{
    "0": {
        "acceleration": [
            -0.008946472778916359,
            -6.450791261158884e-05,
            -0.5394282937049866
        ],
        "angular_velocity": [
            0.020854558795690536,
            -0.020162520930171013,
            -9.161741036223248e-05
        ],
        "forward_vector": [
            -0.9869208931922913,
            -0.16046357154846191,
            0.015448549762368202
        ],
        "right_vector": [
            0.16048434376716614,
            -0.9870384335517883,
            0.00010651372576830909
        ],
        "location": [
            1257.1595458984375,
            4099.244140625,
            364.2222595214844
        ],
        "rotation": [
            -0.006103515159338713,
            0.8851719498634338,
            -170.7650909423828
        ],
        "velocity": [
            0.0017123414436355233,
            9.322274127043784e-05,
            0.11551196873188019
        ],
        "speed": 0.001714877167345161,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1612548828125,
                        "y": 4099.2451171875,
                        "z": 264.3318786621094
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -9.236609184881672e-05,
        "expert_target_speed": 10.0,
        "target_point": [
            50.998127369606955,
            -0.0009742708708486703
        ],
        "target_point_next": [
            101.99809829415541,
            -0.001258899016725934
        ]
    },
    "5": {
        "acceleration": [
            -0.002276233397424221,
            0.0003587271203286946,
            -0.18773913383483887
        ],
        "angular_velocity": [
            0.010149589739739895,
            -0.004185961093753576,
            2.1408629891084274e-06
        ],
        "forward_vector": [
            -0.9869213700294495,
            -0.16046437621116638,
            0.015408024191856384
        ],
        "right_vector": [
            0.16048410534858704,
            -0.9870384335517883,
            4.36706468462944e-05
        ],
        "location": [
            1257.1597900390625,
            4099.244140625,
            364.2385559082031
        ],
        "rotation": [
            -0.002502440707758069,
            0.8828496932983398,
            -170.76504516601562
        ],
        "velocity": [
            0.0004857163003180176,
            0.00019066828826908022,
            0.032896943390369415
        ],
        "speed": 0.0005217995022478305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001270294189453,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1242.3543701171875,
                4096.837890625,
                364.4567565917969
            ],
            "velocity": [
                -0.007451291661709547,
                -0.0013871556147933006,
                -0.5153012275695801
            ],
            "speed_kmh": 1.8552850729830317,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1179.3121337890625,
                        "y": 4089.627197265625,
                        "z": 365.511474609375
                    },
                    "rotation": {
                        "roll": 6.67090205297427e-09,
                        "pitch": -0.8851583003997803,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6356890201568604,
                "transform": {
                    "location": {
                        "x": 1271.96484375,
                        "y": 4101.65234375,
                        "z": 364.04241943359375
                    },
                    "rotation": {
                        "roll": 0.0004912258009426296,
                        "pitch": 0.8896321058273315,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -0.009528244845569134,
                    "y": -0.0017630340298637748,
                    "z": -0.6356151700019836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5153569579124451,
                "transform": {
                    "location": {
                        "x": 1242.3543701171875,
                        "y": 4096.837890625,
                        "z": 364.4567565917969
                    },
                    "rotation": {
                        "roll": 0.0013845439534634352,
                        "pitch": 0.8434736728668213,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": -0.007451291661709547,
                    "y": -0.0013871556147933006,
                    "z": -0.5153012275695801
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4141404330730438,
                "transform": {
                    "location": {
                        "x": 1227.5491943359375,
                        "y": 4094.430908203125,
                        "z": 364.6783142089844
                    },
                    "rotation": {
                        "roll": -0.0012512209359556437,
                        "pitch": 0.8233997225761414,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -0.005871820263564587,
                    "y": -0.0007460312335751951,
                    "z": -0.4140981435775757
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0006252139573916793,
        "expert_target_speed": 1.0124451781291004,
        "target_point": [
            50.99836834485558,
            -0.0010620870232429525
        ],
        "target_point_next": [
            101.9983392691094,
            -0.0013953525315280046
        ]
    },
    "10": {
        "acceleration": [
            -0.0016866147052496672,
            -0.0005823996034450829,
            -0.05124064162373543
        ],
        "angular_velocity": [
            -0.0003056780551560223,
            -0.01444244384765625,
            0.0002583974855951965
        ],
        "forward_vector": [
            -0.9869214296340942,
            -0.16046510636806488,
            0.015397893264889717
        ],
        "right_vector": [
            0.1604846715927124,
            -0.9870383739471436,
            3.514962736517191e-05
        ],
        "location": [
            1257.1597900390625,
            4099.244140625,
            364.2428283691406
        ],
        "rotation": [
            -0.002014164114370942,
            0.8822691440582275,
            -170.76499938964844
        ],
        "velocity": [
            0.00010598331573419273,
            3.128796743112616e-05,
            0.00831476878374815
        ],
        "speed": 0.00011050520404028398,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001089096069336,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1242.3543701171875,
                4096.837890625,
                364.4482421875
            ],
            "velocity": [
                0.0015612540300935507,
                0.00025237322552129626,
                0.10573680698871613
            ],
            "speed_kmh": 0.380695081816069,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1181.3671875,
                        "y": 4089.961181640625,
                        "z": 365.4309997558594
                    },
                    "rotation": {
                        "roll": 6.67090205297427e-09,
                        "pitch": -0.8851583003997803,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.060973044484853745,
                "transform": {
                    "location": {
                        "x": 1271.9639892578125,
                        "y": 4101.65234375,
                        "z": 363.986083984375
                    },
                    "rotation": {
                        "roll": 0.0005038208910264075,
                        "pitch": 0.8924666047096252,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0009651806904003024,
                    "y": 7.642825949005783e-05,
                    "z": 0.06096535921096802
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10574863851070404,
                "transform": {
                    "location": {
                        "x": 1242.3543701171875,
                        "y": 4096.837890625,
                        "z": 364.4482421875
                    },
                    "rotation": {
                        "roll": -0.000762936077080667,
                        "pitch": 0.8438083529472351,
                        "yaw": -170.76516723632812
                    }
                },
                "velocity": {
                    "x": 0.0015612540300935507,
                    "y": 0.00025237322552129626,
                    "z": 0.10573680698871613
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.05117935314774513,
                "transform": {
                    "location": {
                        "x": 1227.5489501953125,
                        "y": 4094.430908203125,
                        "z": 364.6695556640625
                    },
                    "rotation": {
                        "roll": -0.0009460389846935868,
                        "pitch": 0.8239325284957886,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0007713949307799339,
                    "y": -2.6643181627150625e-05,
                    "z": 0.051173534244298935
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0010592800099402666,
        "expert_target_speed": 0.9873445419685839,
        "target_point": [
            50.99836834381949,
            -0.0011107228573123962
        ],
        "target_point_next": [
            101.99833926773228,
            -0.0014926257280052369
        ]
    },
    "15": {
        "acceleration": [
            -0.0011381536023691297,
            0.0020126227755099535,
            0.005652692634612322
        ],
        "angular_velocity": [
            -0.00977816991508007,
            -0.00883640255779028,
            0.0003817759279627353
        ],
        "forward_vector": [
            -0.986921489238739,
            -0.16046512126922607,
            0.015392527915537357
        ],
        "right_vector": [
            0.16048455238342285,
            -0.9870383739471436,
            2.7693573429132812e-05
        ],
        "location": [
            1257.1597900390625,
            4099.244140625,
            364.24371337890625
        ],
        "rotation": [
            -0.0015869128983467817,
            0.8819617629051208,
            -170.76499938964844
        ],
        "velocity": [
            2.9755979994661175e-05,
            4.4518390495795757e-05,
            0.001977029489353299
        ],
        "speed": 5.3547226237955915e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001057624816895,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1242.3546142578125,
                4096.837890625,
                364.4638671875
            ],
            "velocity": [
                0.00036259100306779146,
                9.451404184801504e-05,
                0.02352409064769745
            ],
            "speed_kmh": 0.0846974690731161,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1183.4222412109375,
                        "y": 4090.295654296875,
                        "z": 365.3506164550781
                    },
                    "rotation": {
                        "roll": 6.67090205297427e-09,
                        "pitch": -0.8851583003997803,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1357806921005249,
                "transform": {
                    "location": {
                        "x": 1271.9576416015625,
                        "y": 4101.6513671875,
                        "z": 364.01776123046875
                    },
                    "rotation": {
                        "roll": 0.00020252969989087433,
                        "pitch": 0.9051775932312012,
                        "yaw": -170.76385498046875
                    }
                },
                "velocity": {
                    "x": -0.07395430654287338,
                    "y": -0.013264521025121212,
                    "z": 0.11309821903705597
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.023527074605226517,
                "transform": {
                    "location": {
                        "x": 1242.3546142578125,
                        "y": 4096.837890625,
                        "z": 364.4638671875
                    },
                    "rotation": {
                        "roll": 0.0011304120998829603,
                        "pitch": 0.8437127470970154,
                        "yaw": -170.76510620117188
                    }
                },
                "velocity": {
                    "x": 0.00036259100306779146,
                    "y": 9.451404184801504e-05,
                    "z": 0.02352409064769745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2520610094070435,
                "transform": {
                    "location": {
                        "x": 1227.4534912109375,
                        "y": 4094.414306640625,
                        "z": 364.6783447265625
                    },
                    "rotation": {
                        "roll": -0.0024414071813225746,
                        "pitch": 0.890656590461731,
                        "yaw": -170.71585083007812
                    }
                },
                "velocity": {
                    "x": -1.2308872938156128,
                    "y": -0.2261195331811905,
                    "z": 0.03798709809780121
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00017773787840269506,
        "expert_target_speed": 0.9809552005375006,
        "target_point": [
            50.99836834381949,
            -0.0011107228573123962
        ],
        "target_point_next": [
            101.99833926773228,
            -0.0014926257280052369
        ]
    },
    "20": {
        "acceleration": [
            -5.749754905700684,
            -0.9364174604415894,
            0.07421588897705078
        ],
        "angular_velocity": [
            -0.26376086473464966,
            1.6706095933914185,
            -0.7806063890457153
        ],
        "forward_vector": [
            -0.9869937300682068,
            -0.15973639488220215,
            0.018101535737514496
        ],
        "right_vector": [
            0.15976250171661377,
            -0.9871554970741272,
            -4.18233685195446e-06
        ],
        "location": [
            1257.115966796875,
            4099.2373046875,
            364.244140625
        ],
        "rotation": [
            0.0002396695053903386,
            1.0371983051300049,
            -170.806884765625
        ],
        "velocity": [
            -0.6828831434249878,
            -0.108784981071949,
            0.011436471715569496
        ],
        "speed": 0.6914937162988661,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.074895858764648,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1242.2381591796875,
                4096.81787109375,
                364.46697998046875
            ],
            "velocity": [
                -1.0795122385025024,
                -0.1868097484111786,
                0.014963559806346893
            ],
            "speed_kmh": 3.9443721026762573,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1185.478515625,
                        "y": 4090.629638671875,
                        "z": 365.31591796875
                    },
                    "rotation": {
                        "roll": 6.670885621673506e-09,
                        "pitch": -0.8755413889884949,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7065179944038391,
                "transform": {
                    "location": {
                        "x": 1271.8656005859375,
                        "y": 4101.6357421875,
                        "z": 364.02978515625
                    },
                    "rotation": {
                        "roll": -0.003295901929959655,
                        "pitch": 1.0203619003295898,
                        "yaw": -170.740478515625
                    }
                },
                "velocity": {
                    "x": -0.696103036403656,
                    "y": -0.12065213918685913,
                    "z": 0.007163944188505411
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0956588983535767,
                "transform": {
                    "location": {
                        "x": 1242.2381591796875,
                        "y": 4096.81787109375,
                        "z": 364.46697998046875
                    },
                    "rotation": {
                        "roll": -0.0012817434035241604,
                        "pitch": 0.8741548657417297,
                        "yaw": -170.76747131347656
                    }
                },
                "velocity": {
                    "x": -1.0795122385025024,
                    "y": -0.1868097484111786,
                    "z": 0.014963559806346893
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.763496994972229,
                "transform": {
                    "location": {
                        "x": 1227.11376953125,
                        "y": 4094.35595703125,
                        "z": 364.6849060058594
                    },
                    "rotation": {
                        "roll": 0.000697396113537252,
                        "pitch": 0.8850216865539551,
                        "yaw": -170.600341796875
                    }
                },
                "velocity": {
                    "x": -1.737601637840271,
                    "y": -0.29991012811660767,
                    "z": 0.026759548112750053
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005184902111068368,
        "expert_target_speed": 1.6563023054741408,
        "target_point": [
            50.95400303284884,
            0.03644613354726722
        ],
        "target_point_next": [
            101.95396059245371,
            0.07336908441873646
        ]
    },
    "25": {
        "acceleration": [
            -2.294433116912842,
            -0.36927103996276855,
            0.04702739417552948
        ],
        "angular_velocity": [
            -0.021449534222483635,
            0.026244280859827995,
            -0.4163355827331543
        ],
        "forward_vector": [
            -0.9869948625564575,
            -0.15940286219120026,
            0.020780019462108612
        ],
        "right_vector": [
            0.15943774580955505,
            -0.9872080087661743,
            2.183346077799797e-05
        ],
        "location": [
            1256.8388671875,
            4099.19287109375,
            364.2479248046875
        ],
        "rotation": [
            -0.0012512353714555502,
            1.1906931400299072,
            -170.8257598876953
        ],
        "velocity": [
            -1.4270451068878174,
            -0.2291186898946762,
            0.022436074912548065
        ],
        "speed": 1.4453211100483916,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.154200553894043,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1241.8834228515625,
                4096.7568359375,
                364.47198486328125
            ],
            "velocity": [
                -1.6742058992385864,
                -0.29054635763168335,
                0.023945607244968414
            ],
            "speed_kmh": 6.117835351270667,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.5347900390625,
                        "y": 4090.9638671875,
                        "z": 365.2806701660156
                    },
                    "rotation": {
                        "roll": 6.670885621673506e-09,
                        "pitch": -0.8755413889884949,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.709463119506836,
                "transform": {
                    "location": {
                        "x": 1271.5570068359375,
                        "y": 4101.5830078125,
                        "z": 364.0291442871094
                    },
                    "rotation": {
                        "roll": -0.004577646031975746,
                        "pitch": 1.1229444742202759,
                        "yaw": -170.6309356689453
                    }
                },
                "velocity": {
                    "x": -1.6844042539596558,
                    "y": -0.2915290594100952,
                    "z": 0.007586774881929159
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6993986368179321,
                "transform": {
                    "location": {
                        "x": 1241.8834228515625,
                        "y": 4096.7568359375,
                        "z": 364.47198486328125
                    },
                    "rotation": {
                        "roll": -0.0003662107919808477,
                        "pitch": 0.8674749732017517,
                        "yaw": -170.69932556152344
                    }
                },
                "velocity": {
                    "x": -1.6742058992385864,
                    "y": -0.29054635763168335,
                    "z": 0.023945607244968414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.110840082168579,
                "transform": {
                    "location": {
                        "x": 1226.5281982421875,
                        "y": 4094.25439453125,
                        "z": 364.693359375
                    },
                    "rotation": {
                        "roll": 0.0009854782838374376,
                        "pitch": 0.9072266817092896,
                        "yaw": -170.5392608642578
                    }
                },
                "velocity": {
                    "x": -3.063123941421509,
                    "y": -0.5409452319145203,
                    "z": 0.044453009963035583
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002065222477540374,
        "expert_target_speed": 2.3905516611293525,
        "target_point": [
            50.67334894446165,
            0.05352580444636512
        ],
        "target_point_next": [
            101.67329159532547,
            0.10722863865011689
        ]
    },
    "30": {
        "acceleration": [
            -3.252286911010742,
            -0.5133020877838135,
            0.041029192507267
        ],
        "angular_velocity": [
            -0.01600552722811699,
            0.14775803685188293,
            0.7111998200416565
        ],
        "forward_vector": [
            -0.9869973063468933,
            -0.15937815606594086,
            0.020856060087680817
        ],
        "right_vector": [
            0.1594132035970688,
            -0.9872119426727295,
            1.810525827750098e-05
        ],
        "location": [
            1256.3946533203125,
            4099.12109375,
            364.2547912597656
        ],
        "rotation": [
            -0.0010375805431976914,
            1.195050835609436,
            -170.82717895507812
        ],
        "velocity": [
            -2.1351068019866943,
            -0.34295162558555603,
            0.03203414008021355
        ],
        "speed": 2.1624747104605926,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.194561004638672,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1241.400146484375,
                4096.673828125,
                364.4791564941406
            ],
            "velocity": [
                -2.1751315593719482,
                -0.3776204288005829,
                0.03204883635044098
            ],
            "speed_kmh": 7.948439353287094,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.768075942993164,
                "transform": {
                    "location": {
                        "x": 1189.211669921875,
                        "y": 4091.25048828125,
                        "z": 365.27789306640625
                    },
                    "rotation": {
                        "roll": -0.01776122860610485,
                        "pitch": -0.9649622440338135,
                        "yaw": 9.68590259552002
                    }
                },
                "velocity": {
                    "x": 6.668655872344971,
                    "y": 1.1552271842956543,
                    "z": -0.0365433543920517
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.0189640522003174,
                "transform": {
                    "location": {
                        "x": 1270.9822998046875,
                        "y": 4101.484375,
                        "z": 364.0354309082031
                    },
                    "rotation": {
                        "roll": -0.0020141650456935167,
                        "pitch": 1.1794096231460571,
                        "yaw": -170.56048583984375
                    }
                },
                "velocity": {
                    "x": -2.9742519855499268,
                    "y": -0.5156732201576233,
                    "z": 0.045281484723091125
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.207899808883667,
                "transform": {
                    "location": {
                        "x": 1241.400146484375,
                        "y": 4096.673828125,
                        "z": 364.4791564941406
                    },
                    "rotation": {
                        "roll": 0.0022190737072378397,
                        "pitch": 0.8592104315757751,
                        "yaw": -170.5692901611328
                    }
                },
                "velocity": {
                    "x": -2.1751315593719482,
                    "y": -0.3776204288005829,
                    "z": 0.03204883635044098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.186630725860596,
                "transform": {
                    "location": {
                        "x": 1225.6279296875,
                        "y": 4094.098388671875,
                        "z": 364.7065124511719
                    },
                    "rotation": {
                        "roll": 0.0038638687692582607,
                        "pitch": 0.8997817635536194,
                        "yaw": -170.3731231689453
                    }
                },
                "velocity": {
                    "x": -4.123655319213867,
                    "y": -0.7208982706069946,
                    "z": 0.06041509658098221
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0015617304015904665,
        "expert_target_speed": 3.0825552836839787,
        "target_point": [
            50.22337210816274,
            0.054736360523824246
        ],
        "target_point_next": [
            101.22331341175835,
            0.10970376543249039
        ]
    },
    "35": {
        "acceleration": [
            -3.7595367431640625,
            -0.6941354274749756,
            0.0594203919172287
        ],
        "angular_velocity": [
            -0.06812332570552826,
            0.22885091602802277,
            -0.02747763693332672
        ],
        "forward_vector": [
            -0.9868424534797668,
            -0.16020812094211578,
            0.021802840754389763
        ],
        "right_vector": [
            0.16025248169898987,
            -0.9870759844779968,
            0.00029234556131996214
        ],
        "location": [
            1255.7481689453125,
            4099.015625,
            364.2644348144531
        ],
        "rotation": [
            -0.01675414852797985,
            1.249309778213501,
            -170.77880859375
        ],
        "velocity": [
            -3.020115375518799,
            -0.5050452351570129,
            0.04566594958305359
        ],
        "speed": 3.0620528360888644,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.162313461303711,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1240.7862548828125,
                4096.56884765625,
                364.48834228515625
            ],
            "velocity": [
                -2.709232807159424,
                -0.4715738296508789,
                0.03985759615898132
            ],
            "speed_kmh": 9.900924769429896,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.579785346984863,
                "transform": {
                    "location": {
                        "x": 1190.8555908203125,
                        "y": 4091.532958984375,
                        "z": 365.26007080078125
                    },
                    "rotation": {
                        "roll": -0.008544924668967724,
                        "pitch": -0.8905609846115112,
                        "yaw": 9.757640838623047
                    }
                },
                "velocity": {
                    "x": 6.484133720397949,
                    "y": 1.1145598888397217,
                    "z": -0.08568128198385239
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.087926387786865,
                "transform": {
                    "location": {
                        "x": 1269.9703369140625,
                        "y": 4101.31005859375,
                        "z": 364.0504455566406
                    },
                    "rotation": {
                        "roll": -0.0021972793620079756,
                        "pitch": 1.3536683320999146,
                        "yaw": -170.38157653808594
                    }
                },
                "velocity": {
                    "x": -5.012057304382324,
                    "y": -0.8713129758834839,
                    "z": 0.08422569185495377
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7502570152282715,
                "transform": {
                    "location": {
                        "x": 1240.7862548828125,
                        "y": 4096.56884765625,
                        "z": 364.48834228515625
                    },
                    "rotation": {
                        "roll": 0.004321347922086716,
                        "pitch": 0.8595109581947327,
                        "yaw": -170.43780517578125
                    }
                },
                "velocity": {
                    "x": -2.709232807159424,
                    "y": -0.4715738296508789,
                    "z": 0.03985759615898132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.070430755615234,
                "transform": {
                    "location": {
                        "x": 1224.441650390625,
                        "y": 4093.891845703125,
                        "z": 364.72381591796875
                    },
                    "rotation": {
                        "roll": 0.005525076296180487,
                        "pitch": 0.8993309736251831,
                        "yaw": -170.2837677001953
                    }
                },
                "velocity": {
                    "x": -4.994504451751709,
                    "y": -0.8711763620376587,
                    "z": 0.0724397674202919
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005209633382037282,
        "expert_target_speed": 3.9343754088653906,
        "target_point": [
            49.56836954422771,
            0.011838682851363025
        ],
        "target_point_next": [
            100.56833907578265,
            0.023762032561515767
        ]
    },
    "40": {
        "acceleration": [
            -3.9198875427246094,
            -0.714801549911499,
            0.0767257809638977
        ],
        "angular_velocity": [
            -0.0022339753340929747,
            0.16059866547584534,
            0.8196686506271362
        ],
        "forward_vector": [
            -0.9863402247428894,
            -0.16314168274402618,
            0.022754373028874397
        ],
        "right_vector": [
            0.16319115459918976,
            -0.9865944385528564,
            0.00032269145594909787
        ],
        "location": [
            1254.8651123046875,
            4098.86669921875,
            364.2776794433594
        ],
        "rotation": [
            -0.0184936486184597,
            1.3038420677185059,
            -170.60824584960938
        ],
        "velocity": [
            -4.006276607513428,
            -0.6821660995483398,
            0.06145012751221657
        ],
        "speed": 4.063939325738303,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.02602481842041,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1240.0380859375,
                4096.439453125,
                364.4994812011719
            ],
            "velocity": [
                -3.273210287094116,
                -0.5707476735115051,
                0.04929018020629883
            ],
            "speed_kmh": 11.962669461219814,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.732912540435791,
                "transform": {
                    "location": {
                        "x": 1192.4300537109375,
                        "y": 4091.8037109375,
                        "z": 365.238037109375
                    },
                    "rotation": {
                        "roll": -0.008636461570858955,
                        "pitch": -0.9614242315292358,
                        "yaw": 9.763381958007812
                    }
                },
                "velocity": {
                    "x": 5.64926815032959,
                    "y": 0.9720577597618103,
                    "z": -0.08462546765804291
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.955735206604004,
                "transform": {
                    "location": {
                        "x": 1268.630859375,
                        "y": 4101.078125,
                        "z": 364.07366943359375
                    },
                    "rotation": {
                        "roll": 0.003092201892286539,
                        "pitch": 1.1543223857879639,
                        "yaw": -170.22329711914062
                    }
                },
                "velocity": {
                    "x": -5.866296768188477,
                    "y": -1.0241568088531494,
