                        "yaw": 0.27444276213645935
                    }
                },
                "velocity": {
                    "x": 8.053727149963379,
                    "y": 0.03672918304800987,
                    "z": -0.27602195739746094
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067049980163574,
                "transform": {
                    "location": {
                        "x": -2084.585693359375,
                        "y": 4072.078125,
                        "z": 358.3052978515625
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": 0.615536630153656,
                        "yaw": 0.25006234645843506
                    }
                },
                "velocity": {
                    "x": 8.066435813903809,
                    "y": 0.03517477586865425,
                    "z": 0.0931435152888298
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043889045715332,
                "transform": {
                    "location": {
                        "x": -2082.924072265625,
                        "y": 4068.837158203125,
                        "z": 358.3346862792969
                    },
                    "rotation": {
                        "roll": 5.354890527087264e-05,
                        "pitch": 0.709608793258667,
                        "yaw": 0.2500302791595459
                    }
                },
                "velocity": {
                    "x": 8.04328727722168,
                    "y": 0.0352863073348999,
                    "z": 0.09182292968034744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2041.7933349609375,
                        "y": 4072.239501953125,
                        "z": 359.54595947265625
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2041.4456787109375,
                        "y": 4068.97998046875,
                        "z": 359.5716857910156
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.451231002807617,
                "transform": {
                    "location": {
                        "x": -2072.8330078125,
                        "y": 4065.43115234375,
                        "z": 358.4881896972656
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.6318607926368713,
                        "yaw": -179.7832794189453
                    }
                },
                "velocity": {
                    "x": -8.449377059936523,
                    "y": -0.03579382225871086,
                    "z": -0.1733471304178238
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.412013053894043,
                "transform": {
                    "location": {
                        "x": -2093.377685546875,
                        "y": 4065.342529296875,
                        "z": 358.2238464355469
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.4078373908996582,
                        "yaw": -179.75270080566406
                    }
                },
                "velocity": {
                    "x": -9.41140079498291,
                    "y": -0.04054022580385208,
                    "z": -0.09938806295394897
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.261221885681152,
                "transform": {
                    "location": {
                        "x": -2166.783935546875,
                        "y": 4065.03173828125,
                        "z": 359.91802978515625
                    },
                    "rotation": {
                        "roll": 0.007238633465021849,
                        "pitch": 1.9978711605072021,
                        "yaw": -179.5579376220703
                    }
                },
                "velocity": {
                    "x": -4.258927822113037,
                    "y": -0.025519022718071938,
                    "z": 0.13745573163032532
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2188.279052734375,
                        "y": 4065.02685546875,
                        "z": 360.5474853515625
                    },
                    "rotation": {
                        "roll": 4.1707318154671214e-10,
                        "pitch": 1.7363910675048828,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 14.869922637939453,
                "transform": {
                    "location": {
                        "x": -2138.052978515625,
                        "y": 4065.278564453125,
                        "z": 358.9093933105469
                    },
                    "rotation": {
                        "roll": 0.021912233904004097,
                        "pitch": 2.149064302444458,
                        "yaw": -179.5929412841797
                    }
                },
                "velocity": {
                    "x": -14.860013008117676,
                    "y": -0.11225814372301102,
                    "z": 0.5310409665107727
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.1917991042137146,
        "expert_target_speed": 12.41033774242348,
        "target_point": [
            41.94965460707597,
            0.39578246180379895
        ],
        "target_point_next": [
            41.94965460707597,
            0.39578246180379895
        ]
    },
    "320": {
        "acceleration": [
            -2.744426727294922,
            -0.02581678330898285,
            0.15792757272720337
        ],
        "angular_velocity": [
            0.05682811141014099,
            1.3439528942108154,
            0.052213676273822784
        ],
        "forward_vector": [
            -0.9996743202209473,
            -0.003365537617355585,
            0.025296133011579514
        ],
        "right_vector": [
            0.003371667582541704,
            -0.9999943375587463,
            0.0001996731589315459
        ],
        "location": [
            -2117.36083984375,
            4065.661865234375,
            358.2514343261719
        ],
        "rotation": [
            -0.011444091796875,
            1.4495162963867188,
            -179.80711364746094
        ],
        "velocity": [
            -12.363654136657715,
            -0.041311170905828476,
            0.24299119412899017
        ],
        "speed": 12.36372315379696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.521875381469727,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2141.866455078125,
                4065.25244140625,
                359.04486083984375
            ],
            "velocity": [
                -15.561973571777344,
                -0.09752293676137924,
                0.5497211813926697
            ],
            "speed_kmh": 56.05914700668527,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091191291809082,
                "transform": {
                    "location": {
                        "x": -2124.321044921875,
                        "y": 4071.906494140625,
                        "z": 358.4259948730469
                    },
                    "rotation": {
                        "roll": 0.00027564854826778173,
                        "pitch": -1.7299160957336426,
                        "yaw": 0.25238439440727234
                    }
                },
                "velocity": {
                    "x": 8.087881088256836,
                    "y": 0.03573288768529892,
                    "z": -0.22865085303783417
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042771339416504,
                "transform": {
                    "location": {
                        "x": -2124.474365234375,
                        "y": 4068.65625,
                        "z": 358.4374084472656
                    },
                    "rotation": {
                        "roll": -0.0016784662147983909,
                        "pitch": -1.7612665891647339,
                        "yaw": 0.24228256940841675
                    }
                },
                "velocity": {
                    "x": 8.039142608642578,
                    "y": 0.03585177659988403,
                    "z": -0.23889832198619843
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.013442993164062,
                "transform": {
                    "location": {
                        "x": -2082.57568359375,
                        "y": 4072.087646484375,
                        "z": 358.3288879394531
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": 0.7158174514770508,
                        "yaw": 0.2538904547691345
                    }
                },
                "velocity": {
                    "x": 8.012763977050781,
                    "y": 0.03547670692205429,
                    "z": 0.09810668975114822
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04242992401123,
                "transform": {
                    "location": {
                        "x": -2080.913330078125,
                        "y": 4068.8466796875,
                        "z": 358.35943603515625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.7394157648086548,
                        "yaw": 0.2530117630958557
                    }
                },
                "velocity": {
                    "x": 8.041688919067383,
                    "y": 0.03522784262895584,
                    "z": 0.10328828543424606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5063,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2039.713134765625,
                        "y": 4072.186279296875,
                        "z": 359.6474609375
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5062,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2039.3646240234375,
                        "y": 4068.927734375,
                        "z": 359.6639709472656
                    },
                    "rotation": {
                        "roll": 4.1730957578423045e-10,
                        "pitch": 2.5949389934539795,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.311211585998535,
                "transform": {
                    "location": {
                        "x": -2075.093994140625,
                        "y": 4065.42138671875,
                        "z": 358.44488525390625
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": -0.5125100612640381,
                        "yaw": -179.77403259277344