                    "z": 0.09191340953111649
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3229637145996094,
                "transform": {
                    "location": {
                        "x": 1240.0380859375,
                        "y": 4096.439453125,
                        "z": 364.4994812011719
                    },
                    "rotation": {
                        "roll": 0.005541496444493532,
                        "pitch": 0.8612526655197144,
                        "yaw": -170.32028198242188
                    }
                },
                "velocity": {
                    "x": -3.273210287094116,
                    "y": -0.5707476735115051,
                    "z": 0.04929018020629883
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.366179466247559,
                "transform": {
                    "location": {
                        "x": 1222.90869140625,
                        "y": 4093.6279296875,
                        "z": 364.74560546875
                    },
                    "rotation": {
                        "roll": 0.013391982764005661,
                        "pitch": 0.9592112302780151,
                        "yaw": -170.23150634765625
                    }
                },
                "velocity": {
                    "x": -7.262306213378906,
                    "y": -1.2281274795532227,
                    "z": 0.10587018728256226
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.015490321442484856,
        "expert_target_speed": 4.853913517654983,
        "target_point": [
            48.67266300430692,
            -0.13854974827307664
        ],
        "target_point_next": [
            99.67244205221043,
            -0.2784477497673148
        ]
    },
    "45": {
        "acceleration": [
            -3.7497901916503906,
            -0.5738162994384766,
            0.05357086658477783
        ],
        "angular_velocity": [
            0.038487810641527176,
            -0.0007568244473077357,
            0.4449159502983093
        ],
        "forward_vector": [
            -0.9858227372169495,
            -0.16622023284435272,
            0.02289881557226181
        ],
        "right_vector": [
            0.1662682592868805,
            -0.986080527305603,
            0.0001959572546184063
        ],
        "location": [
            1253.740966796875,
            4098.6748046875,
            364.2947998046875
        ],
        "rotation": [
            -0.01123046875,
            1.3121201992034912,
            -170.42933654785156
        ],
        "velocity": [
            -4.944876670837402,
            -0.8456965684890747,
            0.07475459575653076
        ],
        "speed": 5.0166729986861,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.811903953552246,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1239.1253662109375,
                4096.28125,
                364.5129699707031
            ],
            "velocity": [
                -4.030158996582031,
                -0.7042856216430664,
                0.05988819897174835
            ],
            "speed_kmh": 14.730022110222572,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.325631141662598,
                "transform": {
                    "location": {
                        "x": 1193.7646484375,
                        "y": 4092.032958984375,
                        "z": 365.2174987792969
                    },
                    "rotation": {
                        "roll": -0.009338385425508022,
                        "pitch": -0.9301419258117676,
                        "yaw": 9.76259708404541
                    }
                },
                "velocity": {
                    "x": 5.2477216720581055,
                    "y": 0.9040432572364807,
                    "z": -0.0804433599114418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.996640205383301,
                "transform": {
                    "location": {
                        "x": 1266.988525390625,
                        "y": 4100.79443359375,
                        "z": 364.0990905761719
                    },
                    "rotation": {
                        "roll": 0.02717999741435051,
                        "pitch": 1.1502106189727783,
                        "yaw": -170.25746154785156
                    }
                },
                "velocity": {
                    "x": -6.896385192871094,
                    "y": -1.1753315925598145,
                    "z": 0.10696212202310562
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.091672420501709,
                "transform": {
                    "location": {
                        "x": 1239.1253662109375,
                        "y": 4096.28125,
                        "z": 364.5129699707031
                    },
                    "rotation": {
                        "roll": 0.0071503822691738605,
                        "pitch": 0.865391731262207,
                        "yaw": -170.22242736816406
                    }
                },
                "velocity": {
                    "x": -4.030158996582031,
                    "y": -0.7042856216430664,
                    "z": 0.05988819897174835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.450654029846191,
                "transform": {
                    "location": {
                        "x": 1220.9180908203125,
                        "y": 4093.290771484375,
                        "z": 364.7748718261719
                    },
                    "rotation": {
                        "roll": 0.007615432143211365,
                        "pitch": 0.9153067469596863,
                        "yaw": -170.39169311523438
                    }
                },
                "velocity": {
                    "x": -8.332406997680664,
                    "y": -1.4035319089889526,
                    "z": 0.1210252195596695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.030364681035280228,
        "expert_target_speed": 5.6963320505066735,
        "target_point": [
            47.53158902600525,
            -0.2928626199111646
        ],
        "target_point_next": [
            98.53068252752406,
            -0.5920221244285475
        ]
    },
    "50": {
        "acceleration": [
            0.7122707366943359,
            0.1830434799194336,
            -0.017191022634506226
        ],
        "angular_velocity": [
            0.23033875226974487,
            -1.1612424850463867,
            -0.5809497833251953
        ],
        "forward_vector": [
            -0.986146867275238,
            -0.16478118300437927,
            0.019012020900845528
        ],
        "right_vector": [
            0.16480353474617004,
            -0.9863263368606567,
            -0.00039560056757181883
        ],
        "location": [
            1252.46826171875,
            4098.4619140625,
            364.3152160644531
        ],
        "rotation": [
            0.022670339792966843,
            1.0893741846084595,
            -170.5137481689453
        ],
        "velocity": [
            -5.044610500335693,
            -0.8328810930252075,
            0.07585322856903076
        ],
        "speed": 5.112903873066264,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.663260459899902,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1238.0003662109375,
                4096.0859375,
                364.5295715332031
            ],
            "velocity": [
                -4.955236911773682,
                -0.8449415564537048,
                0.07372090965509415
            ],
            "speed_kmh": 18.098275906880943,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.752615928649902,
                "transform": {
                    "location": {
                        "x": 1195.1446533203125,
                        "y": 4092.266357421875,
                        "z": 365.1957092285156
                    },
                    "rotation": {
                        "roll": -0.0031127866823226213,
                        "pitch": -0.8571135401725769,
                        "yaw": 9.625871658325195
                    }
                },
                "velocity": {
                    "x": 5.673155307769775,
                    "y": 0.9489010572433472,
                    "z": -0.0865030586719513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0871913433074951,
                "transform": {
                    "location": {
                        "x": 1265.9644775390625,
                        "y": 4100.60791015625,
                        "z": 364.1252746582031
                    },
                    "rotation": {
                        "roll": 0.017789924517273903,
                        "pitch": -0.1357431709766388,
                        "yaw": -171.30003356933594
                    }
                },
                "velocity": {
                    "x": -1.0667644739151,
                    "y": -0.20923863351345062,
                    "z": 0.014759817160665989
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.027298927307129,
                "transform": {
                    "location": {
                        "x": 1238.0003662109375,
                        "y": 4096.0859375,
                        "z": 364.5295715332031
                    },
                    "rotation": {
                        "roll": 0.010452021844685078,
                        "pitch": 0.8677686452865601,
                        "yaw": -170.19314575195312
                    }
                },
                "velocity": {
                    "x": -4.955236911773682,
                    "y": -0.8449415564537048,
                    "z": 0.07372090965509415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.894137382507324,
                "transform": {
                    "location": {
                        "x": 1218.9013671875,
                        "y": 4092.951171875,
                        "z": 364.80487060546875
                    },
                    "rotation": {
                        "roll": 0.005399784073233604,
                        "pitch": 0.820257842540741,
                        "yaw": -170.4452667236328
                    }
                },
                "velocity": {
                    "x": -7.783792972564697,
                    "y": -1.3104029893875122,
                    "z": 0.11320026218891144
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02742977999150753,
        "expert_target_speed": 5.793552578868305,
        "target_point": [
            46.241581177242416,
            -0.22305150554154718
        ],
        "target_point_next": [
            97.24106010907475,
            -0.4470672804105238
        ]
    },
    "55": {
        "acceleration": [
            -0.4669380187988281,
            -0.0061321258544921875,
            0.021597743034362793
        ],
        "angular_velocity": [
            0.05462932586669922,
            -0.2215793877840042,
            -0.5954130291938782
        ],
        "forward_vector": [
            -0.9866084456443787,
            -0.16227027773857117,
            0.016498291864991188
        ],
        "right_vector": [
            0.1622856706380844,
            -0.9867437481880188,
            -0.00040963917854242027
        ],
        "location": [
            1251.2042236328125,
            4098.25439453125,
            364.33489990234375
        ],
        "rotation": [
            0.023473791778087616,
            0.9453254342079163,
            -170.66001892089844
        ],
        "velocity": [
            -5.0858612060546875,
            -0.8236719965934753,
            0.0766921415925026
        ],
        "speed": 5.152127693023953,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.69559097290039,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1236.7056884765625,
                4095.865478515625,
                364.54925537109375
            ],
            "velocity": [
                -5.262129306793213,
                -0.8905253410339355,
                0.07587117701768875
            ],
            "speed_kmh": 19.214963042191684,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.35245132446289,
                "transform": {
                    "location": {
                        "x": 1196.962646484375,
                        "y": 4092.571533203125,
                        "z": 365.1662292480469
                    },
                    "rotation": {
                        "roll": -0.0022582989186048508,
                        "pitch": -0.6626580953598022,
                        "yaw": 9.525567054748535
                    }
                },
                "velocity": {
                    "x": 8.237410545349121,
                    "y": 1.3758928775787354,
                    "z": -0.12418803572654724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.16564002633094788,
                "transform": {
                    "location": {
                        "x": 1265.92919921875,
                        "y": 4100.60107421875,
                        "z": 364.1231689453125
                    },
                    "rotation": {
                        "roll": 0.029617929831147194,
                        "pitch": 0.16318003833293915,
                        "yaw": -171.32899475097656
                    }
                },
                "velocity": {
                    "x": -0.16385984420776367,
                    "y": -0.023985523730516434,
                    "z": 0.0033560560550540686
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.337489604949951,
                "transform": {
                    "location": {
                        "x": 1236.7056884765625,
                        "y": 4095.865478515625,
                        "z": 364.54925537109375
                    },
                    "rotation": {
                        "roll": 0.0071482667699456215,
                        "pitch": 0.8472098112106323,
                        "yaw": -170.32839965820312
                    }
                },
                "velocity": {
                    "x": -5.262129306793213,
                    "y": -0.8905253410339355,
                    "z": 0.07587117701768875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02519702911377,
                "transform": {
                    "location": {
                        "x": 1216.9581298828125,
                        "y": 4092.626708984375,
                        "z": 364.83319091796875
                    },
                    "rotation": {
                        "roll": 0.005757760722190142,
                        "pitch": 0.8308582901954651,
                        "yaw": -170.54359436035156
                    }
                },
                "velocity": {
                    "x": -7.916871547698975,
                    "y": -1.3090190887451172,
                    "z": 0.11574889719486237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02229035645723343,
        "expert_target_speed": 5.8388259512211285,
        "target_point": [
            44.96104071888971,
            -0.10462132471812247
        ],
        "target_point_next": [
            95.9609253587331,
            -0.19843554786913842
        ]
    },
    "60": {
        "acceleration": [
            0.205230712890625,
            0.04913926124572754,
            0.0026397407054901123
        ],
        "angular_velocity": [
            -0.02521664835512638,
            -0.12970185279846191,
            -0.3582668900489807
        ],
        "forward_vector": [
            -0.9869630932807922,
            -0.16017891466617584,
            0.015703270211815834
        ],
        "right_vector": [
            0.16019465029239655,
            -0.9870854020118713,
            -0.00025876748259179294
        ],
        "location": [
            1249.9349365234375,
            4098.0498046875,
            364.3542175292969
        ],
        "rotation": [
            0.01482811477035284,
            0.8997681140899658,
            -170.7815704345703
        ],
        "velocity": [
            -5.079117774963379,
            -0.8162006735801697,
            0.07649228721857071
        ],
        "speed": 5.144280407549891,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.862667083740234,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1235.2733154296875,
                4095.623046875,
                364.570068359375
            ],
            "velocity": [
                -6.257289409637451,
                -1.0555684566497803,
                0.09201425313949585
            ],
            "speed_kmh": 22.84691780973068,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.178696632385254,
                "transform": {
                    "location": {
                        "x": 1199.02734375,
                        "y": 4092.916259765625,
                        "z": 365.1363830566406
                    },
                    "rotation": {
                        "roll": 0.0007890198030509055,
                        "pitch": -0.8140560388565063,
                        "yaw": 9.463644981384277
                    }
                },
                "velocity": {
                    "x": 8.06820011138916,
                    "y": 1.3342095613479614,
                    "z": -0.12289991229772568
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6047466397285461,
                "transform": {
                    "location": {
                        "x": 1265.797607421875,
                        "y": 4100.580078125,
                        "z": 364.1178283691406
                    },
                    "rotation": {
                        "roll": -0.012054434046149254,
                        "pitch": 1.1060807704925537,
                        "yaw": -171.26953125
                    }
                },
                "velocity": {
                    "x": -0.5966312289237976,
                    "y": -0.09827429801225662,
                    "z": 0.009584035724401474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.346365928649902,
                "transform": {
                    "location": {
                        "x": 1235.2733154296875,
                        "y": 4095.623046875,
                        "z": 364.570068359375
                    },
                    "rotation": {
                        "roll": 0.005562784615904093,
                        "pitch": 0.8618127107620239,
                        "yaw": -170.37586975097656
                    }
                },
                "velocity": {
                    "x": -6.257289409637451,
                    "y": -1.0555684566497803,
                    "z": 0.09201425313949585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.097358703613281,
                "transform": {
                    "location": {
                        "x": 1214.955078125,
                        "y": 4092.295654296875,
                        "z": 364.8624572753906
                    },
                    "rotation": {
                        "roll": 0.0031406572088599205,
                        "pitch": 0.8403795957565308,
                        "yaw": -170.618408203125
                    }
                },
                "velocity": {
                    "x": -7.988611698150635,
                    "y": -1.3173507452011108,
                    "z": 0.11787349730730057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01562945730984211,
        "expert_target_speed": 5.872247063574124,
        "target_point": [
            43.67549247391901,
            -0.007827086280931539
        ],
        "target_point_next": [
            94.67546136523067,
            0.0065767688292073245
        ]
    },
    "65": {
        "acceleration": [
            -0.20651817321777344,
            0.008957386016845703,
            0.00229761004447937
        ],
        "angular_velocity": [
            -0.006170105189085007,
            -0.06615990400314331,
            -0.38345086574554443
        ],
        "forward_vector": [
            -0.9872177243232727,
            -0.15860889852046967,
            0.015631036832928658
        ],
        "right_vector": [
            0.15862520039081573,
            -0.9873388409614563,
            -0.00019957228505518287
        ],
        "location": [
            1248.6534423828125,
            4097.84423828125,
            364.37359619140625
        ],
        "rotation": [
            0.011436047032475471,
            0.8956289887428284,
            -170.87271118164062
        ],
        "velocity": [
            -5.1433258056640625,
            -0.8183011412620544,
            0.07605073601007462
        ],
        "speed": 5.208014698616034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.283122062683105,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1233.5789794921875,
                4095.337158203125,
                364.5948486328125
            ],
            "velocity": [
                -7.303060531616211,
                -1.230812907218933,
                0.10700128227472305
            ],
            "speed_kmh": 26.664566654795752,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.789613246917725,
                "transform": {
                    "location": {
                        "x": 1200.9761962890625,
                        "y": 4093.238037109375,
                        "z": 365.1075744628906
                    },
                    "rotation": {
                        "roll": 0.0005330636049620807,
                        "pitch": -0.8745373487472534,
                        "yaw": 9.373847961425781
                    }
                },
                "velocity": {
                    "x": 7.685473442077637,
                    "y": 1.2642322778701782,
                    "z": -0.11529450863599777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5248206853866577,
                "transform": {
                    "location": {
                        "x": 1265.5391845703125,
                        "y": 4100.5380859375,
                        "z": 364.1215515136719
                    },
                    "rotation": {
                        "roll": -0.014587398618459702,
                        "pitch": 1.1485850811004639,
                        "yaw": -171.15699768066406
                    }
                },
                "velocity": {
                    "x": -1.5041898488998413,
                    "y": -0.24891963601112366,
                    "z": 0.02302253618836403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.406824111938477,
                "transform": {
                    "location": {
                        "x": 1233.5789794921875,
                        "y": 4095.337158203125,
                        "z": 364.5948486328125
                    },
                    "rotation": {
                        "roll": 0.006424744613468647,
                        "pitch": 0.8689298033714294,
                        "yaw": -170.39260864257812
                    }
                },
                "velocity": {
                    "x": -7.303060531616211,
                    "y": -1.230812907218933,
                    "z": 0.10700128227472305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9965033531188965,
                "transform": {
                    "location": {
                        "x": 1212.9757080078125,
                        "y": 4091.96923828125,
                        "z": 364.8916320800781
                    },
                    "rotation": {
                        "roll": 0.002843722002580762,
                        "pitch": 0.8264255523681641,
                        "yaw": -170.6529541015625
                    }
                },
                "velocity": {
                    "x": -7.890369892120361,
                    "y": -1.2933250665664673,
                    "z": 0.1159270852804184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.013421284966170788,
        "expert_target_speed": 5.981191782115648,
        "target_point": [
            42.377572676805606,
            0.06196588518066548
        ],
        "target_point_next": [
            93.37745412989464,
            0.15749680511523145
        ]
    },
    "70": {
        "acceleration": [
            -1.4238834381103516,
            -0.20827293395996094,
            0.02931743860244751
        ],
        "angular_velocity": [
            0.014725666493177414,
            0.0020940732210874557,
            -0.3743412494659424
        ],
        "forward_vector": [
            -0.9874183535575867,
            -0.1569366306066513,
            0.019386744126677513
        ],
        "right_vector": [
            0.15696211159229279,
            -0.9876046180725098,
            -0.00020999355183448642
        ],
        "location": [
            1247.22314453125,
            4097.6171875,
            364.3941955566406
        ],
        "rotation": [
            0.012034006416797638,
            1.1108481884002686,
            -170.9691619873047
        ],
        "velocity": [
            -6.037045955657959,
            -0.951745331287384,
            0.09076415747404099
        ],
        "speed": 6.11160723920913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.7861328125,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1231.6546630859375,
                4095.014892578125,
                364.6231689453125
            ],
            "velocity": [
                -8.305157661437988,
                -1.378756046295166,
                0.12149389088153839
            ],
            "speed_kmh": 30.310925278775084,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.202533721923828,
                "transform": {
                    "location": {
                        "x": 1202.9525146484375,
                        "y": 4093.56298828125,
                        "z": 365.07757568359375
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": -0.8269036412239075,
                        "yaw": 9.344225883483887
                    }
                },
                "velocity": {
                    "x": 8.092788696289062,
                    "y": 1.3317327499389648,
                    "z": -0.12172767519950867
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9932332038879395,
                "transform": {
                    "location": {
                        "x": 1264.9954833984375,
                        "y": 4100.44921875,
                        "z": 364.1296691894531
                    },
                    "rotation": {
                        "roll": -0.013122565113008022,
                        "pitch": 1.1849831342697144,
                        "yaw": -170.99118041992188
                    }
                },
                "velocity": {
                    "x": -2.952545642852783,
                    "y": -0.48972365260124207,
                    "z": 0.045721568167209625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.41970157623291,
                "transform": {
                    "location": {
                        "x": 1231.6546630859375,
                        "y": 4095.014892578125,
                        "z": 364.6231689453125
                    },
                    "rotation": {
                        "roll": 0.005229595582932234,
                        "pitch": 0.8575575351715088,
                        "yaw": -170.510498046875
                    }
                },
                "velocity": {
                    "x": -8.305157661437988,
                    "y": -1.378756046295166,
                    "z": 0.12149389088153839
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043617248535156,
                "transform": {
                    "location": {
                        "x": 1210.998291015625,
                        "y": 4091.645263671875,
                        "z": 364.9206237792969
                    },
                    "rotation": {
                        "roll": 0.0013531482545658946,
                        "pitch": 0.8356872797012329,
                        "yaw": -170.6943359375
                    }
                },
                "velocity": {
                    "x": -7.936961650848389,
                    "y": -1.3004027605056763,
                    "z": 0.11564096063375473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.004124451894313097,
        "expert_target_speed": 6.830491372727911,
        "target_point": [
            40.929201197387705,
            0.13356871474000354
        ],
        "target_point_next": [
            91.92884960107745,
            0.31494425285356975
        ]
    },
    "75": {
        "acceleration": [
            -0.9055709838867188,
            -0.16762018203735352,
            0.02552524209022522
        ],
        "angular_velocity": [
            0.016158634796738625,
            -0.3545683026313782,
            -0.028147298842668533
        ],
        "forward_vector": [
            -0.9875851273536682,
            -0.15602277219295502,
            0.018231691792607307
        ],
        "right_vector": [
            0.1560484617948532,
            -0.9877493977546692,
            -1.3655399925482925e-05
        ],
        "location": [
            1245.67236328125,
            4097.373046875,
            364.4177551269531
        ],
        "rotation": [
            0.00078252685489133,
            1.0446568727493286,
            -171.0223846435547
        ],
        "velocity": [
            -6.3211517333984375,
            -0.9979192018508911,
            0.09458642452955246
        ],
        "speed": 6.3994376292037405,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.367286682128906,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1229.5328369140625,
                4094.662353515625,
                364.65423583984375
            ],
            "velocity": [
                -8.329569816589355,
                -1.3748925924301147,
                0.1223767027258873
            ],
            "speed_kmh": 30.395394812318738,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.991427421569824,
                "transform": {
                    "location": {
                        "x": 1204.956787109375,
                        "y": 4093.892333984375,
                        "z": 365.0477600097656
                    },
                    "rotation": {
                        "roll": 0.0006402821163646877,
                        "pitch": -0.858786940574646,
                        "yaw": 9.314220428466797
                    }
                },
                "velocity": {
                    "x": 7.8857879638671875,
                    "y": 1.289686679840088,
                    "z": -0.1181768998503685
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.90555477142334,
                "transform": {
                    "location": {
                        "x": 1264.022216796875,
                        "y": 4100.28857421875,
                        "z": 364.1435852050781
                    },
                    "rotation": {
                        "roll": -0.010803228244185448,
                        "pitch": 1.3287996053695679,
                        "yaw": -170.8102569580078
                    }
                },
                "velocity": {
                    "x": -4.838310718536377,
                    "y": -0.8059842586517334,
                    "z": 0.07487943768501282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.44316577911377,
                "transform": {
                    "location": {
                        "x": 1229.5328369140625,
                        "y": 4094.662353515625,
                        "z": 364.65423583984375
                    },
                    "rotation": {
                        "roll": 0.0028856806457042694,
                        "pitch": 0.8344646692276001,
                        "yaw": -170.63711547851562
                    }
                },
                "velocity": {
                    "x": -8.329569816589355,
                    "y": -1.3748925924301147,
                    "z": 0.1223767027258873
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06457805633545,
                "transform": {
                    "location": {
                        "x": 1209.0081787109375,
                        "y": 4091.31982421875,
                        "z": 364.9497985839844
                    },
                    "rotation": {
                        "roll": 0.0006997545133344829,
                        "pitch": 0.8319101929664612,
                        "yaw": -170.7098846435547
                    }
                },
                "velocity": {
                    "x": -7.957964897155762,
                    "y": -1.3018277883529663,
                    "z": 0.11601775884628296
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.006157133262604475,
        "expert_target_speed": 7.094088848291223,
        "target_point": [
            39.35917845246958,
            0.1724339903564136
        ],
        "target_point_next": [
            90.3586363786447,
            0.4011819348136676
        ]
    },
    "80": {
        "acceleration": [
            1.5478038787841797,
            0.18722891807556152,
            -0.0477813184261322
        ],
        "angular_velocity": [
            0.043133221566677094,
            -0.7393374443054199,
            0.2733117640018463
        ],
        "forward_vector": [
            -0.9875383973121643,
            -0.15660403668880463,
            0.015591108240187168
        ],
        "right_vector": [
            0.15662556886672974,
            -0.9876580238342285,
            0.00016243311983998865
        ],
        "location": [
            1244.1094970703125,
            4097.125,
            364.44171142578125
        ],
        "rotation": [
            -0.009307864122092724,
            0.8933408856391907,
            -170.9890594482422
        ],
        "velocity": [
            -6.135902404785156,
            -0.9782113432884216,
            0.09160930663347244
        ],
        "speed": 6.213388427676673,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.838897705078125,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1227.5062255859375,
                4094.328369140625,
                364.6840515136719
            ],
            "velocity": [
                -7.935763835906982,
                -1.3024473190307617,
                0.11547154933214188
            ],
            "speed_kmh": 28.95394986223308,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1165.875732421875,
                        "y": 4087.4423828125,
                        "z": 365.8874816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9028553366661072,
                        "yaw": 9.234704971313477
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.998418807983398,
                "transform": {
                    "location": {
                        "x": 1206.919189453125,
                        "y": 4094.213134765625,
                        "z": 365.0183410644531
                    },
                    "rotation": {
                        "roll": 0.0011100685223937035,
                        "pitch": -0.8525646328926086,
                        "yaw": 9.281920433044434
                    }
                },
                "velocity": {
                    "x": 7.893204212188721,
                    "y": 1.2878081798553467,
                    "z": -0.11652910709381104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.965658187866211,
                "transform": {
                    "location": {
                        "x": 1262.6937255859375,
                        "y": 4100.06884765625,
                        "z": 364.1656799316406
                    },
                    "rotation": {
                        "roll": -0.0009460481815040112,
                        "pitch": 1.1594791412353516,
                        "yaw": -170.6532440185547
                    }
                },
                "velocity": {
                    "x": -5.884737968444824,
                    "y": -0.9749205708503723,
                    "z": 0.09200025349855423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.042763710021973,
                "transform": {
                    "location": {
                        "x": 1227.5062255859375,
                        "y": 4094.328369140625,
                        "z": 364.6840515136719
                    },
                    "rotation": {
                        "roll": 0.0016916616586968303,
                        "pitch": 0.8110712766647339,
                        "yaw": -170.69699096679688
                    }
                },
                "velocity": {
                    "x": -7.935763835906982,
                    "y": -1.3024473190307617,
                    "z": 0.11547154933214188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.000404357910156,
                "transform": {
                    "location": {
                        "x": 1207.0291748046875,
                        "y": 4090.99609375,
                        "z": 364.9791259765625
                    },
                    "rotation": {
                        "roll": 0.0011780555360019207,
                        "pitch": 0.844928503036499,
                        "yaw": -170.7269744873047
                    }
                },
                "velocity": {
                    "x": -7.89501953125,
                    "y": -1.2888469696044922,
                    "z": 0.11837097257375717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009564373642206192,
        "expert_target_speed": 6.946815788632447,
        "target_point": [
            37.7768442218612,
            0.14933217907753793
        ],
        "target_point_next": [
            88.77642659046896,
            0.3484115938647818
        ]
    },
    "85": {
        "acceleration": [
            0.44844627380371094,
            0.001748800277709961,
            -0.004336237907409668
        ],
        "angular_velocity": [
            -0.041273996233940125,
            -0.10742443799972534,
            0.5445483326911926
        ],
        "forward_vector": [
            -0.9872392416000366,
            -0.15863747894763947,
            0.013881713151931763
        ],
        "right_vector": [
            0.15865731239318848,
            -0.9873336553573608,
            0.0003328629245515913
        ],
        "location": [
            1242.60888671875,
            4096.8837890625,
            364.4645080566406
        ],
        "rotation": [
            -0.019073478877544403,
            0.7953891158103943,
            -170.8712921142578
        ],
        "velocity": [
            -5.902627468109131,
            -0.9589353799819946,
            0.08827868849039078
        ],
        "speed": 5.980014054352851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.309255599975586,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1225.542236328125,
                4094.006591796875,
                364.71246337890625
            ],
            "velocity": [
                -7.823620319366455,
                -1.2790582180023193,
                0.1148006021976471
            ],
            "speed_kmh": 28.541939736177817,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1167.921630859375,
                        "y": 4087.775146484375,
                        "z": 365.6769714355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9028553366661072,
                        "yaw": 9.234704971313477
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.080866813659668,
                "transform": {
                    "location": {
                        "x": 1208.90869140625,
                        "y": 4094.537841796875,
                        "z": 364.98883056640625
                    },
                    "rotation": {
                        "roll": 0.002018142491579056,
                        "pitch": -0.8237549066543579,
                        "yaw": 9.266437530517578
                    }
                },
                "velocity": {
                    "x": 7.974756717681885,
                    "y": 1.2998336553573608,
                    "z": -0.11873319000005722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.337484836578369,
                "transform": {
                    "location": {
                        "x": 1261.055908203125,
                        "y": 4099.798828125,
                        "z": 364.19085693359375
                    },
                    "rotation": {
                        "roll": 0.005259341560304165,
                        "pitch": 1.1806049346923828,
                        "yaw": -170.56991577148438
                    }
                },
                "velocity": {
                    "x": -7.238382816314697,
                    "y": -1.1967065334320068,
                    "z": 0.11132949590682983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.928316593170166,
                "transform": {
                    "location": {
                        "x": 1225.542236328125,
                        "y": 4094.006591796875,
                        "z": 364.71246337890625
                    },
                    "rotation": {
                        "roll": 0.0004191651241853833,
                        "pitch": 0.8144931793212891,
                        "yaw": -170.72625732421875
                    }
                },
                "velocity": {
                    "x": -7.823620319366455,
                    "y": -1.2790582180023193,
                    "z": 0.1148006021976471
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076593399047852,
                "transform": {
                    "location": {
                        "x": 1205.0443115234375,
                        "y": 4090.673095703125,
                        "z": 365.00885009765625
                    },
                    "rotation": {
                        "roll": -0.0009460531873628497,
                        "pitch": 0.8549620509147644,
                        "yaw": -170.73721313476562
                    }
                },
                "velocity": {
                    "x": -7.970402240753174,
                    "y": -1.2998777627944946,
                    "z": 0.11983140558004379
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003915335983037949,
        "expert_target_speed": 6.750682002074417,
        "target_point": [
            36.25719827895971,
            0.0716136980162867
        ],
        "target_point_next": [
            87.25708208511092,
            0.16588004871749717
        ]
    },
    "90": {
        "acceleration": [
            1.1290931701660156,
            0.16550779342651367,
            -0.020191222429275513
        ],
        "angular_velocity": [
            -0.013608413748443127,
            -0.1059749647974968,
            0.35424187779426575
        ],
        "forward_vector": [
            -0.9869152307510376,
            -0.16066917777061462,
            0.01355284545570612
        ],
        "right_vector": [
            0.16068752110004425,
            -0.9870052337646484,
            0.0002694871218409389
        ],
        "location": [
            1241.160888671875,
            4096.6474609375,
            364.486083984375
        ],
        "rotation": [
            -0.01544189453125,
            0.7765446305274963,
            -170.75340270996094
        ],
        "velocity": [
            -5.695034027099609,
            -0.9340682625770569,
            0.08629275858402252
        ],
        "speed": 5.771126067673111,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.825008392333984,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1223.5853271484375,
                4093.686767578125,
                364.7408142089844
            ],
            "velocity": [
                -7.846714496612549,
                -1.279634952545166,
                0.114735446870327
            ],
            "speed_kmh": 28.624314744768608,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1169.9735107421875,
                        "y": 4088.108642578125,
                        "z": 365.5700988769531
                    },
                    "rotation": {
                        "roll": -6.670921148810294e-09,
                        "pitch": -0.8957245945930481,
                        "yaw": 9.234710693359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017326354980469,
                "transform": {
                    "location": {
                        "x": 1210.894287109375,
                        "y": 4094.861083984375,
                        "z": 364.959716796875
                    },
                    "rotation": {
                        "roll": 2.4315135306096636e-05,
                        "pitch": -0.8373401761054993,
                        "yaw": 9.256152153015137
                    }
                },
                "velocity": {
                    "x": 7.912158012390137,
                    "y": 1.28916335105896,
                    "z": -0.1154855415225029
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.718425750732422,
                "transform": {
                    "location": {
                        "x": 1259.12158203125,
                        "y": 4099.47900390625,
                        "z": 364.2203369140625
                    },
                    "rotation": {
                        "roll": 0.003060842165723443,
                        "pitch": 1.2114022970199585,
                        "yaw": -170.5752716064453
                    }
                },
                "velocity": {
                    "x": -8.600508689880371,
                    "y": -1.422968864440918,
                    "z": 0.1317712515592575
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.951198577880859,
                "transform": {
                    "location": {
                        "x": 1223.5853271484375,
                        "y": 4093.686767578125,
                        "z": 364.7408142089844
                    },
                    "rotation": {
                        "roll": 0.0005798520287498832,
                        "pitch": 0.8224435448646545,
                        "yaw": -170.7436065673828
                    }
                },
                "velocity": {
                    "x": -7.846714496612549,
                    "y": -1.279634952545166,
                    "z": 0.114735446870327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.007955551147461,
                "transform": {
                    "location": {
                        "x": 1203.0609130859375,
                        "y": 4090.349609375,
                        "z": 365.0386962890625
                    },
                    "rotation": {
                        "roll": 0.0011773036094382405,
                        "pitch": 0.8508229851722717,
                        "yaw": -170.7411346435547
                    }
                },
                "velocity": {
                    "x": -7.902740478515625,
                    "y": -1.288416862487793,
                    "z": 0.1184580996632576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00047488068230450153,
        "expert_target_speed": 6.589041513310381,
        "target_point": [
            34.79011211233266,
            -0.0035752877148640394
        ],
        "target_point_next": [
            85.79008192177994,
            -0.014243992657247517
        ]
    },
    "95": {
        "acceleration": [
            0.3398323059082031,
            0.1452171802520752,
            -0.0013595819473266602
        ],
        "angular_velocity": [
            0.11195434629917145,
            0.07319018244743347,
            -0.32295578718185425
        ],
        "forward_vector": [
            -0.9868577718734741,
            -0.161023810505867,
            0.013532225042581558
        ],
        "right_vector": [
            0.16103748977184296,
            -0.9869483113288879,
            -7.878254837123677e-05
        ],
        "location": [
            1239.7576904296875,
            4096.41796875,
            364.5069885253906
        ],
        "rotation": [
            0.004514320753514767,
            0.775363028049469,
            -170.73281860351562
        ],
        "velocity": [
            -5.534162521362305,
            -0.8965926766395569,
            0.08307010680437088
        ],
        "speed": 5.606320829265381,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.40298080444336,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1221.611572265625,
                4093.365234375,
                364.7694396972656
            ],
            "velocity": [
                -7.927394390106201,
                -1.290541172027588,
                0.11549262702465057
            ],
            "speed_kmh": 28.917304901447498,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.106722831726074,
                "transform": {
                    "location": {
                        "x": 1172.004638671875,
                        "y": 4088.441162109375,
                        "z": 365.5276794433594
                    },
                    "rotation": {
                        "roll": -0.005462653934955597,
                        "pitch": -0.9024933576583862,
                        "yaw": 9.332362174987793
                    }
                },
                "velocity": {
                    "x": 7.991250514984131,
                    "y": 1.3502296209335327,
                    "z": -0.18906649947166443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017813682556152,
                "transform": {
                    "location": {
                        "x": 1212.869384765625,
                        "y": 4095.18310546875,
                        "z": 364.93072509765625
                    },
                    "rotation": {
                        "roll": 0.00012565137876663357,
                        "pitch": -0.8321833610534668,
                        "yaw": 9.252219200134277
                    }
                },
                "velocity": {
                    "x": 7.913010597229004,
                    "y": 1.2869668006896973,
                    "z": -0.11541718244552612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.439414978027344,
                "transform": {
                    "location": {
                        "x": 1256.9801025390625,
                        "y": 4099.125,
                        "z": 364.2552795410156
                    },
                    "rotation": {
                        "roll": 0.00720752589404583,
                        "pitch": 0.9431602954864502,
                        "yaw": -170.62362670898438
                    }
                },
                "velocity": {
                    "x": -8.326447486877441,
                    "y": -1.3703521490097046,
                    "z": 0.126985102891922
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.032584190368652,
                "transform": {
                    "location": {
                        "x": 1221.611572265625,
                        "y": 4093.365234375,
                        "z": 364.7694396972656
                    },
                    "rotation": {
                        "roll": 0.0007263763691298664,
                        "pitch": 0.8239188194274902,
                        "yaw": -170.75767517089844
                    }
                },
                "velocity": {
                    "x": -7.927394390106201,
                    "y": -1.290541172027588,
                    "z": 0.11549262702465057
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.066471099853516,
                "transform": {
                    "location": {
                        "x": 1201.0780029296875,
                        "y": 4090.0263671875,
                        "z": 365.0685119628906
                    },
                    "rotation": {
                        "roll": 0.0006965429638512433,
                        "pitch": 0.8525509834289551,
                        "yaw": -170.74179077148438
                    }
                },
                "velocity": {
                    "x": -7.960521697998047,
                    "y": -1.2975716590881348,
                    "z": 0.1198451966047287
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1595458984375,
                        "y": 4099.244140625,
                        "z": 264.2222595214844
                    },
                    "rotation": {
                        "roll": 1.3341735716210223e-08,
                        "pitch": 0.8658425211906433,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00021656769968103617,
        "expert_target_speed": 6.463377301724658,
        "target_point": [
            33.368267626538845,
            -0.016611640121657167
        ],
        "target_point_next": [
            84.36823030394096,
            -0.04561662920642462
        ]
    },
    "100": {
        "acceleration": [
            1.099386215209961,
            0.20941853523254395,
            -0.00765874981880188
        ],
        "angular_velocity": [
            0.0003107602533418685,
            -0.10232578217983246,
            -0.3938463032245636
        ],
        "forward_vector": [
            -0.9871332049369812,
            -0.1593324840068817,
            0.013462016358971596
        ],
        "right_vector": [
            0.1593443900346756,
            -0.9872230887413025,
            -0.00019069697009399533
        ],
        "location": [
            1238.400634765625,
            4096.19970703125,
            364.5270690917969
        ],
        "rotation": [
            0.01092712115496397,
            0.7713400721549988,
            -170.8310089111328
        ],
        "velocity": [
            -5.334418296813965,
            -0.8529688715934753,
            0.0792391374707222
        ],
        "speed": 5.402182379491741,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.03121566772461,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1219.6348876953125,
                4093.043701171875,
                364.7981262207031
            ],
            "velocity": [
                -7.882817268371582,
                -1.2828369140625,
                0.11452226340770721
            ],
            "speed_kmh": 28.7544225820188,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.082078456878662,
                "transform": {
                    "location": {
                        "x": 1270.5836181640625,
                        "y": 4101.427734375,
                        "z": 364.1226501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.882931649684906,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -5.531376361846924,
                    "y": -0.8993237018585205,
                    "z": -2.3636348247528076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087329864501953,
                "transform": {
                    "location": {
                        "x": 1173.9993896484375,
                        "y": 4088.78271484375,
                        "z": 365.4870300292969
                    },
                    "rotation": {
                        "roll": -0.01330566219985485,
                        "pitch": -0.896298348903656,
                        "yaw": 9.808061599731445
                    }
                },
                "velocity": {
                    "x": 7.963602542877197,
                    "y": 1.4023886919021606,
                    "z": -0.1387476772069931
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.069236755371094,
                "transform": {
                    "location": {
                        "x": 1214.8568115234375,
                        "y": 4095.506103515625,
                        "z": 364.9015808105469
                    },
                    "rotation": {
                        "roll": -0.000671390094794333,
                        "pitch": -0.8305646181106567,
                        "yaw": 9.249432563781738
                    }
                },
                "velocity": {
                    "x": 7.9634833335876465,
                    "y": 1.2969521284103394,
                    "z": -0.11591412127017975
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.110305309295654,
                "transform": {
                    "location": {
                        "x": 1255.2806396484375,
                        "y": 4098.845703125,
                        "z": 364.2878723144531
                    },
                    "rotation": {
                        "roll": 0.0037986200768500566,
                        "pitch": 0.11946683377027512,
                        "yaw": -170.67633056640625
                    }
                },
                "velocity": {
                    "x": -5.042418003082275,
                    "y": -0.8266476988792419,
                    "z": 0.07677226513624191
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987339496612549,
                "transform": {
                    "location": {
                        "x": 1219.6348876953125,
                        "y": 4093.043701171875,
                        "z": 364.7981262207031
                    },
                    "rotation": {
                        "roll": 0.00025042821653187275,
                        "pitch": 0.8220200538635254,
                        "yaw": -170.76072692871094
                    }
                },
                "velocity": {
                    "x": -7.882817268371582,
                    "y": -1.2828369140625,
                    "z": 0.11452226340770721
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.734550952911377,
                "transform": {
                    "location": {
                        "x": 1199.115966796875,
                        "y": 4089.706787109375,
                        "z": 365.0980529785156
                    },
                    "rotation": {
                        "roll": 0.0005321445059962571,
                        "pitch": 0.8372377157211304,
                        "yaw": -170.7472381591797
                    }
                },
                "velocity": {
                    "x": -7.6333160400390625,
                    "y": -1.2419520616531372,
                    "z": 0.11541330069303513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.4994812011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.012571672908961773,
        "expert_target_speed": 6.298229907132523,
        "target_point": [
            31.993751673813186,
            0.041342854281470665
        ],
        "target_point_next": [
            82.99368916645766,
            0.09973919112155727
        ]
    },
    "105": {
        "acceleration": [
            0.44986724853515625,
            0.1178896427154541,
            -0.004417747259140015
        ],
        "angular_velocity": [
            -0.026848386973142624,
            0.03992814943194389,
            -0.3897249698638916
        ],
        "forward_vector": [
            -0.9874132871627808,
            -0.15760207176208496,
            0.01329358946532011
        ],
        "right_vector": [
            0.15761350095272064,
            -0.9875009059906006,
            -0.00018921597802545875
        ],
        "location": [
            1237.0904541015625,
            4095.9912109375,
            364.5464782714844
        ],
        "rotation": [
            0.010842234827578068,
            0.7616890072822571,
            -170.93145751953125
        ],
        "velocity": [
            -5.149859428405762,
            -0.813481330871582,
            0.07571186125278473
        ],
        "speed": 5.213713073042697,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.347808837890625,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1177.5328369140625,
                4086.296875,
                365.42279052734375
            ],
            "velocity": [
                -7.501894474029541,
                -1.2657500505447388,
                -0.37107565999031067
            ],
            "speed_kmh": 27.42109413970103,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.219905376434326,
                "transform": {
                    "location": {
                        "x": 1269.2666015625,
                        "y": 4101.20263671875,
                        "z": 364.02655029296875
                    },
                    "rotation": {
                        "roll": -0.010406490415334702,
                        "pitch": 0.8670992851257324,
                        "yaw": -170.39175415039062
                    }
                },
                "velocity": {
                    "x": -5.1371870040893555,
                    "y": -0.8909879922866821,
                    "z": 0.25072288513183594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.14075756072998,
                "transform": {
                    "location": {
                        "x": 1175.9981689453125,
                        "y": 4089.12841796875,
                        "z": 365.4544372558594
                    },
                    "rotation": {
                        "roll": -0.009429928846657276,
                        "pitch": -0.8958748579025269,
                        "yaw": 9.84742259979248
                    }
                },
                "velocity": {
                    "x": 8.02210521697998,
                    "y": 1.378968358039856,
                    "z": -0.12731200456619263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.000320434570312,
                "transform": {
                    "location": {
                        "x": 1216.837646484375,
                        "y": 4095.828857421875,
                        "z": 364.8726806640625
                    },
                    "rotation": {
                        "roll": -6.103789928602055e-05,
                        "pitch": -0.8319101929664612,
                        "yaw": 9.249449729919434
                    }
                },
                "velocity": {
                    "x": 7.895486354827881,
                    "y": 1.285783052444458,
                    "z": -0.1148659884929657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.446321487426758,
                "transform": {
                    "location": {
                        "x": 1253.9873046875,
                        "y": 4098.63330078125,
                        "z": 364.3033142089844
                    },
                    "rotation": {
                        "roll": 0.0021863228175789118,
                        "pitch": 0.6454801559448242,
                        "yaw": -170.68714904785156
                    }
                },
                "velocity": {
                    "x": -5.374049663543701,
                    "y": -0.8805617094039917,
                    "z": 0.08135496079921722
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.616970539093018,
                "transform": {
                    "location": {
                        "x": 1177.5328369140625,
                        "y": 4086.296875,
                        "z": 365.42279052734375
                    },
                    "rotation": {
                        "roll": -0.004760755226016045,
                        "pitch": 0.8847211599349976,
                        "yaw": -170.6903076171875
                    }
                },
                "velocity": {
                    "x": -7.501894474029541,
                    "y": -1.2657500505447388,
                    "z": -0.37107565999031067
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.016480816528201103,
        "expert_target_speed": 10.0,
        "target_point": [
            30.6669636548838,
            0.09805329555114195
        ],
        "target_point_next": [
            81.66672036837825,
            0.24586922898634
        ]
    },
    "110": {
        "acceleration": [
            0.9730720520019531,
            0.1771235466003418,
            -0.03136172890663147
        ],
        "angular_velocity": [
            -0.005999535322189331,
            -0.021978653967380524,
            -0.3604377508163452
        ],
        "forward_vector": [
            -0.9876787066459656,
            -0.15593086183071136,
            0.013280119746923447
        ],
        "right_vector": [
            0.15594251453876495,
            -0.9877661466598511,
            -0.00016049145779106766
        ],
        "location": [
            1235.8311767578125,
            4095.792724609375,
            364.5650329589844
        ],
        "rotation": [
            0.009196293540298939,
            0.7609171867370605,
            -171.02841186523438
        ],
        "velocity": [
            -4.94887113571167,
            -0.7734015583992004,
            0.07225912064313889
        ],
        "speed": 5.008939557273019,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.68954849243164,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.939208984375,
                4086.025634765625,
                365.44677734375
            ],
            "velocity": [
                -4.463958263397217,
                -0.7722964882850647,
                0.16416791081428528
            ],
            "speed_kmh": 16.319684428492998,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.875735282897949,
                "transform": {
                    "location": {
                        "x": 1267.9945068359375,
                        "y": 4100.97998046875,
                        "z": 364.07257080078125
                    },
                    "rotation": {
                        "roll": 0.0010706746252253652,
                        "pitch": 0.8184546828269958,
                        "yaw": -170.14051818847656
                    }
                },
                "velocity": {
                    "x": -4.8003034591674805,
                    "y": -0.845483124256134,
                    "z": 0.12264083325862885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.121420860290527,
                "transform": {
                    "location": {
                        "x": 1178.0013427734375,
                        "y": 4089.472412109375,
                        "z": 365.42291259765625
                    },
                    "rotation": {
                        "roll": -0.007141107227653265,
                        "pitch": -0.8920499682426453,
                        "yaw": 9.730066299438477
                    }
                },
                "velocity": {
                    "x": 8.004607200622559,
                    "y": 1.3666616678237915,
                    "z": -0.12636668980121613
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.06006908416748,
                "transform": {
                    "location": {
                        "x": 1218.819091796875,
                        "y": 4096.1513671875,
                        "z": 364.84375
                    },
                    "rotation": {
                        "roll": 0.0008309271652251482,