                    }
                },
                "velocity": {
                    "x": -9.309517860412598,
                    "y": -0.03960348665714264,
                    "z": -0.1730841100215912
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.03036880493164,
                "transform": {
                    "location": {
                        "x": -2095.948974609375,
                        "y": 4065.3310546875,
                        "z": 358.19677734375
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.3181092143058777,
                        "yaw": -179.74583435058594
                    }
                },
                "velocity": {
                    "x": -11.029651641845703,
                    "y": -0.04891641065478325,
                    "z": -0.11586197465658188
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.290391445159912,
                "transform": {
                    "location": {
                        "x": -2168.0048828125,
                        "y": 4065.02392578125,
                        "z": 359.9577331542969
                    },
                    "rotation": {
                        "roll": 0.0036150861997157335,
                        "pitch": 1.9749559164047241,
                        "yaw": -179.6103515625
                    }
                },
                "velocity": {
                    "x": -5.287654876708984,
                    "y": -0.03142785280942917,
                    "z": 0.16720931231975555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2190.361572265625,
                        "y": 4065.017822265625,
                        "z": 360.6105041503906
                    },
                    "rotation": {
                        "roll": -4.1706396669560775e-10,
                        "pitch": 1.6943103075027466,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 15.571985244750977,
                "transform": {
                    "location": {
                        "x": -2141.866455078125,
                        "y": 4065.25244140625,
                        "z": 359.04486083984375
                    },
                    "rotation": {
                        "roll": 0.019683899357914925,
                        "pitch": 2.172614812850952,
                        "yaw": -179.6433868408203
                    }
                },
                "velocity": {
                    "x": -15.561973571777344,
                    "y": -0.09752293676137924,
                    "z": 0.5497211813926697
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.17345674335956573,
        "expert_target_speed": 13.002159904763708,
        "target_point": [
            38.93650558647486,
            0.3642845845762279
        ],
        "target_point_next": [
            38.93650558647486,
            0.3642845845762279
        ]
    },
    "325": {
        "acceleration": [
            -2.4471664428710938,
            -0.017495974898338318,
            0.31446993350982666
        ],
        "angular_velocity": [
            -0.006641008425503969,
            1.327143669128418,
            0.03889164328575134
        ],
        "forward_vector": [
            -0.999550998210907,
            -0.003544096602126956,
            0.02975418046116829
        ],
        "right_vector": [
            0.003550373250618577,
            -0.9999937415122986,
            0.00015812169294804335
        ],
        "location": [
            -2120.537109375,
            4065.65087890625,
            358.3197326660156
        ],
        "rotation": [
            -0.00906371884047985,
            1.7050405740737915,
            -179.79684448242188
        ],
        "velocity": [
            -12.998199462890625,
            -0.04634801670908928,
            0.32547158002853394
        ],
        "speed": 12.99828209479018,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.309799194335938,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2145.82861328125,
                4065.227783203125,
                359.18389892578125
            ],
            "velocity": [
                -16.106019973754883,
                -0.0886956974864006,
                0.5627502799034119
            ],
            "speed_kmh": 58.01793263485529,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067638397216797,
                "transform": {
                    "location": {
                        "x": -2122.300537109375,
                        "y": 4071.91455078125,
                        "z": 358.3670959472656
                    },
                    "rotation": {
                        "roll": 0.0004290909564588219,
                        "pitch": -1.5169986486434937,
                        "yaw": 0.2460446059703827
                    }
                },
                "velocity": {
                    "x": 8.064583778381348,
                    "y": 0.03453892469406128,
                    "z": -0.21928280591964722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.059510231018066,
                "transform": {
                    "location": {
                        "x": -2122.459716796875,
                        "y": 4068.665283203125,
                        "z": 358.3778381347656
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": -1.5396748781204224,
                        "yaw": 0.26221418380737305
                    }
                },
                "velocity": {
                    "x": 8.056254386901855,
                    "y": 0.0350068174302578,
                    "z": -0.22635382413864136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06812572479248,
                "transform": {
                    "location": {
                        "x": -2080.56494140625,
                        "y": 4072.097412109375,
                        "z": 358.3542175292969
                    },
                    "rotation": {
                        "roll": 0.00036490344791673124,
                        "pitch": 0.7359392046928406,
                        "yaw": 0.2521893382072449
                    }
                },
                "velocity": {
                    "x": 8.067388534545898,
                    "y": 0.033924199640750885,
                    "z": 0.10368902236223221
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040060997009277,
                "transform": {
                    "location": {
                        "x": -2078.90234375,
                        "y": 4068.85595703125,
                        "z": 358.38787841796875
                    },
                    "rotation": {
                        "roll": 0.0008561067515984178,
                        "pitch": 0.860562801361084,
                        "yaw": 0.24693048000335693
                    }
                },
                "velocity": {
                    "x": 8.039090156555176,
                    "y": 0.03497263044118881,
                    "z": 0.1199999749660492
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.974174499511719,
                "transform": {
                    "location": {
                        "x": -2077.639892578125,
                        "y": 4065.41064453125,
                        "z": 358.39984130859375
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": -0.3367624580860138,
                        "yaw": -179.75985717773438
                    }
                },
                "velocity": {
                    "x": -10.972593307495117,
                    "y": -0.046248700469732285,
                    "z": -0.18046249449253082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.157553672790527,
                "transform": {
                    "location": {
                        "x": -2098.85791015625,
                        "y": 4065.318115234375,
                        "z": 358.16888427734375
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.23873558640480042,
                        "yaw": -179.74114990234375
                    }
                },
                "velocity": {
                    "x": -12.156941413879395,
                    "y": -0.054969046264886856,
                    "z": -0.10886909067630768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.438891410827637,
                "transform": {
                    "location": {
                        "x": -2169.339111328125,
                        "y": 4065.016845703125,
                        "z": 360.0003967285156
                    },
                    "rotation": {
                        "roll": 0.007802050095051527,
                        "pitch": 1.8658231496810913,
                        "yaw": -179.53707885742188
                    }
                },
                "velocity": {
                    "x": -5.436137676239014,
                    "y": -0.03266791254281998,
                    "z": 0.1699390709400177
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2192.444091796875,
                        "y": 4065.008544921875,
                        "z": 360.67333984375
                    },
                    "rotation": {
                        "roll": -4.1706396669560775e-10,
                        "pitch": 1.6943103075027466,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 16.116092681884766,
                "transform": {
                    "location": {
                        "x": -2145.82861328125,
                        "y": 4065.227783203125,
                        "z": 359.18389892578125
                    },
                    "rotation": {
                        "roll": 0.015535416081547737,
                        "pitch": 2.1451096534729004,
                        "yaw": -179.66973876953125
                    }
                },
                "velocity": {
                    "x": -16.106019973754883,
                    "y": -0.0886956974864006,
                    "z": 0.5627502799034119
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.17278414964675903,
        "expert_target_speed": 13.53008183733391,
        "target_point": [
            35.760281754147435,
            0.35757967082195463
        ],
        "target_point_next": [