                        "pitch": -0.8215351104736328,
                        "yaw": 9.24006175994873
                    }
                },
                "velocity": {
                    "x": 7.954895973205566,
                    "y": 1.2926125526428223,
                    "z": -0.11616570502519608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.688534259796143,
                "transform": {
                    "location": {
                        "x": 1252.471435546875,
                        "y": 4098.3857421875,
                        "z": 364.32177734375
                    },
                    "rotation": {
                        "roll": 0.005107947159558535,
                        "pitch": 1.2034177780151367,
                        "yaw": -170.6228485107422
                    }
                },
                "velocity": {
                    "x": -6.600264549255371,
                    "y": -1.0784189701080322,
                    "z": 0.10007396340370178
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.53324556350708,
                "transform": {
                    "location": {
                        "x": 1175.939208984375,
                        "y": 4086.025634765625,
                        "z": 365.44677734375
                    },
                    "rotation": {
                        "roll": 0.0005212686955928802,
                        "pitch": 0.8189259767532349,
                        "yaw": -170.48867797851562
                    }
                },
                "velocity": {
                    "x": -4.463958263397217,
                    "y": -0.7722964882850647,
                    "z": 0.16416791081428528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.026872241869568825,
        "expert_target_speed": 10.0,
        "target_point": [
            29.39192991062255,
            0.1502557024683675
        ],
        "target_point_next": [
            80.39136355956177,
            0.3843537017063703
        ]
    },
    "115": {
        "acceleration": [
            0.272064208984375,
            0.036029815673828125,
            -0.023912787437438965
        ],
        "angular_velocity": [
            -0.026856785640120506,
            -0.07243295013904572,
            -0.2681311368942261
        ],
        "forward_vector": [
            -0.9879162311553955,
            -0.154343381524086,
            0.014131193980574608
        ],
        "right_vector": [
            0.15435746312141418,
            -0.9880150556564331,
            -9.522063191980124e-05
        ],
        "location": [
            1234.5732421875,
            4095.5966796875,
            364.58331298828125
        ],
        "rotation": [
            0.005456285085529089,
            0.8096847534179688,
            -171.12039184570312
        ],
        "velocity": [
            -4.971400737762451,
            -0.7702394127845764,
            0.07282533496618271
        ],
        "speed": 5.03071506333163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.77840805053711,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5828857421875,
                4085.962646484375,
                365.46722412109375
            ],
            "velocity": [
                0.0005410545854829252,
                2.2516827812069096e-05,
                0.021334737539291382
            ],
            "speed_kmh": 0.07682979225101566,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.519750118255615,
                "transform": {
                    "location": {
                        "x": 1266.7122802734375,
                        "y": 4100.759765625,
                        "z": 364.0993347167969
                    },
                    "rotation": {
                        "roll": 0.013156845234334469,
                        "pitch": 0.9357222318649292,
                        "yaw": -170.16864013671875
                    }
                },
                "velocity": {
                    "x": -5.440112590789795,
                    "y": -0.9295098185539246,
                    "z": 0.09396045655012131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.375559329986572,
                "transform": {
                    "location": {
                        "x": 1179.88134765625,
                        "y": 4089.79248046875,
                        "z": 365.3934631347656
                    },
                    "rotation": {
                        "roll": -0.006072995252907276,
                        "pitch": -0.9010043740272522,
                        "yaw": 9.638579368591309
                    }
                },
                "velocity": {
                    "x": 7.272568225860596,
                    "y": 1.222848892211914,
                    "z": -0.11519216001033783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017790794372559,
                "transform": {
                    "location": {
                        "x": 1220.80322265625,
                        "y": 4096.47412109375,
                        "z": 364.81500244140625
                    },
                    "rotation": {
                        "roll": 0.0004804573836736381,
                        "pitch": -0.8238778710365295,
                        "yaw": 9.234111785888672
                    }
                },
                "velocity": {
                    "x": 7.913102149963379,
                    "y": 1.2863532304763794,
                    "z": -0.11436808109283447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.668702125549316,
                "transform": {
                    "location": {
                        "x": 1250.6922607421875,
                        "y": 4098.0947265625,
                        "z": 364.3490905761719
                    },
                    "rotation": {
                        "roll": 0.0034251315519213676,
                        "pitch": 1.1631879806518555,
                        "yaw": -170.6861114501953
                    }
                },
                "velocity": {
                    "x": -7.567748069763184,
                    "y": -1.234929084777832,
                    "z": 0.11460240930318832
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.021341608837246895,
                "transform": {
                    "location": {
                        "x": 1175.5828857421875,
                        "y": 4085.962646484375,
                        "z": 365.46722412109375
                    },
                    "rotation": {
                        "roll": 0.0033379923552274704,
                        "pitch": 0.7394908666610718,
                        "yaw": -170.6225128173828
                    }
                },
                "velocity": {
                    "x": 0.0005410545854829252,
                    "y": 2.2516827812069096e-05,
                    "z": 0.021334737539291382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.037755049765110016,
        "expert_target_speed": 10.0,
        "target_point": [
            28.11853148671837,
            0.19792232439935553
        ],
        "target_point_next": [
            79.11752355926929,
            0.5139001237602407
        ]
    },
    "120": {
        "acceleration": [
            1.1855220794677734,
            0.18226146697998047,
            -0.0015018880367279053
        ],
        "angular_velocity": [
            0.006552920211106539,
            -0.33530059456825256,
            -0.016305947676301003
        ],
        "forward_vector": [
            -0.9879562854766846,
            -0.15407070517539978,
            0.014302480034530163
        ],
        "right_vector": [
            0.1540875881910324,
            -0.9880571961402893,
            7.93540311860852e-05
        ],
        "location": [
            1233.3203125,
            4095.40185546875,
            364.60162353515625
        ],
        "rotation": [
            -0.004547116346657276,
            0.8194997310638428,
            -171.1361846923828
        ],
        "velocity": [
            -4.9322357177734375,
            -0.7688289284706116,
            0.07252053916454315
        ],
        "speed": 4.9917979823840355,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.51121520996094,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.58203125,
                4085.96240234375,
                365.4674377441406
            ],
            "velocity": [
                0.00010615095379762352,
                0.00013373635010793805,
                -0.00040911458199843764
            ],
            "speed_kmh": 0.001595933952539323,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6927080154418945,
                "transform": {
                    "location": {
                        "x": 1265.298095703125,
                        "y": 4100.5166015625,
                        "z": 364.1222839355469
                    },
                    "rotation": {
                        "roll": 0.01125871017575264,
                        "pitch": 0.9306337237358093,
                        "yaw": -170.06495666503906
                    }
                },
                "velocity": {
                    "x": -5.609442234039307,
                    "y": -0.9660849571228027,
                    "z": 0.08810073882341385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.124855995178223,
                "transform": {
                    "location": {
                        "x": 1181.7716064453125,
                        "y": 4090.109375,
                        "z": 365.3635559082031
                    },
                    "rotation": {
                        "roll": -0.0032958968076854944,
                        "pitch": -0.8748788833618164,
                        "yaw": 9.489891052246094
                    }
                },
                "velocity": {
                    "x": 8.014045715332031,
                    "y": 1.331384539604187,
                    "z": -0.1256028562784195
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047103881835938,
                "transform": {
                    "location": {
                        "x": 1222.7845458984375,
                        "y": 4096.79638671875,
                        "z": 364.7862548828125
                    },
                    "rotation": {
                        "roll": -0.0006103510968387127,
                        "pitch": -0.8236046433448792,
                        "yaw": 9.236776351928711
                    }
                },
                "velocity": {
                    "x": 7.941936016082764,
                    "y": 1.2915679216384888,
                    "z": -0.11572980880737305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.553914546966553,
                "transform": {
                    "location": {
                        "x": 1248.779541015625,
                        "y": 4097.7822265625,
                        "z": 364.3803405761719
                    },
                    "rotation": {
                        "roll": 0.0012789102038368583,
                        "pitch": 0.8799263834953308,
                        "yaw": -170.7261199951172
                    }
                },
                "velocity": {
                    "x": -7.454670429229736,
                    "y": -1.2152920961380005,
                    "z": 0.11212804913520813
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004433149879332632,
                "transform": {
                    "location": {
                        "x": 1175.58203125,
                        "y": 4085.96240234375,
                        "z": 365.4674377441406
                    },
                    "rotation": {
                        "roll": 0.0009857623372226954,
                        "pitch": 0.8720511794090271,
                        "yaw": -170.62246704101562
                    }
                },
                "velocity": {
                    "x": 0.00010615095379762352,
                    "y": 0.00013373635010793805,
                    "z": -0.00040911458199843764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04780647158622742,
        "expert_target_speed": 10.0,
        "target_point": [
            26.850489685180147,
            0.20623394947755447
        ],
        "target_point_next": [
            77.84939273350732,
            0.5362676646120832
        ]
    },
    "125": {
        "acceleration": [
            -2.8462982177734375,
            -0.510333776473999,
            0.05274191498756409
        ],
        "angular_velocity": [
            -0.09516775608062744,
            0.4351206123828888,
            0.27348658442497253
        ],
        "forward_vector": [
            -0.9878878593444824,
            -0.15447309613227844,
            0.014682717621326447
        ],
        "right_vector": [
            0.15449289977550507,
            -0.9879938960075378,
            0.00021622526401188225
        ],
        "location": [
            1232.0654296875,
            4095.20556640625,
            364.6198425292969
        ],
        "rotation": [
            -0.012390131130814552,
            0.8412880301475525,
            -171.11279296875
        ],
        "velocity": [
            -5.064413070678711,
            -0.7974071502685547,
            0.07434127479791641
        ],
        "speed": 5.126805819782995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.241085052490234,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5819091796875,
                4085.96240234375,
                365.4670104980469
            ],
            "velocity": [
                2.374932046222966e-05,
                4.365350832813419e-06,
                -8.496174268657342e-05
            ],
            "speed_kmh": 0.00031797567773217113,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.908159255981445,
                "transform": {
                    "location": {
                        "x": 1263.530029296875,
                        "y": 4100.2138671875,
                        "z": 364.150146484375
                    },
                    "rotation": {
                        "roll": 0.01384012121707201,
                        "pitch": 1.1215648651123047,
                        "yaw": -170.261962890625
                    }
                },
                "velocity": {
                    "x": -7.794699668884277,
                    "y": -1.3293923139572144,
                    "z": 0.11981256306171417
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.261749267578125,
                "transform": {
                    "location": {
                        "x": 1183.828369140625,
                        "y": 4090.451171875,
                        "z": 365.33135986328125
                    },
                    "rotation": {
                        "roll": -0.0023803759831935167,
                        "pitch": -0.8820437788963318,
                        "yaw": 9.40576457977295
                    }
                },
                "velocity": {
                    "x": 8.15001392364502,
                    "y": 1.3480275869369507,
                    "z": -0.1288345754146576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02168083190918,
                "transform": {
                    "location": {
                        "x": 1224.76708984375,
                        "y": 4097.11865234375,
                        "z": 364.7574768066406
                    },
                    "rotation": {
                        "roll": 1.1627194908214733e-05,
                        "pitch": -0.8229352831840515,
                        "yaw": 9.233816146850586
                    }
                },
                "velocity": {
                    "x": 7.916919231414795,
                    "y": 1.2870218753814697,
                    "z": -0.11549137532711029
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.6506218910217285,
                "transform": {
                    "location": {
                        "x": 1247.6123046875,
                        "y": 4097.591796875,
                        "z": 364.4051818847656
                    },
                    "rotation": {
                        "roll": 0.0007939551724120975,
                        "pitch": -0.05135618895292282,
                        "yaw": -170.74554443359375
                    }
                },
                "velocity": {
                    "x": -3.6028358936309814,
                    "y": -0.5863513350486755,
                    "z": 0.05296557396650314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.832657476887107e-05,
                "transform": {
                    "location": {
                        "x": 1175.5819091796875,
                        "y": 4085.96240234375,
                        "z": 365.4670104980469
                    },
                    "rotation": {
                        "roll": 0.0021027016919106245,
                        "pitch": 0.8970906734466553,
                        "yaw": -170.6223907470703
                    }
                },
                "velocity": {
                    "x": 2.374932046222966e-05,
                    "y": 4.365350832813419e-06,
                    "z": -8.496174268657342e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.052699893712997437,
        "expert_target_speed": 10.0,
        "target_point": [
            25.58042979890274,
            0.1952081669165775
        ],
        "target_point_next": [
            76.57946330961526,
            0.504425499903622
        ]
    },
    "130": {
        "acceleration": [
            -1.4008045196533203,
            -0.26067614555358887,
            0.0346393883228302
        ],
        "angular_velocity": [
            -0.04241906851530075,
            0.2851020097732544,
            0.31985074281692505
        ],
        "forward_vector": [
            -0.9877206087112427,
            -0.15554119646549225,
            0.014660189859569073
        ],
        "right_vector": [
            0.155561625957489,
            -0.9878261089324951,
            0.0002572334778960794
        ],
        "location": [
            1230.81640625,
            4095.008056640625,
            364.6380920410156
        ],
        "rotation": [
            -0.014739977195858955,
            0.8399971127510071,
            -171.05084228515625
        ],
        "velocity": [
            -5.034190654754639,
            -0.8013612031936646,
            0.0741826593875885
        ],
        "speed": 5.097573474350608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.9764289855957,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5819091796875,
                4085.96240234375,
                365.46697998046875
            ],
            "velocity": [
                1.0181963716604514e-06,
                -1.4227628525986802e-05,
                -0.001655171625316143
            ],
            "speed_kmh": 0.005958839112209822,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.228217601776123,
                "transform": {
                    "location": {
                        "x": 1261.640380859375,
                        "y": 4099.89501953125,
                        "z": 364.1790466308594
                    },
                    "rotation": {
                        "roll": 0.014469336718320847,
                        "pitch": 0.8560207486152649,
                        "yaw": -170.46087646484375
                    }
                },
                "velocity": {
                    "x": -7.128372669219971,
                    "y": -1.1922239065170288,
                    "z": 0.10969851911067963
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.8815484046936035,
                "transform": {
                    "location": {
                        "x": 1185.8060302734375,
                        "y": 4090.77685546875,
                        "z": 365.3004455566406
                    },
                    "rotation": {
                        "roll": -0.0008239718154072762,
                        "pitch": -0.8938599824905396,
                        "yaw": 9.339738845825195
                    }
                },
                "velocity": {
                    "x": 7.776622772216797,
                    "y": 1.2759101390838623,
                    "z": -0.12248437851667404
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050825119018555,
                "transform": {
                    "location": {
                        "x": 1226.7501220703125,
                        "y": 4097.44091796875,
                        "z": 364.7286682128906
                    },
                    "rotation": {
                        "roll": 0.00012737886572722346,
                        "pitch": -0.824280858039856,
                        "yaw": 9.233532905578613
                    }
                },
                "velocity": {
                    "x": 7.945685863494873,
                    "y": 1.2917332649230957,
                    "z": -0.11524084955453873
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.893054485321045,
                "transform": {
                    "location": {
                        "x": 1246.656982421875,
                        "y": 4097.43603515625,
                        "z": 364.41302490234375
                    },
                    "rotation": {
                        "roll": 0.0002741779899224639,
                        "pitch": 0.7466557621955872,
                        "yaw": -170.74661254882812
                    }
                },
                "velocity": {
                    "x": -3.841968059539795,
                    "y": -0.6259396076202393,
                    "z": 0.057907503098249435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016552330926060677,
                "transform": {
                    "location": {
                        "x": 1175.5819091796875,
                        "y": 4085.96240234375,
                        "z": 365.46697998046875
                    },
                    "rotation": {
                        "roll": 0.0022692279890179634,
                        "pitch": 0.8968174457550049,
                        "yaw": -170.622314453125
                    }
                },
                "velocity": {
                    "x": 1.0181963716604514e-06,
                    "y": -1.4227628525986802e-05,
                    "z": -0.001655171625316143
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05366476625204086,
        "expert_target_speed": 10.0,
        "target_point": [
            24.31608295083137,
            0.16673384440466377
        ],
        "target_point_next": [
            75.31542104624842,
            0.42079725212798813
        ]
    },
    "135": {
        "acceleration": [
            0.10446548461914062,
            -0.04951119422912598,
            -0.010367482900619507
        ],
        "angular_velocity": [
            -0.01990429498255253,
            -0.04144606739282608,
            0.6242167949676514
        ],
        "forward_vector": [
            -0.9873550534248352,
            -0.15784455835819244,
            0.014666387811303139
        ],
        "right_vector": [
            0.15786691009998322,
            -0.9874603748321533,
            0.00037173726013861597
        ],
        "location": [
            1229.5699462890625,
            4094.80810546875,
            364.6562805175781
        ],
        "rotation": [
            -0.02130126766860485,
            0.8403522968292236,
            -170.91720581054688
        ],
        "velocity": [
            -4.984868049621582,
            -0.8100631237030029,
            0.0732916072010994
        ],
        "speed": 5.050258581154191,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.71390914916992,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5819091796875,
                4085.96240234375,
                365.4669494628906
            ],
            "velocity": [
                1.2561529729282483e-05,
                3.4285949368495494e-05,
                -0.0006333739729598165
            ],
            "speed_kmh": 0.0022839323473716963,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.267899036407471,
                "transform": {
                    "location": {
                        "x": 1260.1319580078125,
                        "y": 4099.64404296875,
                        "z": 364.2016296386719
                    },
                    "rotation": {
                        "roll": 0.0074159735813736916,
                        "pitch": 0.5091427564620972,
                        "yaw": -170.56736755371094
                    }
                },
                "velocity": {
                    "x": -4.209785461425781,
                    "y": -0.6992645263671875,
                    "z": 0.06080576777458191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.174524307250977,
                "transform": {
                    "location": {
                        "x": 1187.7845458984375,
                        "y": 4091.10107421875,
                        "z": 365.2694396972656
                    },
                    "rotation": {
                        "roll": -0.00033569231163710356,
                        "pitch": -0.8760946393013,
                        "yaw": 9.298856735229492
                    }
                },
                "velocity": {
                    "x": 8.066397666931152,
                    "y": 1.319324254989624,
                    "z": -0.12431622296571732
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016485214233398,
                "transform": {
                    "location": {
                        "x": 1228.7318115234375,
                        "y": 4097.76318359375,
                        "z": 364.6999206542969
                    },
                    "rotation": {
                        "roll": -0.0003356947563588619,
                        "pitch": -0.8272724747657776,
                        "yaw": 9.235379219055176
                    }
                },
                "velocity": {
                    "x": 7.911530494689941,
                    "y": 1.2878637313842773,
                    "z": -0.11457402259111404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.046393394470215,
                "transform": {
                    "location": {
                        "x": 1245.6983642578125,
                        "y": 4097.2802734375,
                        "z": 364.4255676269531
                    },
                    "rotation": {
                        "roll": 0.0004437748284544796,
                        "pitch": 0.9882668256759644,
                        "yaw": -170.7492218017578
                    }
                },
                "velocity": {
                    "x": -3.993494749069214,
                    "y": -0.6494607329368591,
                    "z": 0.05917486175894737
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000634425668977201,
                "transform": {
                    "location": {
                        "x": 1175.5819091796875,
                        "y": 4085.96240234375,
                        "z": 365.4669494628906
                    },
                    "rotation": {
                        "roll": 0.0024936110712587833,
                        "pitch": 0.8968174457550049,
                        "yaw": -170.622314453125
                    }
                },
                "velocity": {
                    "x": 1.2561529729282483e-05,
                    "y": 3.4285949368495494e-05,
                    "z": -0.0006333739729598165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05351373553276062,
        "expert_target_speed": 10.0,
        "target_point": [
            23.05401015912295,
            0.10934709789604469
        ],
        "target_point_next": [
            74.05380208547018,
            0.24446872861382296
        ]
    },
    "140": {
        "acceleration": [
            0.6111049652099609,
            0.12897849082946777,
            -0.016721785068511963
        ],
        "angular_velocity": [
            0.1603519469499588,
            -0.1392250508069992,
            0.19793274998664856
        ],
        "forward_vector": [
            -0.9870983958244324,
            -0.1594536304473877,
            0.014537655748426914
        ],
        "right_vector": [
            0.15947315096855164,
            -0.9872022867202759,
            0.00018533632101025432
        ],
        "location": [
            1228.3267822265625,
            4094.6064453125,
            364.67431640625
        ],
        "rotation": [
            -0.010620111599564552,
            0.8329756855964661,
            -170.82383728027344
        ],
        "velocity": [
            -4.948338985443115,
            -0.8042994737625122,
            0.07191798835992813
        ],
        "speed": 5.01327800529263,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.454368591308594,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5819091796875,
                4085.96240234375,
                365.4669494628906
            ],
            "velocity": [
                1.3672261957253795e-05,
                -2.6871728550759144e-05,
                -0.0013784990878775716
            ],
            "speed_kmh": 0.004963783544379059,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0027377682272344828,
                "transform": {
                    "location": {
                        "x": 1259.667724609375,
                        "y": 4099.56689453125,
                        "z": 364.2083435058594
                    },
                    "rotation": {
                        "roll": 0.0028423750773072243,
                        "pitch": 0.23723295331001282,
                        "yaw": -170.59048461914062
                    }
                },
                "velocity": {
                    "x": 0.002473631640896201,
                    "y": 0.00044448129483498633,
                    "z": 0.0010857981396839023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062064170837402,
                "transform": {
                    "location": {
                        "x": 1189.794921875,
                        "y": 4091.429931640625,
                        "z": 365.23846435546875
                    },
                    "rotation": {
                        "roll": 0.00011366495164111257,
                        "pitch": -0.8671266436576843,
                        "yaw": 9.282506942749023
                    }
                },
                "velocity": {
                    "x": 7.955709457397461,
                    "y": 1.299439787864685,
                    "z": -0.1225651204586029
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053865432739258,
                "transform": {
                    "location": {
                        "x": 1230.71484375,
                        "y": 4098.0859375,
                        "z": 364.67095947265625
                    },
                    "rotation": {
                        "roll": -0.00018310017185285687,
                        "pitch": -0.8275115489959717,
                        "yaw": 9.24012279510498
                    }
                },
                "velocity": {
                    "x": 7.948530673980713,
                    "y": 1.2931329011917114,
                    "z": -0.1158185750246048
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.031628608703613,
                "transform": {
                    "location": {
                        "x": 1244.5830078125,
                        "y": 4097.09912109375,
                        "z": 364.44158935546875
                    },
                    "rotation": {
                        "roll": 0.000861507433000952,
                        "pitch": 1.0690065622329712,
                        "yaw": -170.75770568847656
                    }
                },
                "velocity": {
                    "x": -4.96596097946167,
                    "y": -0.806828498840332,
                    "z": 0.0744752511382103
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013788287760689855,
                "transform": {
                    "location": {
                        "x": 1175.5819091796875,
                        "y": 4085.96240234375,
                        "z": 365.4669494628906
                    },
                    "rotation": {
                        "roll": 0.0024936110712587833,
                        "pitch": 0.8968174457550049,
                        "yaw": -170.622314453125
                    }
                },
                "velocity": {
                    "x": 1.3672261957253795e-05,
                    "y": -2.6871728550759144e-05,
                    "z": -0.0013784990878775716
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1158.96826171875,
                        "y": 4083.2802734375,
                        "z": 365.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9378395676612854,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04707865044474602,
        "expert_target_speed": 10.0,
        "target_point": [
            21.794743998500994,
            0.07094152260994813
        ],
        "target_point_next": [
            72.79468841347997,
            0.12294205004354986
        ]
    },
    "145": {
        "acceleration": [
            1.1481952667236328,
            0.20767688751220703,
            -0.0015522539615631104
        ],
        "angular_velocity": [
            0.04272871091961861,