            35.760281754147435,
            0.35757967082195463
        ]
    },
    "330": {
        "acceleration": [
            -2.4204254150390625,
            -0.017871856689453125,
            0.555189847946167
        ],
        "angular_velocity": [
            0.029364945366978645,
            1.2664743661880493,
            0.03851918876171112
        ],
        "forward_vector": [
            -0.9993909001350403,
            -0.003712943522259593,
            0.034698788076639175
        ],
        "right_vector": [
            0.0037188215646892786,
            -0.999993085861206,
            0.00010486535029485822
        ],
        "location": [
            -2123.870849609375,
            4065.638916015625,
            358.4082336425781
        ],
        "rotation": [
            -0.006011962424963713,
            1.9884933233261108,
            -179.78713989257812
        ],
        "velocity": [
            -13.616602897644043,
            -0.050809137523174286,
            0.4121100604534149
        ],
        "speed": 13.61669769219336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.957490921020508,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2149.80859375,
                4065.20556640625,
                359.3230895996094
            ],
            "velocity": [
                -15.477067947387695,
                -0.08456860482692719,
                0.5339266657829285
            ],
            "speed_kmh": 55.7514208669797,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087925910949707,
                "transform": {
                    "location": {
                        "x": -2120.28125,
                        "y": 4071.92333984375,
                        "z": 358.3174133300781
                    },
                    "rotation": {
                        "roll": -0.000183105978067033,
                        "pitch": -1.3543990850448608,
                        "yaw": 0.25072407722473145
                    }
                },
                "velocity": {
                    "x": 8.085803985595703,
                    "y": 0.03574429079890251,
                    "z": -0.18179234862327576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045969009399414,
                "transform": {
                    "location": {
                        "x": -2120.44580078125,
                        "y": 4068.67431640625,
                        "z": 358.327880859375
                    },
                    "rotation": {
                        "roll": 0.0007222322165034711,
                        "pitch": -1.3869655132293701,
                        "yaw": 0.23698559403419495
                    }
                },
                "velocity": {
                    "x": 8.043656349182129,
                    "y": 0.03407025337219238,
                    "z": -0.1898566335439682
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.008626937866211,
                "transform": {
                    "location": {
                        "x": -2078.554931640625,
                        "y": 4072.10546875,
                        "z": 358.3830871582031
                    },
                    "rotation": {
                        "roll": 0.001137844636105001,
                        "pitch": 0.8693395853042603,
                        "yaw": 0.2496219426393509
                    }
                },
                "velocity": {
                    "x": 8.007521629333496,
                    "y": 0.034971389919519424,
                    "z": 0.12837058305740356
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039271354675293,
                "transform": {
                    "location": {
                        "x": -2076.8916015625,
                        "y": 4068.86376953125,
                        "z": 358.41888427734375
                    },
                    "rotation": {
                        "roll": 0.0006260303198359907,
                        "pitch": 1.0010802745819092,
                        "yaw": 0.24989265203475952
                    }
                },
                "velocity": {
                    "x": 8.038032531738281,
                    "y": 0.03484833240509033,
                    "z": 0.1367722600698471
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.077576637268066,
                "transform": {
                    "location": {
                        "x": -2080.53369140625,
                        "y": 4065.39794921875,
                        "z": 358.3570861816406
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.17306332290172577,
                        "yaw": -179.74978637695312
                    }
                },
                "velocity": {
                    "x": -12.076290130615234,
                    "y": -0.052786555141210556,
                    "z": -0.16819950938224792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.950948715209961,
                "transform": {
                    "location": {
                        "x": -2102.013671875,
                        "y": 4065.303955078125,
                        "z": 358.1470947265625
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": -0.08309607952833176,
                        "yaw": -179.73867797851562
                    }
                },
                "velocity": {
                    "x": -12.95068359375,
                    "y": -0.06019320338964462,
                    "z": -0.05712850019335747
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.513540744781494,
                "transform": {
                    "location": {
                        "x": -2170.902587890625,
                        "y": 4065.0078125,
                        "z": 360.0484313964844
                    },
                    "rotation": {
                        "roll": 0.0059729088097810745,
                        "pitch": 1.9630372524261475,
                        "yaw": -179.61793518066406
                    }
                },
                "velocity": {
                    "x": -7.5098185539245605,
                    "y": -0.03891652077436447,
                    "z": 0.23325864970684052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2194.526611328125,
                        "y": 4064.99951171875,
                        "z": 360.7359619140625
                    },
                    "rotation": {
                        "roll": -4.1706396669560775e-10,
                        "pitch": 1.6943103075027466,
                        "yaw": -179.7501678466797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 15.486505508422852,
                "transform": {
                    "location": {
                        "x": -2149.80859375,
                        "y": 4065.20556640625,
                        "z": 359.3230895996094
                    },
                    "rotation": {
                        "roll": 0.00793772004544735,
                        "pitch": 1.9417270421981812,
                        "yaw": -179.69174194335938
                    }
                },
                "velocity": {
                    "x": -15.477067947387695,
                    "y": -0.08456860482692719,
                    "z": 0.5339266657829285
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.16353371739387512,
        "expert_target_speed": 14.041846298974273,
        "target_point": [
            32.426580100310986,
            0.3519484415227214
        ],
        "target_point_next": [
            32.426580100310986,
            0.3519484415227214
        ]
    },
    "335": {
        "acceleration": [
            -2.3805999755859375,
            -0.07496640086174011,
            0.4803121089935303
        ],
        "angular_velocity": [
            0.014136893674731255,
            0.5977056622505188,
            0.21711847186088562
        ],
        "forward_vector": [
            -0.9992033839225769,
            -0.004123912192881107,
            0.03969305753707886
        ],
        "right_vector": [
            0.004133317153900862,
            -0.9999914765357971,
            0.000154873778228648
        ],
        "location": [
            -2127.356201171875,
            4065.625244140625,
            358.51885986328125
        ],
        "rotation": [
            -0.008880612440407276,
            2.2748422622680664,
            -179.76353454589844
        ],
        "velocity": [
            -14.218005180358887,
            -0.06094811484217644,
            0.49018600583076477
        ],
        "speed": 14.218135812454983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.172338485717773,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2153.50830078125,
                4065.185791015625,
                359.44940185546875
            ],
            "velocity": [
                -14.175342559814453,
                -0.07182173430919647,
                0.4763020873069763
            ],
            "speed_kmh": 51.06068711949155,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059762001037598,
                "transform": {
                    "location": {
                        "x": -2118.26171875,
                        "y": 4071.9326171875,
                        "z": 358.2710876464844
                    },
                    "rotation": {
                        "roll": 0.00012025500473100692,
                        "pitch": -1.1849626302719116,
                        "yaw": 0.25293028354644775
                    }
                },
                "velocity": {
                    "x": 8.057903289794922,
                    "y": 0.03550071641802788,
                    "z": -0.16944797337055206
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049288749694824,
                "transform": {
                    "location": {
                        "x": -2118.432373046875,
                        "y": 4068.68212890625,
                        "z": 358.2808532714844
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -1.2023932933807373,
                        "yaw": 0.25964611768722534
                    }
                },
                "velocity": {