            -0.17309796810150146,
            -0.25925949215888977
        ],
        "forward_vector": [
            -0.9872523546218872,
            -0.15874123573303223,
            0.011574485339224339
        ],
        "right_vector": [
            0.15875060856342316,
            -0.9873186945915222,
            -0.00011043989070458338
        ],
        "location": [
            1227.179443359375,
            4094.42236328125,
            364.6912841796875
        ],
        "rotation": [
            0.006328163668513298,
            0.6631839871406555,
            -170.86553955078125
        ],
        "velocity": [
            -4.324458599090576,
            -0.6890578866004944,
            0.06418771296739578
        ],
        "speed": 4.379011640351595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.292236328125,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5819091796875,
                4085.96240234375,
                365.4669494628906
            ],
            "velocity": [
                1.9429771782597527e-05,
                1.5076994941409794e-06,
                -0.00039021437987685204
            ],
            "speed_kmh": 0.0014065225866716333,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1150.72802734375,
                        "y": 4084.97998046875,
                        "z": 366.1531066894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9378395676612854,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4110907316207886,
                "transform": {
                    "location": {
                        "x": 1259.45263671875,
                        "y": 4099.53125,
                        "z": 364.2125549316406
                    },
                    "rotation": {
                        "roll": 0.003736449172720313,
                        "pitch": 0.8482411503791809,
                        "yaw": -170.54656982421875
                    }
                },
                "velocity": {
                    "x": -1.3919696807861328,
                    "y": -0.23054122924804688,
                    "z": 0.02117319032549858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044367790222168,
                "transform": {
                    "location": {
                        "x": 1191.7747802734375,
                        "y": 4091.753662109375,
                        "z": 365.2081298828125
                    },
                    "rotation": {
                        "roll": -0.0001831021363614127,
                        "pitch": -0.8691346645355225,
                        "yaw": 9.272662162780762
                    }
                },
                "velocity": {
                    "x": 7.938604354858398,
                    "y": 1.2944098711013794,
                    "z": -0.12216567993164062
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016230583190918,
                "transform": {
                    "location": {
                        "x": 1232.697021484375,
                        "y": 4098.40869140625,
                        "z": 364.6419982910156
                    },
                    "rotation": {
                        "roll": -0.00021362604456953704,
                        "pitch": -0.8328185677528381,
                        "yaw": 9.240851402282715
                    }
                },
                "velocity": {
                    "x": 7.911373138427734,
                    "y": 1.2871267795562744,
                    "z": -0.11588935554027557
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.509485244750977,
                "transform": {
                    "location": {
                        "x": 1243.289306640625,
                        "y": 4096.888671875,
                        "z": 364.4616394042969
                    },
                    "rotation": {
                        "roll": 0.00010441675840411335,
                        "pitch": 1.0110933780670166,
                        "yaw": -170.7640838623047
                    }
                },
                "velocity": {
                    "x": -5.437644958496094,
                    "y": -0.8831326365470886,
                    "z": 0.08076304942369461
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039070070488378406,
                "transform": {
                    "location": {
                        "x": 1175.5819091796875,
                        "y": 4085.96240234375,
                        "z": 365.4669494628906
                    },
                    "rotation": {
                        "roll": 0.0024936110712587833,
                        "pitch": 0.8968174457550049,
                        "yaw": -170.622314453125
                    }
                },
                "velocity": {
                    "x": 1.9429771782597527e-05,
                    "y": 1.5076994941409794e-06,
                    "z": -0.00039021437987685204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5088849663734436,
                "transform": {
                    "location": {
                        "x": 1158.9677734375,
                        "y": 4083.2802734375,
                        "z": 365.7667541503906
                    },
                    "rotation": {
                        "roll": -0.00018309861479792744,
                        "pitch": 0.9317538738250732,
                        "yaw": -170.76527404785156
                    }
                },
                "velocity": {
                    "x": -0.008093325421214104,
                    "y": -0.0016467865789309144,
                    "z": -0.5088179111480713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.057293035089969635,
        "expert_target_speed": 10.0,
        "target_point": [
            20.63267433826277,
            0.08719551103989787
        ],
        "target_point_next": [
            71.6325674131641,
            0.17630630965971505
        ]
    },
    "150": {
        "acceleration": [
            0.2166748046875,
            0.05154728889465332,
            -0.021917372941970825
        ],
        "angular_velocity": [
            -0.016487639397382736,
            0.3277575671672821,
            -0.2528182864189148
        ],
        "forward_vector": [
            -0.9874150156974792,
            -0.1576448231935501,
            0.012638827785849571
        ],
        "right_vector": [
            0.1576562374830246,
            -0.9874940514564514,
            -9.474046964896843e-05
        ],
        "location": [
            1226.1148681640625,
            4094.25341796875,
            364.7066650390625
        ],
        "rotation": [
            0.005428662523627281,
            0.7241707444190979,
            -170.92904663085938
        ],
        "velocity": [
            -4.216700553894043,
            -0.6667963266372681,
            0.061823710799217224
        ],
        "speed": 4.269096028719345,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.2142448425293,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5819091796875,
                4085.96240234375,
                365.4669494628906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1152.7745361328125,
                        "y": 4085.312744140625,
                        "z": 365.9488830566406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9378395676612854,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2906525135040283,
                "transform": {
                    "location": {
                        "x": 1259.0079345703125,
                        "y": 4099.45751953125,
                        "z": 364.2196044921875
                    },
                    "rotation": {
                        "roll": 0.0033807207364588976,
                        "pitch": 0.9830554127693176,
                        "yaw": -170.57470703125
                    }
                },
                "velocity": {
                    "x": -2.2596912384033203,
                    "y": -0.3736897110939026,
                    "z": 0.035221364349126816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094441413879395,
                "transform": {
                    "location": {
                        "x": 1193.7685546875,
                        "y": 4092.07861328125,
                        "z": 365.177490234375
                    },
                    "rotation": {
                        "roll": -0.0015258744824677706,
                        "pitch": -0.8662318587303162,
                        "yaw": 9.254889488220215
                    }
                },
                "velocity": {
                    "x": 7.988301753997803,
                    "y": 1.30080246925354,
                    "z": -0.12220816314220428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053281784057617,
                "transform": {
                    "location": {
                        "x": 1234.679443359375,
                        "y": 4098.7314453125,
                        "z": 364.6128845214844
                    },
                    "rotation": {
                        "roll": -0.0005798406200483441,
                        "pitch": -0.8353593945503235,
                        "yaw": 9.241033554077148
                    }
                },
                "velocity": {
                    "x": 7.947951316833496,
                    "y": 1.2930647134780884,
                    "z": -0.11577512323856354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.478759765625,
                "transform": {
                    "location": {
                        "x": 1241.8643798828125,
                        "y": 4096.6572265625,
                        "z": 364.4828796386719
                    },
                    "rotation": {
                        "roll": -0.0003356900706421584,
                        "pitch": 0.9922898411750793,
                        "yaw": -170.7679901123047
                    }
                },
                "velocity": {
                    "x": -6.3941521644592285,
                    "y": -1.03928804397583,
                    "z": 0.09500835090875626
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1175.5819091796875,
                        "y": 4085.96240234375,
                        "z": 365.4669494628906
                    },
                    "rotation": {
                        "roll": 0.0024936110712587833,
                        "pitch": 0.8968174457550049,
                        "yaw": -170.622314453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.01630733720958233,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7302551269531
                    },
                    "rotation": {
                        "roll": -0.0017700204625725746,
                        "pitch": 0.9325529932975769,
                        "yaw": -170.7652130126953
                    }
                },
                "velocity": {
                    "x": -0.00019867658556904644,
                    "y": -0.00016465451335534453,
                    "z": -0.01630529575049877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06118864193558693,
        "expert_target_speed": 10.0,
        "target_point": [
            19.55466803089827,
            0.11107562030493501
        ],
        "target_point_next": [
            70.5544309715543,
            0.256727200071305
        ]
    },
    "155": {
        "acceleration": [
            0.22142410278320312,
            -0.008287429809570312,
            -0.013622865080833435
        ],
        "angular_velocity": [
            -0.09149841964244843,
            0.13156886398792267,
            -0.0933249443769455
        ],
        "forward_vector": [
            -0.9875529408454895,
            -0.1566922515630722,
            0.013663938269019127
        ],
        "right_vector": [
            0.15670685470104218,
            -0.987645149230957,
            -1.9839496872009477e-06
        ],
        "location": [
            1225.0670166015625,
            4094.088134765625,
            364.7217102050781
        ],
        "rotation": [
            0.0001136825667344965,
            0.7829104065895081,
            -170.98419189453125
        ],
        "velocity": [
            -4.166092872619629,
            -0.6580137014389038,
            0.060016095638275146
        ],
        "speed": 4.217737765031558,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.159812927246094,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.5755615234375,
                4085.961181640625,
                365.46697998046875
            ],
            "velocity": [
                -0.10497523099184036,
                -0.018990688025951385,
                0.002007560571655631
            ],
            "speed_kmh": 0.3841130100140817,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1154.824951171875,
                        "y": 4085.646240234375,
                        "z": 365.8117370605469
                    },
                    "rotation": {
                        "roll": 6.670977548139945e-09,
                        "pitch": -0.9261736273765564,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8506953716278076,
                "transform": {
                    "location": {
                        "x": 1258.250244140625,
                        "y": 4099.33251953125,
                        "z": 364.2313537597656
                    },
                    "rotation": {
                        "roll": 0.0032620178535580635,
                        "pitch": 1.0892921686172485,
                        "yaw": -170.588134765625
                    }
                },
                "velocity": {
                    "x": -3.7987279891967773,
                    "y": -0.6278483271598816,
                    "z": 0.05768667906522751
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.073958396911621,
                "transform": {
                    "location": {
                        "x": 1195.763671875,
                        "y": 4092.4033203125,
                        "z": 365.1469421386719
                    },
                    "rotation": {
                        "roll": 6.670871854908e-09,
                        "pitch": -0.8681306838989258,
                        "yaw": 9.242979049682617
                    }
                },
                "velocity": {
                    "x": 7.9682207107543945,
                    "y": 1.2965888977050781,
                    "z": -0.12293645739555359
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016805648803711,
                "transform": {
                    "location": {
                        "x": 1236.661865234375,
                        "y": 4099.05419921875,
                        "z": 364.5837097167969
                    },
                    "rotation": {
                        "roll": -0.0006103597697801888,
                        "pitch": -0.8368210792541504,
                        "yaw": 9.23691463470459
                    }
                },
                "velocity": {
                    "x": 7.912022113800049,
                    "y": 1.2866188287734985,
                    "z": -0.11702406406402588
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.775413513183594,
                "transform": {
                    "location": {
                        "x": 1240.0972900390625,
                        "y": 4096.3701171875,
                        "z": 364.5075988769531
                    },
                    "rotation": {
                        "roll": 0.00016607462021056563,
                        "pitch": 1.1874351501464844,
                        "yaw": -170.75926208496094
                    }
                },
                "velocity": {
                    "x": -7.673865795135498,
                    "y": -1.2473065853118896,
                    "z": 0.11428703367710114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10669805854558945,
                "transform": {
                    "location": {
                        "x": 1175.5755615234375,
                        "y": 4085.961181640625,
                        "z": 365.46697998046875
                    },
                    "rotation": {
                        "roll": 0.0016791592352092266,
                        "pitch": 0.8992421627044678,
                        "yaw": -170.6269073486328
                    }
                },
                "velocity": {
                    "x": -0.10497523099184036,
                    "y": -0.018990688025951385,
                    "z": 0.002007560571655631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013900863705202937,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7297668457031
                    },
                    "rotation": {
                        "roll": -0.001617435016669333,
                        "pitch": 0.9329901337623596,
                        "yaw": -170.76515197753906
                    }
                },
                "velocity": {
                    "x": 6.164744263514876e-05,
                    "y": -2.175517329305876e-05,
                    "z": 0.0013885482912883162
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06950434297323227,
        "expert_target_speed": 10.0,
        "target_point": [
            18.493745497526987,
            0.130865771470436
        ],
        "target_point_next": [
            69.4933445796978,
            0.3256164932709211
        ]
    },
    "160": {
        "acceleration": [
            0.12448310852050781,
            0.01571178436279297,
            0.009990483522415161
        ],
        "angular_velocity": [
            0.016280438750982285,
            0.06001655012369156,
            0.02265923283994198
        ],
        "forward_vector": [
            -0.9875395894050598,
            -0.15674059092998505,
            0.014069927856326103
        ],
        "right_vector": [
            0.15675725042819977,
            -0.9876371622085571,
            8.308234828291461e-05
        ],
        "location": [
            1224.0306396484375,
            4093.923583984375,
            364.73663330078125
        ],
        "rotation": [
            -0.004760739393532276,
            0.8061740398406982,
            -170.98133850097656
        ],
        "velocity": [
            -4.12539005279541,
            -0.6553154587745667,
            0.0606149360537529
        ],
        "speed": 4.177114008285175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.18454360961914,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.50244140625,
                4085.94873046875,
                365.4680480957031
            ],
            "velocity": [
                -0.527305006980896,
                -0.0930425226688385,
                0.008371229283511639
            ],
            "speed_kmh": 1.927858180269705,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.925662040710449,
                "transform": {
                    "location": {
                        "x": 1156.6871337890625,
                        "y": 4085.953125,
                        "z": 365.7758483886719
                    },
                    "rotation": {
                        "roll": -0.0504455529153347,
                        "pitch": -1.379909873008728,
                        "yaw": 9.392762184143066
                    }
                },
                "velocity": {
                    "x": 6.825435638427734,
                    "y": 1.1650294065475464,
                    "z": -0.14469006657600403
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.246011257171631,
                "transform": {
                    "location": {
                        "x": 1257.1177978515625,
                        "y": 4099.146484375,
                        "z": 364.2489318847656
                    },
                    "rotation": {
                        "roll": 0.0027019931003451347,
                        "pitch": 1.095077395439148,
                        "yaw": -170.6386260986328
                    }
                },
                "velocity": {
                    "x": -5.176037311553955,
                    "y": -0.8498969078063965,
                    "z": 0.08334377408027649
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053390502929688,
                "transform": {
                    "location": {
                        "x": 1197.7513427734375,
                        "y": 4092.7265625,
                        "z": 365.1166076660156
                    },
                    "rotation": {
                        "roll": -0.0001831016707001254,
                        "pitch": -0.8593743443489075,
                        "yaw": 9.239761352539062
                    }
                },
                "velocity": {
                    "x": 7.948144912719727,
                    "y": 1.2922656536102295,
                    "z": -0.11888586729764938
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052916526794434,
                "transform": {
                    "location": {
                        "x": 1238.644287109375,
                        "y": 4099.3759765625,
                        "z": 364.5543518066406
                    },
                    "rotation": {
                        "roll": 0.0014023815747350454,
                        "pitch": -0.8432551026344299,
                        "yaw": 9.23161506652832
                    }
                },
                "velocity": {
                    "x": 7.947980880737305,
                    "y": 1.2902594804763794,
                    "z": -0.11957581341266632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.666683197021484,
                "transform": {
                    "location": {
                        "x": 1238.386962890625,
                        "y": 4096.0927734375,
                        "z": 364.5387878417969
                    },
                    "rotation": {
                        "roll": -0.0026245086919516325,
                        "pitch": 0.4709005355834961,
                        "yaw": -170.66134643554688
                    }
                },
                "velocity": {
                    "x": -4.6058244705200195,
                    "y": -0.7483040690422058,
                    "z": 0.06599435955286026
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5355161428451538,
                "transform": {
                    "location": {
                        "x": 1175.50244140625,
                        "y": 4085.94873046875,
                        "z": 365.4680480957031
                    },
                    "rotation": {
                        "roll": 0.001602694857865572,
                        "pitch": 0.9094259738922119,
                        "yaw": -170.6044464111328
                    }
                },
                "velocity": {
                    "x": -0.527305006980896,
                    "y": -0.0930425226688385,
                    "z": 0.008371229283511639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.002021079882979393,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7299499511719
                    },
                    "rotation": {
                        "roll": -0.0014953558566048741,
                        "pitch": 0.9329696297645569,
                        "yaw": -170.7650909423828
                    }
                },
                "velocity": {
                    "x": 0.00010480925266165286,
                    "y": -0.0002025258436333388,
                    "z": 0.0020081738475710154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07290929555892944,
        "expert_target_speed": 5.293544957454527,
        "target_point": [
            17.444393105457326,
            0.12988184906196487
        ],
        "target_point_next": [
            68.44400187446536,
            0.32207912771035296
        ]
    },
    "165": {
        "acceleration": [
            0.2409076690673828,
            0.01245260238647461,
            -0.013439357280731201
        ],
        "angular_velocity": [
            0.024289950728416443,
            0.0025749062187969685,
            0.28776824474334717
        ],
        "forward_vector": [
            -0.9873934388160706,
            -0.15764838457107544,
            0.014186859130859375
        ],
        "right_vector": [
            0.1576671302318573,
            -0.9874923229217529,
            0.0002050427719950676
        ],
        "location": [
            1223.0057373046875,
            4093.760009765625,
            364.7514343261719
        ],
        "rotation": [
            -0.011749267578125,
            0.812874436378479,
            -170.92864990234375
        ],
        "velocity": [
            -4.074618816375732,
            -0.6577829718589783,
            0.05982730910181999
        ],
        "speed": 4.127371674180895,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.34246063232422,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3094482421875,
                4085.915283203125,
                365.4710998535156
            ],
            "velocity": [
                -1.0258511304855347,
                -0.17996260523796082,
                0.015152807347476482
            ],
            "speed_kmh": 3.7498569954730265,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.735081672668457,
                "transform": {
                    "location": {
                        "x": 1158.3707275390625,
                        "y": 4086.24365234375,
                        "z": 365.7418518066406
                    },
                    "rotation": {
                        "roll": -0.057617176324129105,
                        "pitch": -1.1361677646636963,
                        "yaw": 9.776798248291016
                    }
                },
                "velocity": {
                    "x": 6.633016586303711,
                    "y": 1.1617027521133423,
                    "z": -0.12190894782543182
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.428066730499268,
                "transform": {
                    "location": {
                        "x": 1255.79052734375,
                        "y": 4098.92919921875,
                        "z": 364.26910400390625
                    },
                    "rotation": {
                        "roll": 0.0031286929734051228,
                        "pitch": 0.9534602165222168,
                        "yaw": -170.6734619140625
                    }
                },
                "velocity": {
                    "x": -5.356014251708984,
                    "y": -0.8778526186943054,
                    "z": 0.07997377216815948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.098989486694336,
                "transform": {
                    "location": {
                        "x": 1199.74560546875,
                        "y": 4093.05078125,
                        "z": 365.08648681640625
                    },
                    "rotation": {
                        "roll": -0.00012206961400806904,
                        "pitch": -0.8470458388328552,
                        "yaw": 9.236289978027344
                    }
                },
                "velocity": {
                    "x": 7.993305683135986,
                    "y": 1.2985906600952148,
                    "z": -0.11979588866233826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017603874206543,
                "transform": {
                    "location": {
                        "x": 1240.626708984375,
                        "y": 4099.697265625,
                        "z": 364.52496337890625
                    },
                    "rotation": {
                        "roll": 0.0004419692559167743,
                        "pitch": -0.8445733189582825,
                        "yaw": 9.224262237548828
                    }
                },
                "velocity": {
                    "x": 7.9130539894104,
                    "y": 1.285074234008789,
                    "z": -0.1188642755150795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0041015781462192535,
                "transform": {
                    "location": {
                        "x": 1238.01171875,
                        "y": 4096.03173828125,
                        "z": 364.5523376464844
                    },
                    "rotation": {
                        "roll": -0.006134032271802425,
                        "pitch": -0.5531837940216064,
                        "yaw": -170.6495819091797
                    }
                },
                "velocity": {
                    "x": 0.0037071092519909143,
                    "y": 0.0004075698379892856,
                    "z": -0.0017070940230041742
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0416269302368164,
                "transform": {
                    "location": {
                        "x": 1175.3094482421875,
                        "y": 4085.915283203125,
                        "z": 365.4710998535156
                    },
                    "rotation": {
                        "roll": 0.0019023893401026726,
                        "pitch": 0.9136607050895691,
                        "yaw": -170.5682830810547
                    }
                },
                "velocity": {
                    "x": -1.0258511304855347,
                    "y": -0.17996260523796082,
                    "z": 0.015152807347476482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001184496795758605,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.73004150390625
                    },
                    "rotation": {
                        "roll": -0.001617441768757999,
                        "pitch": 0.9330584406852722,
                        "yaw": -170.76504516601562
                    }
                },
                "velocity": {
                    "x": 5.52363671886269e-05,
                    "y": 3.075325730605982e-05,
                    "z": 0.001182808424346149
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07224091142416,
        "expert_target_speed": 5.246259882851371,
        "target_point": [
            16.406631725760334,
            0.11389856396531428
        ],
        "target_point_next": [
            67.4063957068931,
            0.2591853649975171
        ]
    },
    "170": {
        "acceleration": [
            0.08269309997558594,
            -0.010495185852050781,
            -0.0037232041358947754
        ],
        "angular_velocity": [
            0.03562531992793083,
            0.027169296517968178,
            0.28747764229774475
        ],
        "forward_vector": [
            -0.9871938228607178,
            -0.15889020264148712,
            0.014224525541067123
        ],
        "right_vector": [
            0.15890856087207794,
            -0.9872933030128479,
            0.0001624362776055932
        ],
        "location": [
            1221.992919921875,
            4093.59619140625,
            364.76611328125
        ],
        "rotation": [
            -0.009307854808866978,
            0.8150327801704407,
            -170.85658264160156
        ],
        "velocity": [
            -4.033828258514404,
            -0.6567696332931519,
            0.0596783421933651
        ],
        "speed": 4.086944674253051,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.640316009521484,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1174.990478515625,
                4085.85888671875,
                365.47613525390625
            ],
            "velocity": [
                -1.502890944480896,
                -0.26239341497421265,
                0.023483313620090485
            ],
            "speed_kmh": 5.492900433988443,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.619579315185547,
                "transform": {
                    "location": {
                        "x": 1160.0577392578125,
                        "y": 4086.537353515625,
                        "z": 365.7120666503906
                    },
                    "rotation": {
                        "roll": -0.009338374249637127,
                        "pitch": -1.0177254676818848,
                        "yaw": 9.865171432495117
                    }
                },
                "velocity": {
                    "x": 6.523134231567383,
                    "y": 1.1204560995101929,
                    "z": -0.11013633757829666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4011688232421875,
                "transform": {
                    "location": {
                        "x": 1254.234375,
                        "y": 4098.673828125,
                        "z": 364.2929992675781
                    },
                    "rotation": {
                        "roll": 0.0017712798435240984,
                        "pitch": 1.133504033088684,
                        "yaw": -170.67697143554688
                    }
                },
                "velocity": {
                    "x": -7.302955150604248,
                    "y": -1.196545124053955,
                    "z": 0.11148156970739365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048778533935547,
                "transform": {
                    "location": {
                        "x": 1201.737060546875,
                        "y": 4093.374267578125,
                        "z": 365.056640625
                    },
                    "rotation": {
                        "roll": 0.0006911788950674236,
                        "pitch": -0.8489651679992676,
                        "yaw": 9.23250961303711