                    "x": 8.047365188598633,
                    "y": 0.03566506877541542,
                    "z": -0.17231062054634094
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.064367294311523,
                "transform": {
                    "location": {
                        "x": -2076.545166015625,
                        "y": 4072.1142578125,
                        "z": 358.4152526855469
                    },
                    "rotation": {
                        "roll": 0.0007289667264558375,
                        "pitch": 0.9989492893218994,
                        "yaw": 0.2516241669654846
                    }
                },
                "velocity": {
                    "x": 8.06308364868164,
                    "y": 0.03701194375753403,
                    "z": 0.13900895416736603
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037779808044434,
                "transform": {
                    "location": {
                        "x": -2074.881591796875,
                        "y": 4068.87158203125,
                        "z": 358.45458984375
                    },
                    "rotation": {
                        "roll": 0.0016150957671925426,
                        "pitch": 1.0349375009536743,
                        "yaw": 0.2470729500055313
                    }
                },
                "velocity": {
                    "x": 8.03625202178955,
                    "y": 0.03491313010454178,
                    "z": 0.15278062224388123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.839232444763184,
                "transform": {
                    "location": {
                        "x": -2083.66455078125,
                        "y": 4065.38427734375,
                        "z": 358.31890869140625
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.23653626441955566,
                        "yaw": -179.74273681640625
                    }
                },
                "velocity": {
                    "x": -12.838306427001953,
                    "y": -0.05849793925881386,
                    "z": -0.14267665147781372
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.414068222045898,
                "transform": {
                    "location": {
                        "x": -2105.314697265625,
                        "y": 4065.288330078125,
                        "z": 358.1394348144531
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.14707446098327637,
                        "yaw": -179.7411651611328
                    }
                },
                "velocity": {
                    "x": -13.413918495178223,
                    "y": -0.060634393244981766,
                    "z": 0.018470315262675285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.331015586853027,
                "transform": {
                    "location": {
                        "x": -2172.9443359375,
                        "y": 4064.9970703125,
                        "z": 360.112060546875
                    },
                    "rotation": {
                        "roll": 0.0031738197430968285,
                        "pitch": 1.9049328565597534,
                        "yaw": -179.69232177734375
                    }
                },
                "velocity": {
                    "x": -8.326916694641113,
                    "y": -0.03988198563456535,
                    "z": 0.25825613737106323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.671655178070068,
                "transform": {
                    "location": {
                        "x": -2196.4912109375,
                        "y": 4064.9912109375,
                        "z": 360.7897033691406
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 1.538383960723877,
                        "yaw": -179.73777770996094
                    }
                },
                "velocity": {
                    "x": -6.66968297958374,
                    "y": -0.04217071086168289,
                    "z": 0.1566336750984192
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 14.183524131774902,
                "transform": {
                    "location": {
                        "x": -2153.50830078125,
                        "y": 4065.185791015625,
                        "z": 359.44940185546875
                    },
                    "rotation": {
                        "roll": 0.004336707293987274,
                        "pitch": 1.7119253873825073,
                        "yaw": -179.71458435058594
                    }
                },
                "velocity": {
                    "x": -14.175342559814453,
                    "y": -0.07182173430919647,
                    "z": 0.4763020873069763
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.15474462509155273,
        "expert_target_speed": 14.484161074463104,
        "target_point": [
            28.94134404195299,
            0.33930144999642226
        ],
        "target_point_next": [
            28.94134404195299,
            0.33930144999642226
        ]
    },
    "340": {
        "acceleration": [
            -2.380809783935547,
            -0.11766016483306885,
            0.15987634658813477
        ],
        "angular_velocity": [
            -0.038886670023202896,
            -0.007890041917562485,
            0.447662353515625
        ],
        "forward_vector": [
            -0.9991027116775513,
            -0.00580002274364233,
            0.041953641921281815
        ],
        "right_vector": [
            0.005819657817482948,
            -0.999983012676239,
            0.00034590609720908105
        ],
        "location": [
            -2130.9892578125,
            4065.606689453125,
            358.64764404296875
        ],
        "rotation": [
            -0.01983642391860485,
            2.4044723510742188,
            -179.66738891601562
        ],
        "velocity": [
            -14.81368350982666,
            -0.08743000775575638,
            0.5380715727806091
        ],
        "speed": 14.813941512493106,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.930757522583008,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2156.900146484375,
                4065.1689453125,
                359.5632629394531
            ],
            "velocity": [
                -12.924436569213867,
                -0.060991235077381134,
                0.4339960515499115
            ],
            "speed_kmh": 46.55471410535718,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089167594909668,
                "transform": {
                    "location": {
                        "x": -2116.24267578125,
                        "y": 4071.94091796875,
                        "z": 358.2341003417969
                    },
                    "rotation": {
                        "roll": 0.0005644993507303298,
                        "pitch": -0.9853845238685608,
                        "yaw": 0.24444271624088287
                    }
                },
                "velocity": {
                    "x": 8.087968826293945,
                    "y": 0.03430984541773796,
                    "z": -0.13498537242412567
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048446655273438,
                "transform": {
                    "location": {
                        "x": -2116.4189453125,
                        "y": 4068.691162109375,
                        "z": 358.2437744140625
                    },
                    "rotation": {
                        "roll": 0.0012904484756290913,
                        "pitch": -1.0172337293624878,
                        "yaw": 0.23859533667564392
                    }
                },
                "velocity": {
                    "x": 8.04709529876709,
                    "y": 0.03421127796173096,
                    "z": -0.14343370497226715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.007505416870117,
                "transform": {
                    "location": {
                        "x": -2074.535888671875,
                        "y": 4072.1240234375,
                        "z": 358.45111083984375
                    },
                    "rotation": {
                        "roll": 0.0018187860259786248,
                        "pitch": 1.036808967590332,
                        "yaw": 0.2539048194885254
                    }
                },
                "velocity": {
                    "x": 8.005812644958496,
                    "y": 0.03555971384048462,
                    "z": 0.1607523113489151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039178848266602,
                "transform": {
                    "location": {
                        "x": -2072.870361328125,
                        "y": 4068.880126953125,
                        "z": 358.4934387207031
                    },
                    "rotation": {
                        "roll": 0.00026912346947938204,
                        "pitch": 1.2236897945404053,
                        "yaw": 0.2524157464504242
                    }
                },
                "velocity": {
                    "x": 8.037630081176758,
                    "y": 0.03429544344544411,
                    "z": 0.15403926372528076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.168913841247559,
                "transform": {
                    "location": {
                        "x": -2086.9169921875,
                        "y": 4065.369873046875,
                        "z": 358.2843322753906
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.33105242252349854,
                        "yaw": -179.74388122558594
                    }
                },
                "velocity": {
                    "x": -13.168087005615234,
                    "y": -0.05947251245379448,
                    "z": -0.1350431740283966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.955394744873047,
                "transform": {
                    "location": {
                        "x": -2108.7392578125,
                        "y": 4065.272705078125,
                        "z": 358.14984130859375
                    },
                    "rotation": {
                        "roll": 0.0005432420293800533,
                        "pitch": 0.4466465413570404,
                        "yaw": -179.74610900878906
                    }
                },
                "velocity": {
                    "x": -13.954930305480957,
                    "y": -0.062078993767499924,
                    "z": 0.09545251727104187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.79956579208374,
                "transform": {
                    "location": {
                        "x": -2174.9521484375,
                        "y": 4064.9873046875,
                        "z": 360.1754455566406
                    },
                    "rotation": {
                        "roll": 0.0026377474423497915,
                        "pitch": 1.7663414478302002,
                        "yaw": -179.69024658203125
                    }
                },
                "velocity": {
                    "x": -7.795701026916504,
                    "y": -0.03870211914181709,
                    "z": 0.24243760108947754
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.80637264251709,
                "transform": {
                    "location": {
                        "x": -2198.17626953125,
                        "y": 4064.974853515625,
                        "z": 360.83154296875
                    },
                    "rotation": {
                        "roll": 0.00384911079891026,
                        "pitch": 1.6161388158798218,
                        "yaw": -179.41009521484375
                    }
                },
                "velocity": {
                    "x": -6.803121566772461,
                    "y": -0.10005144029855728,
                    "z": 0.185022234916687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 12.931865692138672,
                "transform": {
                    "location": {
                        "x": -2156.900146484375,
                        "y": 4065.1689453125,
                        "z": 359.5632629394531
                    },
                    "rotation": {
                        "roll": 0.004961020313203335,
                        "pitch": 1.694733738899231,
                        "yaw": -179.7215118408203
                    }
                },
                "velocity": {
                    "x": -12.924436569213867,
                    "y": -0.060991235077381134,
                    "z": 0.4339960515499115
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.8272796869277954,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14439666271209717,
        "expert_target_speed": 14.89114778163864,
        "target_point": [
            25.308769505103243,
            0.293273210734008
        ],
        "target_point_next": [
            25.308769505103243,
            0.293273210734008
        ]
    },
    "345": {
        "acceleration": [
            -2.3779678344726562,
            -0.14072492718696594,
            0.058699846267700195
        ],
        "angular_velocity": [
            -0.01902593858540058,
            -0.07820804417133331,
            0.4727780818939209
        ],
        "forward_vector": [
            -0.9991066455841064,
            -0.007814168930053711,
            0.041530583053827286
        ],
        "right_vector": [
            0.007840955629944801,
            -0.9999691247940063,
            0.0004821484908461571
        ],
        "location": [
            -2134.769775390625,
            4065.5810546875,
            358.7848815917969
        ],
        "rotation": [
            -0.027648931369185448,
            2.380211591720581,
            -179.55189514160156
        ],
        "velocity": [
            -15.408708572387695,
            -0.1202491819858551,
            0.5556869506835938
        ],
        "speed": 15.409177776070413,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.16008186340332,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2159.910888671875,
                4065.154541015625,
                359.6636657714844
            ],
            "velocity": [
                -11.304553031921387,
                -0.053923457860946655,
                0.37295156717300415
            ],
            "speed_kmh": 40.71899509338665,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5069,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -2156.358154296875,
                        "y": 4068.416259765625,
                        "z": 359.7392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.917999029159546,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": -8.849216470707688e-08,
                    "y": -3.858630914788108e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5068,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -2156.372314453125,
                        "y": 4071.666259765625,
                        "z": 359.6265563964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.917999029159546,
                        "yaw": 0.24983210861682892
                    }
                },
                "velocity": {
                    "x": -1.2928485659813305e-07,
                    "y": -5.6373633539053e-10,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052560806274414,
                "transform": {
                    "location": {
                        "x": -2114.224365234375,
                        "y": 4071.948974609375,
                        "z": 358.20062255859375
                    },
                    "rotation": {
                        "roll": 0.0011434020707383752,
                        "pitch": -0.8408235907554626,
                        "yaw": 0.24558696150779724
                    }
                },
                "velocity": {
                    "x": 8.051777839660645,
                    "y": 0.035563334822654724,
                    "z": -0.10656002908945084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04295539855957,
                "transform": {
                    "location": {
                        "x": -2114.406005859375,
                        "y": 4068.699951171875,
                        "z": 358.2092590332031
                    },
                    "rotation": {
                        "roll": 0.000784945790655911,
                        "pitch": -0.8637115359306335,
                        "yaw": 0.26680973172187805
                    }
                },
                "velocity": {
                    "x": 8.042075157165527,
                    "y": 0.0363282710313797,
                    "z": -0.1133013591170311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.060507774353027,
                "transform": {
                    "location": {
                        "x": -2072.526123046875,
                        "y": 4072.13232421875,
                        "z": 358.4906921386719
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": 1.2392011880874634,
                        "yaw": 0.24246469140052795
                    }
                },
                "velocity": {
                    "x": 8.05872631072998,
                    "y": 0.03546595573425293,
                    "z": 0.1656852513551712
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037951469421387,
                "transform": {
                    "location": {
                        "x": -2070.861572265625,
                        "y": 4068.888427734375,
                        "z": 358.5361328125
                    },
                    "rotation": {
                        "roll": 0.001006254111416638,
                        "pitch": 1.2439345121383667,
                        "yaw": 0.247748002409935
                    }
                },
                "velocity": {
                    "x": 8.035996437072754,
                    "y": 0.03499541059136391,
                    "z": 0.17377683520317078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.683004379272461,
                "transform": {
                    "location": {
                        "x": -2090.2705078125,
                        "y": 4065.354248046875,
                        "z": 358.2501220703125
                    },
                    "rotation": {
                        "roll": 4.245157106197439e-05,
                        "pitch": -0.3686184585094452,
                        "yaw": -179.739990234375
                    }
                },
                "velocity": {
                    "x": -13.682137489318848,
                    "y": -0.06194516643881798,
                    "z": -0.14104624092578888
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.529574394226074,
                "transform": {
                    "location": {
                        "x": -2112.30615234375,
                        "y": 4065.257080078125,
                        "z": 358.1804504394531
                    },
                    "rotation": {
                        "roll": 0.001008347375318408,
                        "pitch": 0.7717430591583252,
                        "yaw": -179.75311279296875
                    }
                },
                "velocity": {
                    "x": -14.528343200683594,
                    "y": -0.06286266446113586,
                    "z": 0.17837296426296234
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077289581298828,
                "transform": {
                    "location": {
                        "x": -2176.92138671875,
                        "y": 4064.977294921875,
                        "z": 360.2361755371094
                    },
                    "rotation": {
                        "roll": 0.0014280016766861081,
                        "pitch": 1.7989009618759155,
                        "yaw": -179.74102783203125
                    }
                },
                "velocity": {
                    "x": -8.073359489440918,
                    "y": -0.03655127063393593,
                    "z": 0.2492830753326416
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.506722450256348,
                "transform": {
                    "location": {
                        "x": -2199.837646484375,