                    }
                },
                "velocity": {
                    "x": 7.9436354637146,
                    "y": 1.2912648916244507,
                    "z": -0.1188841387629509
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053291320800781,
                "transform": {
                    "location": {
                        "x": 1242.6094970703125,
                        "y": 4100.01904296875,
                        "z": 364.4953308105469
                    },
                    "rotation": {
                        "roll": -0.0012817408423870802,
                        "pitch": -0.8467111587524414,
                        "yaw": 9.228928565979004
                    }
                },
                "velocity": {
                    "x": 7.947933197021484,
                    "y": 1.2929420471191406,
                    "z": -0.11902148276567459
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.749136209487915,
                "transform": {
                    "location": {
                        "x": 1237.8880615234375,
                        "y": 4096.01123046875,
                        "z": 364.54339599609375
                    },
                    "rotation": {
                        "roll": -0.003601068165153265,
                        "pitch": 0.7695027589797974,
                        "yaw": -170.69729614257812
                    }
                },
                "velocity": {
                    "x": -0.7393096685409546,
                    "y": -0.12039615958929062,
                    "z": 0.011445407755672932
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5258057117462158,
                "transform": {
                    "location": {
                        "x": 1174.990478515625,
                        "y": 4085.85888671875,
                        "z": 365.47613525390625
                    },
                    "rotation": {
                        "roll": 0.0013239646796137094,
                        "pitch": 0.9147398471832275,
                        "yaw": -170.6125946044922
                    }
                },
                "velocity": {
                    "x": -1.502890944480896,
                    "y": -0.26239341497421265,
                    "z": 0.023483313620090485
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013262077700346708,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.73004150390625
                    },
                    "rotation": {
                        "roll": -0.001617441768757999,
                        "pitch": 0.9330584406852722,
                        "yaw": -170.76504516601562
                    }
                },
                "velocity": {
                    "x": 5.376055560191162e-05,
                    "y": 3.114637001999654e-05,
                    "z": 0.0013247515307739377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07036146521568298,
        "expert_target_speed": 5.207843710752701,
        "target_point": [
            15.380782015096557,
            0.0924745378772962
        ],
        "target_point_next": [
            66.3806883646899,
            0.17363313883109122
        ]
    },
    "175": {
        "acceleration": [
            -0.044345855712890625,
            0.035485029220581055,
            -0.002676919102668762
        ],
        "angular_velocity": [
            0.02968614548444748,
            0.06745247542858124,
            -0.153782919049263
        ],
        "forward_vector": [
            -0.987138032913208,
            -0.15921832621097565,
            0.014422273263335228
        ],
        "right_vector": [
            0.15923400223255157,
            -0.9872408509254456,
            -6.194459274411201e-05
        ],
        "location": [
            1220.9859619140625,
            4093.43310546875,
            364.7807312011719
        ],
        "rotation": [
            0.00354953296482563,
            0.8263640403747559,
            -170.83750915527344
        ],
        "velocity": [
            -4.029676914215088,
            -0.6467918753623962,
            0.05924558639526367
        ],
        "speed": 4.08125418995103,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.07316589355469,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1174.5440673828125,
                4085.781982421875,
                365.4831848144531
            ],
            "velocity": [
                -2.0144221782684326,
                -0.3538784384727478,
                0.03081788867712021
            ],
            "speed_kmh": 7.363805415202455,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.467350482940674,
                "transform": {
                    "location": {
                        "x": 1161.4801025390625,
                        "y": 4086.780517578125,
                        "z": 365.6893615722656
                    },
                    "rotation": {
                        "roll": 0.0017406034749001265,
                        "pitch": -1.2875657081604004,
                        "yaw": 9.71894645690918
                    }
                },
                "velocity": {
                    "x": 5.389399528503418,
                    "y": 0.9156033396720886,
                    "z": -0.08923716098070145
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4846343994140625,
                "transform": {
                    "location": {
                        "x": 1252.348388671875,
                        "y": 4098.36572265625,
                        "z": 364.3214111328125
                    },
                    "rotation": {
                        "roll": 0.0025208420120179653,
                        "pitch": 0.9442735910415649,
                        "yaw": -170.7083740234375
                    }
                },
                "velocity": {
                    "x": -7.385749816894531,
                    "y": -1.2073943614959717,
                    "z": 0.11244865506887436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091772079467773,
                "transform": {
                    "location": {
                        "x": 1203.728271484375,
                        "y": 4093.697509765625,
                        "z": 365.02679443359375
                    },
                    "rotation": {
                        "roll": 9.864171443041414e-05,
                        "pitch": -0.8500101566314697,
                        "yaw": 9.232314109802246
                    }
                },
                "velocity": {
                    "x": 7.986073017120361,
                    "y": 1.2980916500091553,
                    "z": -0.11986642330884933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015867233276367,
                "transform": {
                    "location": {
                        "x": 1244.5916748046875,
                        "y": 4100.341796875,
                        "z": 364.4657287597656
                    },
                    "rotation": {
                        "roll": -0.0013122614473104477,
                        "pitch": -0.8513147234916687,
                        "yaw": 9.236654281616211
                    }
                },
                "velocity": {
                    "x": 7.911081314086914,
                    "y": 1.2863932847976685,
                    "z": -0.11877262592315674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.753462016582489,
                "transform": {
                    "location": {
                        "x": 1237.6927490234375,
                        "y": 4095.97998046875,
                        "z": 364.54400634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.062756896018982,
                        "yaw": -170.70750427246094
                    }
                },
                "velocity": {
                    "x": -0.7435789108276367,
                    "y": -0.1210719645023346,
                    "z": 0.01170717179775238
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.045501470565796,
                "transform": {
                    "location": {
                        "x": 1174.5440673828125,
                        "y": 4085.781982421875,
                        "z": 365.4831848144531
                    },
                    "rotation": {
                        "roll": 0.0029637853149324656,
                        "pitch": 0.9137563109397888,
                        "yaw": -170.4915313720703
                    }
                },
                "velocity": {
                    "x": -2.0144221782684326,
                    "y": -0.3538784384727478,
                    "z": 0.03081788867712021
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008391039445996284,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.0524602809455246e-05,
                    "y": 5.084103031549603e-05,
                    "z": 0.0008365813409909606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.072072833776474,
        "expert_target_speed": 5.202511796014692,
        "target_point": [
            14.36073305776841,
            0.08668608207866235
        ],
        "target_point_next": [
            65.36066362535006,
            0.15084594220080128
        ]
    },
    "180": {
        "acceleration": [
            -0.33598899841308594,
            -0.06047368049621582,
            0.012643858790397644
        ],
        "angular_velocity": [
            -0.02870449237525463,
            0.09099532663822174,
            -0.13150469958782196
        ],
        "forward_vector": [
            -0.9872441291809082,
            -0.1585250198841095,
            0.01479404792189598
        ],
        "right_vector": [
            0.15854136645793915,
            -0.9873523712158203,
            -6.849748751847073e-05
        ],
        "location": [
            1219.9715576171875,
            4093.270751953125,
            364.7953796386719
        ],
        "rotation": [
            0.003925046417862177,
            0.847667396068573,
            -170.87770080566406
        ],
        "velocity": [
            -4.089563846588135,
            -0.65310138463974,
            0.06065348535776138
        ],
        "speed": 4.141385501729957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.61772537231445,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1173.9803466796875,
                4085.685546875,
                365.4922180175781
            ],
            "velocity": [
                -2.4259326457977295,
                -0.41196513175964355,
                0.03768074885010719
            ],
            "speed_kmh": 8.859426881291247,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.58239221572876,
                "transform": {
                    "location": {
                        "x": 1162.84423828125,
                        "y": 4087.01171875,
                        "z": 365.6661376953125
                    },
                    "rotation": {
                        "roll": 7.59852264309302e-06,
                        "pitch": -1.0485159158706665,
                        "yaw": 9.650385856628418
                    }
                },
                "velocity": {
                    "x": 5.503401756286621,
                    "y": 0.931589663028717,
                    "z": -0.08838413655757904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.486833572387695,
                "transform": {
                    "location": {
                        "x": 1250.6851806640625,
                        "y": 4098.09375,
                        "z": 364.3462829589844
                    },
                    "rotation": {
                        "roll": 0.0024589388631284237,
                        "pitch": 0.6621936559677124,
                        "yaw": -170.68075561523438
                    }
                },
                "velocity": {
                    "x": -5.414891719818115,
                    "y": -0.8817657828330994,
                    "z": 0.08232148736715317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.057466506958008,
                "transform": {
                    "location": {
                        "x": 1205.720703125,
                        "y": 4094.021240234375,
                        "z": 364.9967956542969
                    },
                    "rotation": {
                        "roll": 0.0006803455180488527,
                        "pitch": -0.8492383360862732,
                        "yaw": 9.232444763183594
                    }
                },
                "velocity": {
                    "x": 7.952211856842041,
                    "y": 1.2926254272460938,
                    "z": -0.1192149743437767
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053345680236816,
                "transform": {
                    "location": {
                        "x": 1246.5743408203125,
                        "y": 4100.6640625,
                        "z": 364.4360046386719
                    },
                    "rotation": {
                        "roll": -0.00030516431434080005,
                        "pitch": -0.8507341742515564,
                        "yaw": 9.236692428588867
                    }
                },
                "velocity": {
                    "x": 7.948018550872803,
                    "y": 1.292633056640625,
                    "z": -0.12035981565713882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1535733938217163,
                "transform": {
                    "location": {
                        "x": 1237.48486328125,
                        "y": 4095.946044921875,
                        "z": 364.5484313964844
                    },
                    "rotation": {
                        "roll": 0.001382712391205132,
                        "pitch": 0.9058060050010681,
                        "yaw": -170.68035888671875
                    }
                },
                "velocity": {
                    "x": -1.1385235786437988,
                    "y": -0.18502670526504517,
                    "z": 0.016151636838912964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.460952043533325,
                "transform": {
                    "location": {
                        "x": 1173.9803466796875,
                        "y": 4085.685546875,
                        "z": 365.4922180175781
                    },
                    "rotation": {
                        "roll": 0.006527479272335768,
                        "pitch": 0.9121307134628296,
                        "yaw": -170.4122314453125
                    }
                },
                "velocity": {
                    "x": -2.4259326457977295,
                    "y": -0.41196513175964355,
                    "z": 0.03768074885010719
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014968953328207135,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 5.5616495956201106e-05,
                    "y": 7.237125100800768e-05,
                    "z": 0.001494110096246004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07769057154655457,
        "expert_target_speed": 5.25957175576453,
        "target_point": [
            13.333354475110927,
            0.09729173717032502
        ],
        "target_point_next": [
            64.33322744555652,
            0.19724864895401417
        ]
    },
    "185": {
        "acceleration": [
            -0.3507423400878906,
            -0.047860145568847656,
            -0.0052633136510849
        ],
        "angular_velocity": [
            0.014438483864068985,
            0.059007953852415085,
            -0.12536069750785828
        ],
        "forward_vector": [
            -0.9873256683349609,
            -0.15798567235469818,
            0.015118498355150223
        ],
        "right_vector": [
            0.15800334513187408,
            -0.9874385595321655,
            -2.5734070732141845e-05
        ],
        "location": [
            1218.938232421875,
            4093.10595703125,
            364.810302734375
        ],
        "rotation": [
            0.0014746221713721752,
            0.8662591576576233,
            -170.90895080566406
        ],
        "velocity": [
            -4.176539897918701,
            -0.6650243997573853,
            0.060094479471445084
        ],
        "speed": 4.2291539308920205,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.21957015991211,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1173.3411865234375,
                4085.577392578125,
                365.5024108886719
            ],
            "velocity": [
                -2.5716073513031006,
                -0.43558749556541443,
                0.04103083536028862
            ],
            "speed_kmh": 9.390815373046806,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.929616928100586,
                "transform": {
                    "location": {
                        "x": 1164.5828857421875,
                        "y": 4087.305419921875,
                        "z": 365.6354064941406
                    },
                    "rotation": {
                        "roll": 0.009161393158137798,
                        "pitch": -0.35492393374443054,
                        "yaw": 9.596604347229004
                    }
                },
                "velocity": {
                    "x": 7.819773197174072,
                    "y": 1.309108853340149,
                    "z": -0.12730388343334198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0034570374991744757,
                "transform": {
                    "location": {
                        "x": 1250.08056640625,
                        "y": 4098.0009765625,
                        "z": 364.35443115234375
                    },
                    "rotation": {
                        "roll": -0.0003356922243256122,
                        "pitch": 0.12416600435972214,
                        "yaw": -169.62551879882812
                    }
                },
                "velocity": {
                    "x": 0.0004810872196685523,
                    "y": 0.003420609515160322,
                    "z": -0.0001381821057293564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086671829223633,
                "transform": {
                    "location": {
                        "x": 1207.7122802734375,
                        "y": 4094.34423828125,
                        "z": 364.96722412109375
                    },
                    "rotation": {
                        "roll": -0.0007934541208669543,
                        "pitch": -0.8386788964271545,
                        "yaw": 9.236218452453613
                    }
                },
                "velocity": {
                    "x": 7.980710506439209,
                    "y": 1.2994155883789062,
                    "z": -0.11846605688333511
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01815414428711,
                "transform": {
                    "location": {
                        "x": 1248.556640625,
                        "y": 4100.986328125,
                        "z": 364.4061279296875
                    },
                    "rotation": {
                        "roll": -0.0003662166418507695,
                        "pitch": -0.8588484525680542,
                        "yaw": 9.236918449401855
                    }
                },
                "velocity": {
                    "x": 7.913309574127197,
                    "y": 1.2868964672088623,
                    "z": -0.11925555765628815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.217724084854126,
                "transform": {
                    "location": {
                        "x": 1237.07568359375,
                        "y": 4095.87939453125,
                        "z": 364.55322265625
                    },
                    "rotation": {
                        "roll": 0.002123516518622637,
                        "pitch": 1.0477646589279175,
                        "yaw": -170.69729614257812
                    }
                },
                "velocity": {
                    "x": -2.188657522201538,
                    "y": -0.3564246594905853,
                    "z": 0.03223823383450508
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6085598468780518,
                "transform": {
                    "location": {
                        "x": 1173.3411865234375,
                        "y": 4085.577392578125,
                        "z": 365.5024108886719
                    },
                    "rotation": {
                        "roll": 0.005812796298414469,
                        "pitch": 0.9054166674613953,
                        "yaw": -170.4056854248047
                    }
                },
                "velocity": {
                    "x": -2.5716073513031006,
                    "y": -0.43558749556541443,
                    "z": 0.04103083536028862
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003719901433214545,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 2.859845699276775e-05,
                    "y": 1.1770911441999488e-05,
                    "z": 0.00037070235703140497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08009757846593857,
        "expert_target_speed": 5.34231686409139,
        "target_point": [
            12.286916109494634,
            0.10510933681689827
        ],
        "target_point_next": [
            63.28672696520689,
            0.23288675021198735
        ]
    },
    "190": {
        "acceleration": [
            -0.3835010528564453,
            -0.09909510612487793,
            -0.0011932849884033203
        ],
        "angular_velocity": [
            -0.0406801700592041,
            0.04008673131465912,
            0.14030402898788452
        ],
        "forward_vector": [
            -0.98732590675354,
            -0.15796279907226562,
            0.0153384143486619
        ],
        "right_vector": [
            0.1579829603433609,
            -0.9874418377876282,
            0.00010438355820951983
        ],
        "location": [
            1217.8812255859375,
            4092.936767578125,
            364.82574462890625
        ],
        "rotation": [
            -0.005981441121548414,
            0.8788608908653259,
            -170.91024780273438
        ],
        "velocity": [
            -4.27293586730957,
            -0.6867441534996033,
            0.06074773520231247
        ],
        "speed": 4.327770610661623,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.8248291015625,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.6749267578125,
                4085.464599609375,
                365.5129699707031
            ],
            "velocity": [
                -2.829913854598999,
                -0.47948500514030457,
                0.04485546052455902
            ],
            "speed_kmh": 10.334151188075507,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.293371200561523,
                "transform": {
                    "location": {
                        "x": 1166.619384765625,
                        "y": 4087.645263671875,
                        "z": 365.6033020019531
                    },
                    "rotation": {
                        "roll": 0.01616779714822769,
                        "pitch": -0.5530062317848206,
                        "yaw": 9.457612037658691
                    }
                },
                "velocity": {
                    "x": 8.180559158325195,
                    "y": 1.3570365905761719,
                    "z": -0.1300683617591858
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.05455482006073,
                "transform": {
                    "location": {
                        "x": 1249.95263671875,
                        "y": 4097.9794921875,
                        "z": 364.3572998046875
                    },
                    "rotation": {
                        "roll": 0.01240133959800005,
                        "pitch": 0.7647489309310913,
                        "yaw": -169.67835998535156
                    }
                },
                "velocity": {
                    "x": -1.039452314376831,
                    "y": -0.17714336514472961,
                    "z": 0.015649251639842987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0580472946167,
                "transform": {
                    "location": {
                        "x": 1209.703857421875,
                        "y": 4094.668701171875,
                        "z": 364.93780517578125
                    },
                    "rotation": {
                        "roll": -0.0007629464962519705,
                        "pitch": -0.8285223841667175,
                        "yaw": 9.245285034179688
                    }
                },
                "velocity": {
                    "x": 7.9525275230407715,
                    "y": 1.2944352626800537,
                    "z": -0.11776314675807953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.05276107788086,
                "transform": {
                    "location": {
                        "x": 1250.539306640625,
                        "y": 4101.30859375,
                        "z": 364.3761291503906
                    },
                    "rotation": {
                        "roll": -3.05124995065853e-05,
                        "pitch": -0.8595587611198425,
                        "yaw": 9.237123489379883
                    }
                },
                "velocity": {
                    "x": 7.94745397567749,
                    "y": 1.2924822568893433,
                    "z": -0.12011018395423889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.854196071624756,
                "transform": {
                    "location": {
                        "x": 1236.33837890625,
                        "y": 4095.759033203125,
                        "z": 364.5628356933594
                    },
                    "rotation": {
                        "roll": 0.0021765707060694695,
                        "pitch": 1.205671787261963,
                        "yaw": -170.70419311523438
                    }
                },
                "velocity": {
                    "x": -3.803729772567749,
                    "y": -0.6191484332084656,
                    "z": 0.05587437376379967
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8705976009368896,
                "transform": {
                    "location": {
                        "x": 1172.6749267578125,
                        "y": 4085.464599609375,
                        "z": 365.5129699707031
                    },
                    "rotation": {
                        "roll": 0.005777396727353334,
                        "pitch": 0.907472550868988,
                        "yaw": -170.3995819091797
                    }
                },
                "velocity": {
                    "x": -2.829913854598999,
                    "y": -0.47948500514030457,
                    "z": 0.04485546052455902
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00018098110740538687,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 2.9640346838277765e-05,
                    "y": 1.695342348284612e-06,
                    "z": 0.00017852937162388116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0824173167347908,
        "expert_target_speed": 5.435199475595099,
        "target_point": [
            11.216451926929567,
            0.1053074144874191
        ],
        "target_point_next": [
            62.21625990617015,
            0.23422780227955897
        ]
    },
    "195": {
        "acceleration": [
            -0.3034782409667969,
            -0.06492137908935547,
            0.003985613584518433
        ],
        "angular_velocity": [
            0.006872665602713823,
            0.007114994805306196,
            0.20127400755882263
        ],
        "forward_vector": [
            -0.9871912002563477,
            -0.15879853069782257,
            0.0153801329433918
        ],
        "right_vector": [
            0.15881949663162231,
            -0.987307608127594,
            0.00014432637544814497
        ],
        "location": [
            1216.802978515625,
            4092.762939453125,
            364.84136962890625
        ],
        "rotation": [
            -0.008270270191133022,
            0.8812514543533325,
            -170.8617401123047
        ],
        "velocity": [
            -4.349623680114746,
            -0.7048313021659851,
            0.06218582019209862
        ],
        "speed": 4.406360553010607,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.51828384399414,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1171.9002685546875,
                4085.333740234375,
                365.5252380371094
            ],
            "velocity": [
                -3.3739235401153564,
                -0.571217954158783,
                0.05363301932811737
            ],
            "speed_kmh": 12.320484711395219,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.824787139892578,
                "transform": {
                    "location": {
                        "x": 1168.5933837890625,
                        "y": 4087.972412109375,
                        "z": 365.5730285644531
                    },
                    "rotation": {
                        "roll": 0.009223184548318386,
                        "pitch": -0.9175128936767578,
                        "yaw": 9.400936126708984
                    }
                },
                "velocity": {
                    "x": 7.718961715698242,
                    "y": 1.2766577005386353,
                    "z": -0.12275203317403793
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0546467304229736,
                "transform": {
                    "location": {
                        "x": 1249.555419921875,
                        "y": 4097.91259765625,
                        "z": 364.36358642578125
                    },
                    "rotation": {
                        "roll": 0.017276611179113388,
                        "pitch": 0.9674962162971497,
                        "yaw": -169.93601989746094
                    }
                },
                "velocity": {
                    "x": -2.0258595943450928,
                    "y": -0.3413507342338562,
                    "z": 0.030757742002606392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088683128356934,
                "transform": {
                    "location": {
                        "x": 1211.696044921875,
                        "y": 4094.99267578125,
                        "z": 364.90850830078125
                    },
                    "rotation": {
                        "roll": -0.0002746570680756122,
                        "pitch": -0.8295878767967224,
                        "yaw": 9.246129035949707
                    }
                },
                "velocity": {
                    "x": 7.982774257659912,
                    "y": 1.2995131015777588,
                    "z": -0.11561677604913712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.907041072845459,
                "transform": {
                    "location": {
                        "x": 1252.514404296875,
                        "y": 4101.6298828125,
                        "z": 364.3462829589844
                    },
                    "rotation": {
                        "roll": -0.0011291459668427706,
                        "pitch": -0.8711223006248474,
                        "yaw": 9.241445541381836
                    }
                },
                "velocity": {
                    "x": 7.803310871124268,
                    "y": 1.271028757095337,
                    "z": -0.11887203902006149
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.182467937469482,
                "transform": {
                    "location": {
                        "x": 1235.1473388671875,
                        "y": 4095.56494140625,
                        "z": 364.58013916015625
                    },
                    "rotation": {
                        "roll": 0.002022787695750594,
                        "pitch": 1.263202428817749,
                        "yaw": -170.72866821289062
                    }
                },
                "velocity": {
                    "x": -5.1146063804626465,
                    "y": -0.8324390053749084,
                    "z": 0.07628261297941208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4223568439483643,
                "transform": {
                    "location": {
                        "x": 1171.9002685546875,
                        "y": 4085.333740234375,
                        "z": 365.5252380371094
                    },
                    "rotation": {
                        "roll": 0.00497529748827219,
                        "pitch": 0.9182983636856079,
                        "yaw": -170.3956756591797
                    }
                },
                "velocity": {
                    "x": -3.3739235401153564,
                    "y": -0.571217954158783,
                    "z": 0.05363301932811737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005625149351544678,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.0841845475370064e-05,
                    "y": 2.752153159235604e-05,
                    "z": 0.000560354848857969
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0832926407456398,
        "expert_target_speed": 5.509499769959231,
        "target_point": [
            10.124368179969965,
            0.09543618173098634
        ],
        "target_point_next": [
            61.124267008258784,
            0.18119100727690984
        ]
    },
    "200": {
        "acceleration": [
            -0.2877998352050781,
            -0.06426692008972168,
            -0.0027476251125335693
        ],
        "angular_velocity": [
            0.05267355591058731,
            -0.006808759178966284,
            0.20451505482196808
        ],
        "forward_vector": [
            -0.9870490431785583,
            -0.15967458486557007,
            0.015435677953064442
        ],
        "right_vector": [
            0.15969586372375488,
            -0.9871662855148315,
            0.00014752148126717657
        ],
        "location": [
            1215.7044677734375,
            4092.584716796875,
            364.857421875
        ],
        "rotation": [
            -0.008453365415334702,
            0.8844343423843384,
            -170.81088256835938
        ],
        "velocity": [
            -4.430564880371094,
            -0.7219958305358887,
            0.0643153190612793
        ],
        "speed": 4.489006921189689,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.282386779785156,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1171.03564453125,
                4085.18701171875,
                365.53900146484375
            ],
            "velocity": [
                -3.427915573120117,
                -0.5815489292144775,
                0.056715287268161774
            ],
            "speed_kmh": 12.518489989086747,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.114523887634277,
                "transform": {
                    "location": {
                        "x": 1170.5516357421875,
                        "y": 4088.294921875,
                        "z": 365.54156494140625
                    },
                    "rotation": {
                        "roll": 0.011250481009483337,
                        "pitch": -0.8640120625495911,
                        "yaw": 9.345123291015625
                    }
                },
                "velocity": {
                    "x": 8.006458282470703,
                    "y": 1.3137462139129639,
                    "z": -0.12728619575500488
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5976117849349976,
                "transform": {
                    "location": {
                        "x": 1249.0850830078125,
                        "y": 4097.83447265625,
                        "z": 364.3703918457031
                    },
                    "rotation": {
                        "roll": 0.007992444559931755,
                        "pitch": 0.7437939047813416,
                        "yaw": -170.27862548828125
                    }
                },
                "velocity": {
                    "x": -0.5893216133117676,
                    "y": -0.0987052321434021,
                    "z": 0.00985498446971178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055357933044434,
                "transform": {
                    "location": {
                        "x": 1213.687255859375,
                        "y": 4095.317138671875,
                        "z": 364.87939453125
                    },
                    "rotation": {
                        "roll": -0.0004577574145514518,
                        "pitch": -0.8300182223320007,
                        "yaw": 9.245240211486816
                    }
                },
                "velocity": {
                    "x": 7.950063705444336,
                    "y": 1.2931002378463745,
                    "z": -0.11474160850048065
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.5492424964904785,
                "transform": {
                    "location": {
                        "x": 1254.4197998046875,
                        "y": 4101.93994140625,
                        "z": 364.3175048828125
                    },
                    "rotation": {
                        "roll": 0.00017545884475111961,
                        "pitch": -0.9013321995735168,
                        "yaw": 9.239717483520508
                    }
                },
                "velocity": {
                    "x": 7.450472831726074,
                    "y": 1.2118277549743652,
                    "z": -0.11399313062429428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.5829949378967285,
                "transform": {
                    "location": {
                        "x": 1233.69580078125,
                        "y": 4095.32861328125,
                        "z": 364.60284423828125
                    },
                    "rotation": {
                        "roll": 0.0011032421607524157,
                        "pitch": 1.0911636352539062,
                        "yaw": -170.73956298828125
                    }
                },
                "velocity": {
                    "x": -6.4969682693481445,
                    "y": -1.0565253496170044,
                    "z": 0.09474512189626694
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.47735857963562,
                "transform": {
                    "location": {
                        "x": 1171.03564453125,
                        "y": 4085.18701171875,
                        "z": 365.53900146484375
                    },
                    "rotation": {
                        "roll": 0.004469787701964378,
                        "pitch": 0.909453272819519,
                        "yaw": -170.39039611816406
                    }
                },
                "velocity": {
                    "x": -3.427915573120117,
                    "y": -0.5815489292144775,
                    "z": 0.056715287268161774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004056855686940253,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.3820440623676404e-05,
                    "y": 2.553161175455898e-05,
                    "z": 0.000402503035729751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07503953576087952,
        "expert_target_speed": 5.58679336161977,
        "target_point": [
            9.01157476004833,
            0.08593681705782874
        ],
        "target_point_next": [
            60.01152962555223,
            0.12641029436230866
        ]
    },
    "205": {
        "acceleration": [
            -0.1499652862548828,
            -0.03683328628540039,
            0.006229281425476074
        ],
        "angular_velocity": [
            0.012921446934342384,
            -0.042445823550224304,
            0.1570235788822174
        ],
        "forward_vector": [
            -0.9869317412376404,
            -0.16041389107704163,
            0.015265228226780891
        ],
        "right_vector": [
            0.16043409705162048,
            -0.9870465397834778,
            0.00010012322309194133
        ],
        "location": [
            1214.5906982421875,
            4092.403076171875,
            364.8738098144531
        ],
        "rotation": [
            -0.0057373070158064365,
            0.8746671676635742,
            -170.7679901123047
        ],
        "velocity": [
            -4.474613189697266,
            -0.7312878370285034,
            0.06471986323595047
        ],
        "speed": 4.533976742110458,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.01782989501953,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1170.183837890625,
                4085.042724609375,
                365.55279541015625
            ],
            "velocity": [
                -3.388580799102783,
                -0.5740538835525513,
                0.05473042279481888
            ],
            "speed_kmh": 12.374270481015866,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.061722755432129,
                "transform": {
                    "location": {
                        "x": 1172.55859375,
                        "y": 4088.6240234375,
                        "z": 365.50982666015625
                    },
                    "rotation": {
                        "roll": 0.0070874555967748165,
                        "pitch": -0.8861759901046753,
                        "yaw": 9.309348106384277
                    }
                },
                "velocity": {
                    "x": 7.954864978790283,
                    "y": 1.3021432161331177,
                    "z": -0.12615559995174408
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0145808458328247,
                "transform": {
                    "location": {
                        "x": 1248.9600830078125,
                        "y": 4097.8134765625,
                        "z": 364.3724670410156
                    },
                    "rotation": {
                        "roll": 0.007173863705247641,
                        "pitch": 0.8474966287612915,
                        "yaw": -170.34584045410156
                    }
                },
                "velocity": {
                    "x": -1.000765085220337,
                    "y": -0.16622182726860046,
                    "z": 0.01462519634515047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089066505432129,
                "transform": {
                    "location": {
                        "x": 1215.6793212890625,
                        "y": 4095.64111328125,
                        "z": 364.8502197265625
                    },
                    "rotation": {
                        "roll": 0.00043037370778620243,
                        "pitch": -0.8295878767967224,
                        "yaw": 9.239336013793945
                    }
                },
                "velocity": {
                    "x": 7.98331880569458,
                    "y": 1.2984765768051147,
                    "z": -0.11652454733848572
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.276183128356934,
                "transform": {
                    "location": {
                        "x": 1256.2427978515625,
                        "y": 4102.236328125,
                        "z": 364.28961181640625
                    },
                    "rotation": {
                        "roll": 0.0002442891418468207,
                        "pitch": -0.8958475589752197,
                        "yaw": 9.23281192779541
                    }
                },
                "velocity": {
                    "x": 7.181121826171875,
                    "y": 1.1670984029769897,
                    "z": -0.11049815267324448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.721506595611572,
                "transform": {
                    "location": {
                        "x": 1231.8818359375,
                        "y": 4095.033447265625,
                        "z": 364.6291809082031
                    },
                    "rotation": {
                        "roll": 6.671352359433058e-09,
                        "pitch": 1.1075356006622314,
                        "yaw": -170.84742736816406
                    }
                },
                "velocity": {
                    "x": -7.6210808753967285,
                    "y": -1.2363353967666626,
                    "z": 0.1107223704457283
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4372973442077637,
                "transform": {
                    "location": {
                        "x": 1170.183837890625,
                        "y": 4085.042724609375,
                        "z": 365.55279541015625
                    },
                    "rotation": {
                        "roll": 0.00446984451264143,
                        "pitch": 0.9016600251197815,
                        "yaw": -170.3874969482422
                    }
                },
                "velocity": {
                    "x": -3.388580799102783,
                    "y": -0.5740538835525513,
                    "z": 0.05473042279481888
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006165967788547277,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.197135422145948e-05,
                    "y": 1.987932228075806e-05,
                    "z": 0.0006148453685455024
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07805129885673523,
        "expert_target_speed": 5.628481271051959,
        "target_point": [
            7.883152843018751,
            0.07858767127932031
        ],
        "target_point_next": [
            58.88312371680704,
            0.08088082334034397
        ]
    },
    "210": {
        "acceleration": [
            -0.21036148071289062,
            -0.05260944366455078,
            0.025872886180877686
        ],
        "angular_velocity": [
            0.005898775067180395,
            0.004476781003177166,
            0.1590578556060791
        ],
        "forward_vector": [
            -0.9868215322494507,
            -0.16109469532966614,
            0.015224344097077847
        ],
        "right_vector": [
            0.16111499071121216,
            -0.9869356751441956,
            0.00010811176616698503
        ],
        "location": [
            1213.46484375,
            4092.21875,
            364.8903503417969
        ],
        "rotation": [
            -0.0061950660310685635,
            0.8723244071006775,
            -170.7284698486328
        ],
        "velocity": [
            -4.530506610870361,
            -0.7438976764678955,
            0.06565134227275848
        ],
        "speed": 4.591173477902396,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.781612396240234,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1169.2918701171875,
                4084.891845703125,
                365.5670166015625
            ],
            "velocity": [
                -3.6566402912139893,
                -0.6203377842903137,
                0.0573623850941658
            ],
            "speed_kmh": 13.35358731105847,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 1134.2811279296875,
                        "y": 4082.305908203125,
                        "z": 366.535888671875
                    },
                    "rotation": {
                        "roll": 6.671091234977666e-09,
                        "pitch": -0.984708309173584,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.973636150360107,
                "transform": {
                    "location": {
                        "x": 1174.52783203125,
                        "y": 4088.94677734375,
                        "z": 365.4787292480469
                    },
                    "rotation": {
                        "roll": 0.004845700692385435,
                        "pitch": -0.937778115272522,
                        "yaw": 9.296765327453613
                    }
                },
                "velocity": {
                    "x": 7.86837911605835,
                    "y": 1.2852271795272827,
                    "z": -0.12519262731075287
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9224023818969727,
                "transform": {
                    "location": {
                        "x": 1248.580810546875,
                        "y": 4097.7509765625,
                        "z": 364.3782653808594
                    },
                    "rotation": {
                        "roll": 0.008184012956917286,
                        "pitch": 0.9673117995262146,
                        "yaw": -170.36048889160156
                    }
                },
                "velocity": {
                    "x": -1.8964163064956665,
                    "y": -0.3137076795101166,
                    "z": 0.028694801032543182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055900573730469,
                "transform": {
                    "location": {
                        "x": 1217.6710205078125,
                        "y": 4095.96484375,
                        "z": 364.8211669921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8235431909561157,
                        "yaw": 9.235549926757812
                    }
                },
                "velocity": {
                    "x": 7.950650691986084,
                    "y": 1.2927687168121338,
                    "z": -0.11590329557657242
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.117589950561523,
                "transform": {
                    "location": {
                        "x": 1258.0203857421875,
                        "y": 4102.525390625,
                        "z": 364.26220703125
                    },
                    "rotation": {
                        "roll": -0.0003662134404294193,
                        "pitch": -0.8943449258804321,
                        "yaw": 9.23126220703125
                    }
                },
                "velocity": {
                    "x": 7.0245866775512695,
                    "y": 1.1417851448059082,
                    "z": -0.1076764240860939
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046243667602539,
                "transform": {
                    "location": {
                        "x": 1229.869873046875,
                        "y": 4094.706787109375,
                        "z": 364.6598815917969
                    },
                    "rotation": {
                        "roll": -0.0015563879860565066,
                        "pitch": 0.9313235878944397,
                        "yaw": -170.84059143066406
                    }
                },
                "velocity": {
                    "x": -7.941436767578125,
                    "y": -1.2892522811889648,
                    "z": 0.1159568578004837
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.709329843521118,
                "transform": {
                    "location": {
                        "x": 1169.2918701171875,
                        "y": 4084.891845703125,
                        "z": 365.5670166015625
                    },
                    "rotation": {
                        "roll": 0.005890196654945612,
                        "pitch": 0.9120487570762634,
                        "yaw": -170.3850860595703
                    }
                },
                "velocity": {
                    "x": -3.6566402912139893,
                    "y": -0.6203377842903137,
                    "z": 0.0573623850941658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00040969630936160684,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 3.9619801100343466e-05,
                    "y": -3.8108413718873635e-05,
                    "z": 0.000405991479055956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07737872004508972,
        "expert_target_speed": 5.681996733660624,
        "target_point": [
            57.74232185395749,
            0.03975244234491626
        ],
        "target_point_next": [
            94.74237228142718,
            0.01598845487311351
        ]
    },
    "215": {
        "acceleration": [
            -0.10582923889160156,
            -0.03310799598693848,
            0.01262858510017395
        ],
        "angular_velocity": [
            0.021403782069683075,
            -0.026728713884949684,
            0.15975554287433624
        ],
        "forward_vector": [
            -0.9867104887962341,
            -0.1617818921804428,
            0.015131372027099133
        ],
        "right_vector": [
            0.16180144250392914,
            -0.986823320388794,
            6.923440378159285e-05
        ],
        "location": [
            1212.327392578125,
            4092.03173828125,
            364.9069519042969
        ],
        "rotation": [
            -0.0039672935381531715,
            0.8669968247413635,
            -170.68858337402344
        ],
        "velocity": [
            -4.564670085906982,
            -0.7525568008422852,
            0.06751333177089691
        ],
        "speed": 4.626289520951756,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.41819763183594,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.513427734375,
                4084.76123046875,
                365.5796813964844
            ],
            "velocity": [
                -2.5336782932281494,
                -0.4212999641895294,
                0.04006687179207802
            ],
            "speed_kmh": 9.247603809134226,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1136.3294677734375,
                        "y": 4082.638916015625,
                        "z": 366.3643798828125
                    },
                    "rotation": {
                        "roll": 6.671067698249544e-09,
                        "pitch": -0.9727759957313538,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.077173233032227,
                "transform": {
                    "location": {
                        "x": 1176.510498046875,
                        "y": 4089.270263671875,
                        "z": 365.4471435546875
                    },
                    "rotation": {
                        "roll": 0.005437884945422411,
                        "pitch": -0.8888807892799377,
                        "yaw": 9.268539428710938
                    }
                },
                "velocity": {
                    "x": 7.971007347106934,
                    "y": 1.2990919351577759,
                    "z": -0.12699249386787415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2350964546203613,
                "transform": {
                    "location": {
                        "x": 1247.95556640625,
                        "y": 4097.64794921875,
                        "z": 364.3878173828125
                    },
                    "rotation": {
                        "roll": 0.007707285229116678,
                        "pitch": 1.0378676652908325,
                        "yaw": -170.47459411621094
                    }
                },
                "velocity": {
                    "x": -3.191782236099243,
                    "y": -0.5253866910934448,
                    "z": 0.048408277332782745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089323997497559,
                "transform": {
                    "location": {
                        "x": 1219.662841796875,
                        "y": 4096.2880859375,
                        "z": 364.79217529296875
                    },
                    "rotation": {
                        "roll": -0.0006408695480786264,
                        "pitch": -0.8206130266189575,
                        "yaw": 9.234875679016113
                    }
                },
                "velocity": {
                    "x": 7.983665466308594,
                    "y": 1.2980436086654663,
                    "z": -0.11544235795736313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.774703502655029,
                "transform": {
                    "location": {
                        "x": 1259.7320556640625,
                        "y": 4102.8037109375,
                        "z": 364.2359924316406
                    },
                    "rotation": {
                        "roll": -0.0003051687963306904,
                        "pitch": -0.9054917693138123,
                        "yaw": 9.234971046447754
                    }
                },
                "velocity": {
                    "x": 6.686099529266357,
                    "y": 1.087260365486145,
                    "z": -0.10269958525896072
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.954786777496338,
                "transform": {
                    "location": {
                        "x": 1228.408935546875,
                        "y": 4094.469970703125,
                        "z": 364.68939208984375
                    },
                    "rotation": {
                        "roll": 0.0009506633505225182,
                        "pitch": -0.10073845088481903,
                        "yaw": -170.8170623779297
                    }
                },
                "velocity": {
                    "x": -2.916304588317871,
                    "y": -0.47363436222076416,
                    "z": 0.04003073647618294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5687787532806396,
                "transform": {
                    "location": {
                        "x": 1168.513427734375,
                        "y": 4084.76123046875,
                        "z": 365.5796813964844
                    },
                    "rotation": {
                        "roll": 0.004708597436547279,
                        "pitch": 0.8756096959114075,
                        "yaw": -170.4341583251953
                    }
                },
                "velocity": {
                    "x": -2.5336782932281494,
                    "y": -0.4212999641895294,
                    "z": 0.04006687179207802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003013093664776534,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.059627462993376e-05,
                    "y": 2.9211621949798428e-05,
                    "z": 0.0002971295325551182
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0706176906824112,
        "expert_target_speed": 5.7125042396411505,
        "target_point": [
            56.589613412579745,
            -0.0009543899477097995
        ],
        "target_point_next": [
            93.58963832958267,
            -0.0504771479727637
        ]
    },
    "220": {
        "acceleration": [
            -0.11770248413085938,
            -0.015081167221069336,
            0.003959238529205322
        ],
        "angular_velocity": [
            0.025240883231163025,
            -0.015445731580257416,
            0.05942999944090843
        ],
        "forward_vector": [
            -0.9866275191307068,
            -0.1622961163520813,
            0.015037564560770988
        ],
        "right_vector": [
            0.16231465339660645,
            -0.9867390990257263,
            1.1716619155777153e-05
        ],
        "location": [
            1211.1824951171875,
            4091.843017578125,
            364.923828125
        ],
        "rotation": [
            -0.000671388756018132,
            0.8616214990615845,
            -170.6587371826172
        ],
        "velocity": [
            -4.593080997467041,
            -0.7571650743484497,
            0.06821050494909286
        ],
        "speed": 4.655071642746857,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.560001373291016,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.21533203125,
                4084.71142578125,
                365.5849609375
            ],
            "velocity": [
                0.0001018279799609445,
                -8.464432903565466e-05,
                0.0017058367375284433
            ],
            "speed_kmh": 0.006159485934114216,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1138.3758544921875,
                        "y": 4082.971435546875,
                        "z": 366.1589660644531
                    },
                    "rotation": {
                        "roll": 6.671067698249544e-09,
                        "pitch": -0.9727759957313538,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029513359069824,
                "transform": {
                    "location": {
                        "x": 1178.4989013671875,
                        "y": 4089.594482421875,
                        "z": 365.4158935546875
                    },
                    "rotation": {
                        "roll": 0.001444400055333972,
                        "pitch": -0.9095147848129272,
                        "yaw": 9.260847091674805
                    }
                },
                "velocity": {
                    "x": 7.923907279968262,
                    "y": 1.2919036149978638,
                    "z": -0.12553471326828003
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.722555160522461,
                "transform": {
                    "location": {
                        "x": 1246.958740234375,
                        "y": 4097.484375,
                        "z": 364.40289306640625
                    },
                    "rotation": {
                        "roll": 0.006260058842599392,
                        "pitch": 1.0797845125198364,
                        "yaw": -170.59500122070312
                    }
                },
                "velocity": {
                    "x": -4.6598920822143555,
                    "y": -0.7635294198989868,
                    "z": 0.07040269672870636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056055068969727,
                "transform": {
                    "location": {
                        "x": 1221.654541015625,
                        "y": 4096.6123046875,
                        "z": 364.7632751464844
                    },
                    "rotation": {
                        "roll": 0.00041739808511920273,
                        "pitch": -0.8211935758590698,
                        "yaw": 9.241332054138184
                    }
                },
                "velocity": {
                    "x": 7.9506731033325195,
                    "y": 1.2937586307525635,
                    "z": -0.11405452340841293
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.606171607971191,
                "transform": {
                    "location": {
                        "x": 1261.3800048828125,
                        "y": 4103.0712890625,
                        "z": 364.2105712890625
                    },
                    "rotation": {
                        "roll": 0.0006985061918385327,
                        "pitch": -0.8992968201637268,
                        "yaw": 9.23505973815918
                    }
                },
                "velocity": {
                    "x": 6.519806385040283,
                    "y": 1.0600972175598145,
                    "z": -0.09911051392555237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8733971118927,
                "transform": {
                    "location": {
                        "x": 1227.70361328125,
                        "y": 4094.35546875,
                        "z": 364.6961669921875
                    },
                    "rotation": {
                        "roll": -0.00015259261999744922,
                        "pitch": 0.31233087182044983,
                        "yaw": -170.80213928222656
                    }
                },
                "velocity": {
                    "x": -2.8358843326568604,
                    "y": -0.4609433710575104,
                    "z": 0.04124835878610611
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0017109683249145746,
                "transform": {
                    "location": {
                        "x": 1168.21533203125,
                        "y": 4084.71142578125,
                        "z": 365.5849609375
                    },
                    "rotation": {
                        "roll": 0.005791321396827698,
                        "pitch": 0.8167676329612732,
                        "yaw": -170.43707275390625
                    }
                },
                "velocity": {
                    "x": 0.0001018279799609445,
                    "y": -8.464432903565466e-05,
                    "z": 0.0017058367375284433
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007397907320410013,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.190400068182498e-05,
                    "y": 2.6068278202728834e-06,
                    "z": 0.0007385984063148499
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06822175532579422,
        "expert_target_speed": 5.733596149222884,
        "target_point": [
            55.429258075369646,
            -0.030806050509893268
        ],
        "target_point_next": [
            92.42925218956842,
            -0.0995949424651279
        ]
    },
    "225": {
        "acceleration": [
            -0.09693145751953125,
            0.007421970367431641,
            -0.003721266984939575
        ],
        "angular_velocity": [
            0.023611342534422874,
            -0.014180859550833702,
            -0.034673336893320084
        ],
        "forward_vector": [
            -0.986609697341919,
            -0.16240964829921722,
            0.014982019551098347
        ],
        "right_vector": [
            0.16242724657058716,
            -0.9867205619812012,
            -4.274653838365339e-05
        ],
        "location": [
            1210.0308837890625,
            4091.6533203125,
            364.9407653808594
        ],
        "rotation": [
            0.0024494712706655264,
            0.8584386110305786,
            -170.65216064453125
        ],
        "velocity": [
            -4.618836402893066,
            -0.7596626877784729,
            0.0680880919098854
        ],
        "speed": 4.6808906327634885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.39322280883789,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.21484375,
                4084.71142578125,
                365.58441162109375
            ],
            "velocity": [
                9.314923954661936e-05,
                0.0001067606863216497,
                0.001199788530357182
            ],
            "speed_kmh": 0.004349251679016776,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1140.427978515625,
                        "y": 4083.304931640625,
                        "z": 366.0536193847656
                    },
                    "rotation": {
                        "roll": 6.671045493789052e-09,
                        "pitch": -0.9611510038375854,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017300605773926,
                "transform": {
                    "location": {