                        "y": 4064.951171875,
                        "z": 360.8766174316406
                    },
                    "rotation": {
                        "roll": 0.016929442062973976,
                        "pitch": 1.5678424835205078,
                        "yaw": -179.05877685546875
                    }
                },
                "velocity": {
                    "x": -6.503664016723633,
                    "y": -0.10423916578292847,
                    "z": 0.1700829714536667
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 11.310832023620605,
                "transform": {
                    "location": {
                        "x": -2159.910888671875,
                        "y": 4065.154541015625,
                        "z": 359.6636657714844
                    },
                    "rotation": {
                        "roll": 0.002266455674543977,
                        "pitch": 1.583640694618225,
                        "yaw": -179.72901916503906
                    }
                },
                "velocity": {
                    "x": -11.304553031921387,
                    "y": -0.053923457860946655,
                    "z": 0.37295156717300415
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4172974228858948,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12708815932273865,
        "expert_target_speed": 15.234723031060177,
        "target_point": [
            21.528706886835213,
            0.2461819655705404
        ],
        "target_point_next": [
            21.528706886835213,
            0.2461819655705404
        ]
    },
    "350": {
        "acceleration": [
            0.6736183166503906,
            -0.12591898441314697,
            -0.028350353240966797
        ],
        "angular_velocity": [
            0.004107384942471981,
            -0.917141854763031,
            0.48167991638183594
        ],
        "forward_vector": [
            -0.9991399049758911,
            -0.009901105426251888,
            0.04026658833026886
        ],
        "right_vector": [
            0.009931251406669617,
            -0.9999504685401917,
            0.0005486984155140817
        ],
        "location": [
            -2138.684326171875,
            4065.546875,
            358.92572021484375
        ],
        "rotation": [
            -0.031463623046875,
            2.307729482650757,
            -179.43223571777344
        ],
        "velocity": [
            -15.728988647460938,
            -0.15484704077243805,
            0.5634406208992004
        ],
        "speed": 15.729750839666565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.90389633178711,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2162.570556640625,
                4065.14208984375,
                359.7505798339844
            ],
            "velocity": [
                -9.75025463104248,
                -0.04588387906551361,
                0.31461870670318604
            ],
            "speed_kmh": 35.11957404325198,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5069,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12532727420330048,
                "transform": {
                    "location": {
                        "x": -2156.362548828125,
                        "y": 4068.416259765625,
                        "z": 359.4728698730469
                    },
                    "rotation": {
                        "roll": 0.00039779627695679665,
                        "pitch": -1.9396370649337769,
                        "yaw": 0.24981030821800232
                    }
                },
                "velocity": {
                    "x": 0.004275337792932987,
                    "y": -2.1566786017501727e-05,
                    "z": 0.1252543330192566
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5068,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15467500686645508,
                "transform": {
                    "location": {
                        "x": -2156.37548828125,
                        "y": 4071.666259765625,
                        "z": 359.50872802734375
                    },
                    "rotation": {
                        "roll": 9.077602589968592e-05,
                        "pitch": -1.9501008987426758,
                        "yaw": 0.24988320469856262
                    }
                },
                "velocity": {
                    "x": 0.005215534940361977,
                    "y": -0.00023521677940152586,
                    "z": 0.15458686649799347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087156295776367,
                "transform": {
                    "location": {
                        "x": -2112.205810546875,
                        "y": 4071.95751953125,
                        "z": 358.1759033203125
                    },
                    "rotation": {
                        "roll": 0.00021636250312440097,
                        "pitch": -0.6161513328552246,
                        "yaw": 0.25005489587783813
                    }
                },
                "velocity": {
                    "x": 8.086589813232422,
                    "y": 0.03614569827914238,
                    "z": -0.08859911561012268
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045458793640137,
                "transform": {
                    "location": {
                        "x": -2112.393798828125,
                        "y": 4068.7080078125,
                        "z": 358.1846008300781
                    },
                    "rotation": {
                        "roll": 0.0015365475555881858,
                        "pitch": -0.6505345106124878,
                        "yaw": 0.23533423244953156
                    }
                },
                "velocity": {
                    "x": 8.044794082641602,
                    "y": 0.034746039658784866,
                    "z": -0.09742995351552963
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010830879211426,
                "transform": {
                    "location": {
                        "x": -2070.517822265625,
                        "y": 4072.140869140625,
                        "z": 358.5339050292969
                    },
                    "rotation": {
                        "roll": -0.0002746584650594741,
                        "pitch": 1.2382380962371826,
                        "yaw": 0.24168622493743896
                    }
                },
                "velocity": {
                    "x": 8.008889198303223,
                    "y": 0.03376968577504158,
                    "z": 0.1731075644493103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.03623104095459,
                "transform": {
                    "location": {
                        "x": -2068.85205078125,
                        "y": 4068.89794921875,
                        "z": 358.5830078125
                    },
                    "rotation": {
                        "roll": 0.0009729934390634298,
                        "pitch": 1.3988704681396484,
                        "yaw": 0.25644996762275696
                    }
                },
                "velocity": {
                    "x": 8.033915519714355,
                    "y": 0.03576230630278587,
                    "z": 0.18954305350780487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.25822925567627,
                "transform": {
                    "location": {
                        "x": -2093.767578125,
                        "y": 4065.338623046875,
                        "z": 358.213623046875
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": -0.35574355721473694,
                        "yaw": -179.74017333984375
                    }
                },
                "velocity": {
                    "x": -14.257302284240723,
                    "y": -0.06462403386831284,
                    "z": -0.1491313874721527
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.07025146484375,
                "transform": {
                    "location": {
                        "x": -2116.0126953125,
                        "y": 4065.241455078125,
                        "z": 358.2331848144531
                    },
                    "rotation": {
                        "roll": 0.0028339640703052282,
                        "pitch": 1.0991891622543335,
                        "yaw": -179.75637817382812
                    }
                },
                "velocity": {
                    "x": -15.067705154418945,
                    "y": -0.06308814138174057,
                    "z": 0.26976510882377625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.068190574645996,
                "transform": {
                    "location": {
                        "x": -2178.95458984375,
                        "y": 4064.9677734375,
                        "z": 360.2984924316406
                    },
                    "rotation": {
                        "roll": 0.0004652879433706403,
                        "pitch": 1.761177897453308,
                        "yaw": -179.7256317138672
                    }
                },
                "velocity": {
                    "x": -8.064314842224121,
                    "y": -0.038842592388391495,
                    "z": 0.24702508747577667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.460643291473389,
                "transform": {
                    "location": {
                        "x": -2201.47998046875,
                        "y": 4064.927490234375,
                        "z": 360.9208068847656
                    },
                    "rotation": {
                        "roll": 0.019293053075671196,
                        "pitch": 1.446859359741211,
                        "yaw": -179.07106018066406
                    }
                },
                "velocity": {
                    "x": -6.457831382751465,
                    "y": -0.08581221103668213,
                    "z": 0.17017850279808044
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 9.755436897277832,
                "transform": {
                    "location": {
                        "x": -2162.570556640625,
                        "y": 4065.14208984375,
                        "z": 359.7505798339844
                    },
                    "rotation": {
                        "roll": 0.0021028751507401466,
                        "pitch": 1.539579153060913,
                        "yaw": -179.72265625
                    }
                },
                "velocity": {
                    "x": -9.75025463104248,
                    "y": -0.04588387906551361,
                    "z": 0.31461870670318604
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4207048714160919,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11195649951696396,
        "expert_target_speed": 15.321101169866385,
        "target_point": [
            17.61447681527941,
            0.20583090214157695
        ],
        "target_point_next": [
            17.61447681527941,
            0.20583090214157695
        ]
    },
    "355": {
        "acceleration": [
            -2.3432159423828125,
            -0.1656678318977356,
            0.05491375923156738
        ],
        "angular_velocity": [
            -0.006600833963602781,
            -0.09164541959762573,
            0.4976693391799927
        ],
        "forward_vector": [
            -0.9991074204444885,
            -0.01204537134617567,
            0.04048873484134674
        ],
        "right_vector": [
            0.012077206745743752,
            -0.9999269843101501,
            0.0005417749634943902
        ],
        "location": [
            -2142.717041015625,
            4065.5029296875,
            359.0690612792969
        ],
        "rotation": [
            -0.0310668908059597,
            2.320467948913574,
            -179.30926513671875
        ],
        "velocity": [
            -16.464645385742188,
            -0.19652804732322693,
            0.580853283405304
        ],
        "speed": 16.465818259401086,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.051342010498047,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2164.75244140625,
                4065.132080078125,
                359.8208923339844
            ],
            "velocity": [
                -8.032801628112793,
                -0.03852472081780434,
                0.25890523195266724
            ],
            "speed_kmh": 28.933434953101592,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5069,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13747256994247437,
                "transform": {
                    "location": {
                        "x": -2156.360595703125,
                        "y": 4068.416259765625,
                        "z": 359.525390625
                    },
                    "rotation": {
                        "roll": 0.00030704986420460045,
                        "pitch": -1.9319735765457153,
                        "yaw": 0.24968305230140686
                    }
                },
                "velocity": {
                    "x": 0.004692740738391876,
                    "y": -0.0002515023807063699,
                    "z": 0.13739222288131714
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5068,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2975218296051025,
                "transform": {
                    "location": {
                        "x": -2156.25,
                        "y": 4071.66796875,
                        "z": 359.5322265625
                    },
                    "rotation": {
                        "roll": -0.008758543990552425,
                        "pitch": -1.7331535816192627,
                        "yaw": 0.2958872616291046
                    }
                },
                "velocity": {
                    "x": 1.2973301410675049,
                    "y": 0.018456121906638145,
                    "z": 0.012524137273430824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048669815063477,
                "transform": {
                    "location": {
                        "x": -2110.18798828125,
                        "y": 4071.967041015625,
                        "z": 358.15545654296875
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.48626163601875305,
                        "yaw": 0.2553623914718628
                    }
                },
                "velocity": {
                    "x": 8.048433303833008,
                    "y": 0.035836704075336456,
                    "z": -0.05031841993331909
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038559913635254,
                "transform": {
                    "location": {
                        "x": -2110.381103515625,
                        "y": 4068.7158203125,
                        "z": 358.1630859375
                    },
                    "rotation": {
                        "roll": 0.0005366308614611626,
                        "pitch": -0.5067726969718933,
                        "yaw": 0.25953787565231323
                    }
                },
                "velocity": {
                    "x": 8.038288116455078,
                    "y": 0.03451858460903168,
                    "z": -0.05638641119003296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2068.46484375,
                        "y": 4072.132080078125,
                        "z": 358.5851745605469
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5064,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2066.7841796875,
                        "y": 4068.8662109375,
                        "z": 358.63568115234375
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.695440292358398,
                "transform": {
                    "location": {
                        "x": -2097.393310546875,
                        "y": 4065.322998046875,
                        "z": 358.1759338378906
                    },
                    "rotation": {
                        "roll": 0.0009543641353957355,
                        "pitch": -0.3701825737953186,
                        "yaw": -179.74447631835938
                    }
                },
                "velocity": {
                    "x": -14.694600105285645,
                    "y": -0.0657467469573021,
                    "z": -0.14275749027729034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.387799263000488,
                "transform": {
                    "location": {
                        "x": -2119.8271484375,
                        "y": 4065.2255859375,
                        "z": 358.30987548828125
                    },
                    "rotation": {
                        "roll": -9.155282168649137e-05,
                        "pitch": 1.4096758365631104,
                        "yaw": -179.75550842285156
                    }
                },
                "velocity": {
                    "x": -15.38328742980957,
                    "y": -0.06565915793180466,
                    "z": 0.3667513132095337
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9249958992004395,
                "transform": {
                    "location": {
                        "x": -2180.94287109375,
                        "y": 4064.958740234375,
                        "z": 360.3592834472656
                    },
                    "rotation": {
                        "roll": 0.00021198822651058435,
                        "pitch": 1.7303600311279297,
                        "yaw": -179.76211547851562
                    }
                },
                "velocity": {
                    "x": -7.921290874481201,
                    "y": -0.03257845714688301,
                    "z": 0.2401043027639389
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.883059024810791,
                "transform": {
                    "location": {
                        "x": -2202.988037109375,
                        "y": 4064.906982421875,
                        "z": 360.95928955078125
                    },
                    "rotation": {
                        "roll": 0.015057182870805264,
                        "pitch": 1.4167382717132568,
                        "yaw": -179.20147705078125
                    }
                },
                "velocity": {
                    "x": -5.880795001983643,
                    "y": -0.0727706030011177,
                    "z": 0.1460820883512497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 8.037065505981445,
                "transform": {
                    "location": {
                        "x": -2164.75244140625,
                        "y": 4065.132080078125,
                        "z": 359.8208923339844
                    },
                    "rotation": {
                        "roll": 0.0008797307382337749,
                        "pitch": 1.5009955167770386,
                        "yaw": -179.72572326660156
                    }
                },
                "velocity": {
                    "x": -8.032801628112793,
                    "y": -0.03852472081780434,
                    "z": 0.25890523195266724
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.09746703505516052,
        "expert_target_speed": 15.541125289355593,
        "target_point": [
            13.58192635870104,
            0.1727066203752645
        ],
        "target_point_next": [
            13.58192635870104,
            0.1727066203752645
        ]
    },
    "360": {
        "acceleration": [
            -1.8359756469726562,
            -0.17302334308624268,
            0.07395505905151367
        ],
        "angular_velocity": [
            -0.042203355580568314,
            -0.12374232709407806,
            0.5122168660163879
        ],
        "forward_vector": [
            -0.9990978240966797,
            -0.014244494028389454,
            0.040007755160331726
        ],
        "right_vector": [
            0.014277511276304722,
            -0.9998979568481445,
            0.0005396564956754446
        ],
        "location": [
            -2146.898681640625,
            4065.448974609375,
            359.2155456542969
        ],
        "rotation": [
            -0.030944816768169403,
            2.2928874492645264,
            -179.18316650390625
        ],
        "velocity": [
            -16.955163955688477,
            -0.2388765513896942,
            0.5926397442817688
        ],
        "speed": 16.95684660457485,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.835006713867188,
        "front_vehicle_info": {
            "id": 5039,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                -2166.7197265625,
                4065.1220703125,
                359.8840026855469
            ],
            "velocity": [
                -7.911741256713867,
                -0.03709257394075394,
                0.2550642788410187
            ],
            "speed_kmh": 28.497378832571155,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 5069,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6370656490325928,
                "transform": {
                    "location": {
                        "x": -2156.23779296875,
                        "y": 4068.41796875,
                        "z": 359.5345153808594
                    },
                    "rotation": {
                        "roll": -0.001617432339116931,
                        "pitch": -1.8968185186386108,
                        "yaw": 0.26614850759506226
                    }
                },
                "velocity": {
                    "x": 1.636187195777893,
                    "y": 0.026255210861563683,
                    "z": -0.04675448685884476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5068,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.728842258453369,
                "transform": {
                    "location": {
                        "x": -2155.736572265625,
                        "y": 4071.67578125,
                        "z": 359.52142333984375
                    },
                    "rotation": {
                        "roll": -0.01666259579360485,
                        "pitch": -1.6657942533493042,
                        "yaw": 0.4789712727069855
                    }
                },
                "velocity": {
                    "x": 2.727280855178833,
                    "y": 0.042270440608263016,
                    "z": -0.08205275982618332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5067,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086153984069824,
                "transform": {
                    "location": {
                        "x": -2108.169921875,
                        "y": 4071.976806640625,
                        "z": 358.1427307128906
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.24795635044574738,
                        "yaw": 0.25586313009262085
                    }
                },
                "velocity": {
                    "x": 8.085958480834961,
                    "y": 0.036054011434316635,
                    "z": -0.04310667887330055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5066,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042769432067871,
                "transform": {
                    "location": {
                        "x": -2108.369384765625,
                        "y": 4068.7255859375,
                        "z": 358.15032958984375
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.2828312814235687,
                        "yaw": 0.2432607263326645
                    }
                },
                "velocity": {
                    "x": 8.042521476745605,
                    "y": 0.035936590284109116,
                    "z": -0.051931243389844894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5065,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2066.382080078125,
                        "y": 4072.098876953125,
                        "z": 358.6427917480469
                    },
                    "rotation": {
                        "roll": -4.170454259710965e-10,
                        "pitch": 1.6057910919189453,
                        "yaw": 0.24983219802379608
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5050,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 14.896376609802246,
                "transform": {
                    "location": {
                        "x": -2101.097412109375,
                        "y": 4065.30712890625,
                        "z": 358.1442565917969
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.25662386417388916,
                        "yaw": -179.74729919433594
                    }
                },
                "velocity": {
                    "x": -14.89595890045166,
                    "y": -0.06571803987026215,
                    "z": -0.0900619849562645
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5049,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.886836051940918,
                "transform": {
                    "location": {
                        "x": -2123.716796875,
                        "y": 4065.208740234375,
                        "z": 358.4113464355469
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 1.7810673713684082,
                        "yaw": -179.74591064453125
                    }
                },
                "velocity": {
                    "x": -15.879584312438965,
                    "y": -0.06992746144533157,
                    "z": 0.4748614430427551
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5048,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.075470924377441,
                "transform": {
                    "location": {
                        "x": -2182.945068359375,
                        "y": 4064.950439453125,
                        "z": 360.419677734375
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": 1.7532001733779907,
                        "yaw": -179.74180603027344
                    }
                },
                "velocity": {
                    "x": -8.0717134475708,
                    "y": -0.03699943423271179,
                    "z": 0.24354104697704315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5047,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.568265914916992,
                "transform": {
                    "location": {
                        "x": -2204.529052734375,
                        "y": 4064.887939453125,
                        "z": 360.9974670410156
                    },
                    "rotation": {
                        "roll": 0.012219386175274849,
                        "pitch": 1.4569885730743408,
                        "yaw": -179.30105590820312
                    }
                },
                "velocity": {
                    "x": -6.565763473510742,
                    "y": -0.0761742889881134,
                    "z": 0.16451852023601532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5042,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2133.68408203125,
                        "y": 4062.014892578125,
                        "z": 358.7872314453125
                    },
                    "rotation": {
                        "roll": 0.00044441723730415106,
                        "pitch": 2.0531888008117676,
                        "yaw": -179.7498016357422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5041,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2122.684326171875,
                        "y": 4062.06298828125,
                        "z": 358.3853759765625
                    },
                    "rotation": {
                        "roll": 0.00017070469039026648,
                        "pitch": 1.5714830160140991,
                        "yaw": -179.75001525878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5040,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2111.6845703125,
                        "y": 4062.11083984375,
                        "z": 358.1693420410156
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.5910913944244385,
                        "yaw": -179.7500762939453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5039,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 7.915938854217529,
                "transform": {
                    "location": {
                        "x": -2166.7197265625,
                        "y": 4065.1220703125,
                        "z": 359.8840026855469
                    },
                    "rotation": {
                        "roll": 8.681471808813512e-05,
                        "pitch": 1.756697177886963,
                        "yaw": -179.72918701171875
                    }
                },
                "velocity": {
                    "x": -7.911741256713867,
                    "y": -0.03709257394075394,
                    "z": 0.2550642788410187
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            },
            {
                "id": 5038,
                "type": "vehicle.dodge.charger_police",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2089.68505859375,
                        "y": 4062.206787109375,
                        "z": 358.231201171875
                    },
                    "rotation": {
                        "roll": 0.00911443680524826,
                        "pitch": -0.6351938843727112,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.487122058868408,
                    "y": 1.0192005634307861,
                    "z": 0.7710590958595276
                }
            },
            {
                "id": 5037,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -2078.68505859375,
                        "y": 4062.2548828125,
                        "z": 358.3924865722656
                    },
                    "rotation": {
                        "roll": 0.0012599857291206717,
                        "pitch": -0.8691961765289307,
                        "yaw": -179.75022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "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": 0.07638610899448395,
        "expert_target_speed": 15.565173477347926,
        "target_point": [
            9.400288736840428,
            0.1484752155228545
        ],
        "target_point_next": [
            9.400288736840428,
            0.1484752155228545
        ]
    }
}