                        "x": 1180.475341796875,
                        "y": 4089.916748046875,
                        "z": 365.384765625
                    },
                    "rotation": {
                        "roll": 1.735111618472729e-05,
                        "pitch": -0.9058811068534851,
                        "yaw": 9.260311126708984
                    }
                },
                "velocity": {
                    "x": 7.91189432144165,
                    "y": 1.2899420261383057,
                    "z": -0.1228170394897461
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.404281139373779,
                "transform": {
                    "location": {
                        "x": 1245.668212890625,
                        "y": 4097.2734375,
                        "z": 364.42242431640625
                    },
                    "rotation": {
                        "roll": 0.00403829850256443,
                        "pitch": 0.9847151637077332,
                        "yaw": -170.68560791015625
                    }
                },
                "velocity": {
                    "x": -5.3332648277282715,
                    "y": -0.8696020245552063,
                    "z": 0.07958453893661499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088765144348145,
                "transform": {
                    "location": {
                        "x": 1223.646240234375,
                        "y": 4096.93603515625,
                        "z": 364.7344055175781
                    },
                    "rotation": {
                        "roll": -3.051886960747652e-05,
                        "pitch": -0.8208930492401123,
                        "yaw": 9.239093780517578
                    }
                },
                "velocity": {
                    "x": 7.983032703399658,
                    "y": 1.2983747720718384,
                    "z": -0.11633942276239395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.353341579437256,
                "transform": {
                    "location": {
                        "x": 1262.97900390625,
                        "y": 4103.33154296875,
                        "z": 364.1858825683594
                    },
                    "rotation": {
                        "roll": -0.0005493114003911614,
                        "pitch": -0.9026845693588257,
                        "yaw": 9.23812484741211
                    }
                },
                "velocity": {
                    "x": 6.270192623138428,
                    "y": 1.0197902917861938,
                    "z": -0.09830424189567566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2624945640563965,
                "transform": {
                    "location": {
                        "x": 1226.95166015625,
                        "y": 4094.2333984375,
                        "z": 364.7015075683594
                    },
                    "rotation": {
                        "roll": -0.00018310925224795938,
                        "pitch": 1.0053149461746216,
                        "yaw": -170.78988647460938
                    }
                },
                "velocity": {
                    "x": -3.219820261001587,
                    "y": -0.5238837003707886,
                    "z": 0.04663505405187607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012081254972144961,
                "transform": {
                    "location": {
                        "x": 1168.21484375,
                        "y": 4084.71142578125,
                        "z": 365.58441162109375
                    },
                    "rotation": {
                        "roll": 0.0050500258803367615,
                        "pitch": 0.8847280144691467,
                        "yaw": -170.43704223632812
                    }
                },
                "velocity": {
                    "x": 9.314923954661936e-05,
                    "y": 0.0001067606863216497,
                    "z": 0.001199788530357182
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000175021355971694,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 3.2442359952256083e-05,
                    "y": 2.893794226110913e-05,
                    "z": 0.0001695363171165809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06459614634513855,
        "expert_target_speed": 5.755540677945723,
        "target_point": [
            54.26212363320375,
            -0.037300690073911014
        ],
        "target_point_next": [
            91.26210959802486,
            -0.11034153782888723
        ]
    },
    "230": {
        "acceleration": [
            -0.09869575500488281,
            -0.011619329452514648,
            -0.0015185773372650146
        ],
        "angular_velocity": [
            -0.01272041816264391,
            0.025309527292847633,
            -0.04482043907046318
        ],
        "forward_vector": [
            -0.986640453338623,
            -0.16222093999385834,
            0.014998349361121655
        ],
        "right_vector": [
            0.16223815083503723,
            -0.9867516160011292,
            -7.049168198136613e-05
        ],
        "location": [
            1208.872802734375,
            4091.463623046875,
            364.9578552246094
        ],
        "rotation": [
            0.004039330407977104,
            0.8593743443489075,
            -170.66311645507812
        ],
        "velocity": [
            -4.643435478210449,
            -0.7623482942581177,
            0.06822578608989716
        ],
        "speed": 4.705599638947385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.21958541870117,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.21484375,
                4084.71142578125,
                365.58428955078125
            ],
            "velocity": [
                2.6786625312524848e-05,
                1.1519360668899026e-05,
                -0.0004346281639300287
            ],
            "speed_kmh": 0.0015681785942990231,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.103859901428223,
                "transform": {
                    "location": {
                        "x": 1142.429931640625,
                        "y": 4083.64111328125,
                        "z": 366.0064392089844
                    },
                    "rotation": {
                        "roll": -0.018585216253995895,
                        "pitch": -0.9744835495948792,
                        "yaw": 9.599909782409668
                    }
                },
                "velocity": {
                    "x": 7.981265544891357,
                    "y": 1.3921012878417969,
                    "z": -0.18439409136772156
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059926986694336,
                "transform": {
                    "location": {
                        "x": 1182.4608154296875,
                        "y": 4090.240478515625,
                        "z": 365.35357666015625
                    },
                    "rotation": {
                        "roll": 0.001401299494318664,
                        "pitch": -0.8933340311050415,
                        "yaw": 9.250982284545898
                    }
                },
                "velocity": {
                    "x": 7.954441547393799,
                    "y": 1.2938827276229858,
                    "z": -0.12304817885160446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.592698097229004,
                "transform": {
                    "location": {
                        "x": 1244.26123046875,
                        "y": 4097.04443359375,
                        "z": 364.44342041015625
                    },
                    "rotation": {
                        "roll": 0.002359839854761958,
                        "pitch": 1.0322327613830566,
                        "yaw": -170.73870849609375
                    }
                },
                "velocity": {
                    "x": -6.506539344787598,
                    "y": -1.0578831434249878,
                    "z": 0.09746558964252472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056221008300781,
                "transform": {
                    "location": {
                        "x": 1225.637939453125,
                        "y": 4097.259765625,
                        "z": 364.7055358886719
                    },
                    "rotation": {
                        "roll": -0.0004577631480060518,
                        "pitch": -0.8220200538635254,
                        "yaw": 9.239238739013672
                    }
                },
                "velocity": {
                    "x": 7.9507737159729,
                    "y": 1.2940831184387207,
                    "z": -0.11512614041566849
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.156918048858643,
                "transform": {
                    "location": {
                        "x": 1264.5208740234375,
                        "y": 4103.58251953125,
                        "z": 364.1620178222656
                    },
                    "rotation": {
                        "roll": -0.0007629427709616721,
                        "pitch": -0.9091185927391052,
                        "yaw": 9.236515045166016
                    }
                },
                "velocity": {
                    "x": 6.0765814781188965,
                    "y": 0.9867826104164124,
                    "z": -0.09517461806535721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.178918838500977,
                "transform": {
                    "location": {
                        "x": 1226.03564453125,
                        "y": 4094.084716796875,
                        "z": 364.71417236328125
                    },
                    "rotation": {
                        "roll": -0.0002746514219325036,
                        "pitch": 1.0913617610931396,
                        "yaw": -170.7798614501953
                    }
                },
                "velocity": {
                    "x": -4.124337196350098,
                    "y": -0.6705082058906555,
                    "z": 0.060197677463293076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00043560515041463077,
                "transform": {
                    "location": {
                        "x": 1168.21484375,
                        "y": 4084.71142578125,
                        "z": 365.58428955078125
                    },
                    "rotation": {
                        "roll": 0.004338589496910572,
                        "pitch": 0.897527813911438,
                        "yaw": -170.43701171875
                    }
                },
                "velocity": {
                    "x": 2.6786625312524848e-05,
                    "y": 1.1519360668899026e-05,
                    "z": -0.0004346281639300287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005358097259886563,
                "transform": {
                    "location": {
                        "x": 1158.96728515625,
                        "y": 4083.2802734375,
                        "z": 365.7300720214844
                    },
                    "rotation": {
                        "roll": -0.0022888167295604944,
                        "pitch": 0.9328125715255737,
                        "yaw": -170.76498413085938
                    }
                },
                "velocity": {
                    "x": 4.166960570728406e-05,
                    "y": 1.7650798326940276e-05,
                    "z": 0.0005338952760212123
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06469716876745224,
        "expert_target_speed": 5.77620583809302,
        "target_point": [
            53.08861527024275,
            -0.026223498610541185
        ],
        "target_point_next": [
            90.0886145249333,
            -0.09218951484080229
        ]
    },
    "235": {
        "acceleration": [
            0.0040149688720703125,
            0.007017850875854492,
            0.001595616340637207
        ],
        "angular_velocity": [
            0.0021134710405021906,
            -0.005456979852169752,
            -0.04508485645055771
        ],
        "forward_vector": [
            -0.986670970916748,
            -0.16202713549137115,
            0.015083693899214268
        ],
        "right_vector": [
            0.16204479336738586,
            -0.9867833852767944,
            -5.1736129535129294e-05
        ],
        "location": [
            1207.71044921875,
            4091.272216796875,
            364.97509765625
        ],
        "rotation": [
            0.002964599058032036,
            0.8642647862434387,
            -170.67434692382812
        ],
        "velocity": [
            -4.651361465454102,
            -0.7626739144325256,
            0.06848496943712234
        ],
        "speed": 4.713473770168575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.04157257080078,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.2147216796875,
                4084.71142578125,
                365.5842590332031
            ],
            "velocity": [
                1.4535188711306546e-05,
                -3.542378408383229e-07,
                -0.0005164409521967173
            ],
            "speed_kmh": 0.001859924084403233,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.065500259399414,
                "transform": {
                    "location": {
                        "x": 1144.420654296875,
                        "y": 4083.988037109375,
                        "z": 365.96630859375
                    },
                    "rotation": {
                        "roll": -0.016479484736919403,
                        "pitch": -0.9588629007339478,
                        "yaw": 9.923824310302734
                    }
                },
                "velocity": {
                    "x": 7.941735744476318,
                    "y": 1.4000085592269897,
                    "z": -0.14527758955955505
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015979766845703,
                "transform": {
                    "location": {
                        "x": 1184.4432373046875,
                        "y": 4090.562744140625,
                        "z": 365.32269287109375
                    },
                    "rotation": {
                        "roll": -0.00033568168873898685,
                        "pitch": -0.905853807926178,
                        "yaw": 9.238492012023926
                    }
                },
                "velocity": {
                    "x": 7.911074638366699,
                    "y": 1.2867541313171387,
                    "z": -0.12288766354322433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054409980773926,
                "transform": {
                    "location": {
                        "x": 1242.406494140625,
                        "y": 4096.7431640625,
                        "z": 364.4711608886719
                    },
                    "rotation": {
                        "roll": 0.0005134276580065489,
                        "pitch": 1.070713996887207,
                        "yaw": -170.74032592773438
                    }
                },
                "velocity": {
                    "x": -7.9492011070251465,
                    "y": -1.2921772003173828,
                    "z": 0.11835037171840668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088739395141602,
                "transform": {
                    "location": {
                        "x": 1227.6297607421875,
                        "y": 4097.58447265625,
                        "z": 364.6765441894531
                    },
                    "rotation": {
                        "roll": -9.155667066806927e-05,
                        "pitch": -0.8237890601158142,
                        "yaw": 9.245867729187012
                    }
                },
                "velocity": {
                    "x": 7.982831954956055,
                    "y": 1.2994613647460938,
                    "z": -0.11619564890861511
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.907961368560791,
                "transform": {
                    "location": {
                        "x": 1266.0069580078125,
                        "y": 4103.82373046875,
                        "z": 364.13885498046875
                    },
                    "rotation": {
                        "roll": -0.0009460529545322061,
                        "pitch": -0.9066734313964844,
                        "yaw": 9.235442161560059
                    }
                },
                "velocity": {
                    "x": 5.830702304840088,
                    "y": 0.9480080008506775,
                    "z": -0.09053732454776764
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.028942584991455,
                "transform": {
                    "location": {
                        "x": 1224.8670654296875,
                        "y": 4093.89501953125,
                        "z": 364.7314758300781
                    },
                    "rotation": {
                        "roll": -0.0010681021958589554,
                        "pitch": 1.0660626888275146,
                        "yaw": -170.76812744140625
                    }
                },
                "velocity": {
                    "x": -4.963090896606445,
                    "y": -0.8078204989433289,
                    "z": 0.07359817624092102
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005166455521248281,
                "transform": {
                    "location": {
                        "x": 1168.2147216796875,
                        "y": 4084.71142578125,
                        "z": 365.5842590332031
                    },
                    "rotation": {
                        "roll": 0.00570747209712863,
                        "pitch": 0.9033266305923462,
                        "yaw": -170.43692016601562
                    }
                },
                "velocity": {
                    "x": 1.4535188711306546e-05,
                    "y": -3.542378408383229e-07,
                    "z": -0.0005164409521967173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9336589574813843,
                "transform": {
                    "location": {
                        "x": 1158.895263671875,
                        "y": 4083.26806640625,
                        "z": 365.7309265136719
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.9811566472053528,
                        "yaw": -170.73590087890625
                    }
                },
                "velocity": {
                    "x": -0.9197196960449219,
                    "y": -0.16000477969646454,
                    "z": 0.015270299278199673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06062810868024826,
        "expert_target_speed": 5.781030952688505,
        "target_point": [
            51.910611845502146,
            -0.0163415995387588
        ],
        "target_point_next": [
            88.91062331766577,
            -0.07505635202989147
        ]
    },
    "240": {
        "acceleration": [
            -0.08348464965820312,
            -0.00901341438293457,
            -0.004783123731613159
        ],
        "angular_velocity": [
            0.019579708576202393,
            0.04394298791885376,
            -0.045541997998952866
        ],
        "forward_vector": [
            -0.9867011904716492,
            -0.1618325412273407,
            0.015200028195977211
        ],
        "right_vector": [
            0.16185051202774048,
            -0.9868152737617493,
            -4.890595664619468e-05
        ],
        "location": [
            1206.5462646484375,
            4091.08056640625,
            364.9924011230469
        ],
        "rotation": [
            0.0028024285566061735,
            0.8709310293197632,
            -170.68563842773438
        ],
        "velocity": [
            -4.664142608642578,
            -0.763805091381073,
            0.06853464245796204
        ],
        "speed": 4.726269616872787,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.86159133911133,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.2147216796875,
                4084.71142578125,
                365.5842590332031
            ],
            "velocity": [
                2.0634532120311633e-05,
                1.0596122592687607e-05,
                -0.00033635261934250593
            ],
            "speed_kmh": 0.0012137454657539654,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.146589279174805,
                "transform": {
                    "location": {
                        "x": 1146.41796875,
                        "y": 4084.33056640625,
                        "z": 365.9313659667969
                    },
                    "rotation": {
                        "roll": -0.004425054416060448,
                        "pitch": -0.9585896730422974,
                        "yaw": 9.733776092529297
                    }
                },
                "velocity": {
                    "x": 8.030854225158691,
                    "y": 1.3613473176956177,
                    "z": -0.13794898986816406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046126365661621,
                "transform": {
                    "location": {
                        "x": 1186.42431640625,
                        "y": 4090.885009765625,
                        "z": 365.29156494140625
                    },
                    "rotation": {
                        "roll": 0.0003072763793170452,
                        "pitch": -0.9001711010932922,
                        "yaw": 9.238183975219727
                    }
                },
                "velocity": {
                    "x": 7.940820217132568,
                    "y": 1.2916386127471924,
                    "z": -0.1232452243566513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.777144908905029,
                "transform": {
                    "location": {
                        "x": 1240.41015625,
                        "y": 4096.4189453125,
                        "z": 364.5005798339844
                    },
                    "rotation": {
                        "roll": -0.00033569804509170353,
                        "pitch": 0.8651731610298157,
                        "yaw": -170.78846740722656
                    }
                },
                "velocity": {
                    "x": -7.67573881149292,
                    "y": -1.2466014623641968,
                    "z": 0.1140407919883728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055169105529785,
                "transform": {
                    "location": {
                        "x": 1229.621337890625,
                        "y": 4097.908203125,
                        "z": 364.6475830078125
                    },
                    "rotation": {
                        "roll": 0.0007634860230609775,
                        "pitch": -0.8245540261268616,
                        "yaw": 9.238951683044434
                    }
                },
                "velocity": {
                    "x": 7.950042724609375,
                    "y": 1.2920161485671997,
                    "z": -0.11515726149082184
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.767117977142334,
                "transform": {
                    "location": {
                        "x": 1267.4473876953125,
                        "y": 4104.05810546875,
                        "z": 364.1163635253906
                    },
                    "rotation": {
                        "roll": -0.0006103508058004081,
                        "pitch": -0.9048770666122437,
                        "yaw": 9.238531112670898
                    }
                },
                "velocity": {
                    "x": 5.691652297973633,
                    "y": 0.9257333874702454,
                    "z": -0.08809708058834076
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.645080089569092,
                "transform": {
                    "location": {
                        "x": 1223.5367431640625,
                        "y": 4093.678466796875,
                        "z": 364.7518005371094
                    },
                    "rotation": {
                        "roll": -0.0003967265074606985,
                        "pitch": 0.9566362500190735,
                        "yaw": -170.75775146484375
                    }
                },
                "velocity": {
                    "x": -5.571207046508789,
                    "y": -0.9066607356071472,
                    "z": 0.08091424405574799
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00033715151948854327,
                "transform": {
                    "location": {
                        "x": 1168.2147216796875,
                        "y": 4084.71142578125,
                        "z": 365.5842590332031
                    },
                    "rotation": {
                        "roll": 0.006726871710270643,
                        "pitch": 0.9037500619888306,
                        "yaw": -170.43690490722656
                    }
                },
                "velocity": {
                    "x": 2.0634532120311633e-05,
                    "y": 1.0596122592687607e-05,
                    "z": -0.00033635261934250593
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.19002366065979,
                "transform": {
                    "location": {
                        "x": 1158.6053466796875,
                        "y": 4083.216796875,
                        "z": 365.7361145019531
                    },
                    "rotation": {
                        "roll": -0.001983648631721735,
                        "pitch": 0.9616564512252808,
                        "yaw": -170.7399444580078
                    }
                },
                "velocity": {
                    "x": -1.171324610710144,
                    "y": -0.20926272869110107,
                    "z": 0.019084777683019638
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06112917140126228,
        "expert_target_speed": 5.790121776451299,
        "target_point": [
            50.73076021130123,
            -0.006817612923549987
        ],
        "target_point_next": [
            87.73078252889708,
            -0.05824581344945834
        ]
    },
    "245": {
        "acceleration": [
            -0.03452301025390625,
            0.00047326087951660156,
            -0.00627666711807251
        ],
        "angular_velocity": [
            -0.0404619537293911,
            -0.02915196865797043,
            -0.044632088392972946
        ],
        "forward_vector": [
            -0.9867326021194458,
            -0.16163766384124756,
            0.015232568606734276
        ],
        "right_vector": [
            0.1616555005311966,
            -0.9868472814559937,
            -6.128439417807385e-05
        ],
        "location": [
            1205.3785400390625,
            4090.889404296875,
            365.00994873046875
        ],
        "rotation": [
            0.0035117450170218945,
            0.8727957010269165,
            -170.6969451904297
        ],
        "velocity": [
            -4.676369667053223,
            -0.7648619413375854,
            0.06855039298534393
        ],
        "speed": 4.738506837838495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.678199768066406,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.2147216796875,
                4084.71142578125,
                365.5842590332031
            ],
            "velocity": [
                2.30853256653063e-05,
                2.105809653585311e-05,
                -4.293763777241111e-05
            ],
            "speed_kmh": 0.0001911737767327596,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.1983232498168945,
                "transform": {
                    "location": {
                        "x": 1148.2569580078125,
                        "y": 4084.64306640625,
                        "z": 365.9008483886719
                    },
                    "rotation": {
                        "roll": -0.005767814349383116,
                        "pitch": -1.0565482378005981,
                        "yaw": 9.612214088439941
                    }
                },
                "velocity": {
                    "x": 6.1107611656188965,
                    "y": 1.0331283807754517,
                    "z": -0.10226468741893768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030401229858398,
                "transform": {
                    "location": {
                        "x": 1188.4083251953125,
                        "y": 4091.20751953125,
                        "z": 365.2607727050781
                    },
                    "rotation": {
                        "roll": 0.00032043037936091423,
                        "pitch": -0.8879996538162231,
                        "yaw": 9.238192558288574
                    }
                },
                "velocity": {
                    "x": 7.925308704376221,
                    "y": 1.2890615463256836,
                    "z": -0.12305209040641785
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.658072471618652,
                "transform": {
                    "location": {
                        "x": 1238.64306640625,
                        "y": 4096.1318359375,
                        "z": 364.5266418457031
                    },
                    "rotation": {
                        "roll": -0.0004882829380221665,
                        "pitch": 0.7129828929901123,
                        "yaw": -170.75221252441406
                    }
                },
                "velocity": {
                    "x": -6.571241855621338,
                    "y": -1.0673089027404785,
                    "z": 0.09778249263763428
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089354515075684,
                "transform": {
                    "location": {
                        "x": 1231.61328125,
                        "y": 4098.2314453125,
                        "z": 364.6184997558594
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.8263776898384094,
                        "yaw": 9.233854293823242
                    }
                },
                "velocity": {
                    "x": 7.983701229095459,
                    "y": 1.297940969467163,
                    "z": -0.11626353859901428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.494991302490234,
                "transform": {
                    "location": {
                        "x": 1268.8350830078125,
                        "y": 4104.2841796875,
                        "z": 364.0947570800781
                    },
                    "rotation": {
                        "roll": 0.0017808425473049283,
                        "pitch": -0.9093303680419922,
                        "yaw": 9.237278938293457
                    }
                },
                "velocity": {
                    "x": 5.423251152038574,
                    "y": 0.8809807300567627,
                    "z": -0.08455529808998108
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.873144149780273,
                "transform": {
                    "location": {
                        "x": 1222.031494140625,
                        "y": 4093.43359375,
                        "z": 364.7727355957031
                    },
                    "rotation": {
                        "roll": 0.0009003847953863442,
                        "pitch": 1.0595602989196777,
                        "yaw": -170.7436065673828
                    }
                },
                "velocity": {
                    "x": -6.783356666564941,
                    "y": -1.1030129194259644,
                    "z": 0.09772111475467682
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.3103824029676616e-05,
                "transform": {
                    "location": {
                        "x": 1168.2147216796875,
                        "y": 4084.71142578125,
                        "z": 365.5842590332031
                    },
                    "rotation": {
                        "roll": 0.006285536102950573,
                        "pitch": 0.9039071798324585,
                        "yaw": -170.43687438964844
                    }
                },
                "velocity": {
                    "x": 2.30853256653063e-05,
                    "y": 2.105809653585311e-05,
                    "z": -4.293763777241111e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.317460536956787,
                "transform": {
                    "location": {
                        "x": 1158.2049560546875,
                        "y": 4083.145751953125,
                        "z": 365.7424011230469
                    },
                    "rotation": {
                        "roll": -0.0011596588883548975,
                        "pitch": 0.9933211803436279,
                        "yaw": -170.72796630859375
                    }
                },
                "velocity": {
                    "x": -2.282963514328003,
                    "y": -0.3966759741306305,
                    "z": 0.0367300771176815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0614486038684845,
        "expert_target_speed": 5.798362982435638,
        "target_point": [
            49.5474923402088,
            0.003319424117642633
        ],
        "target_point_next": [
            86.54752408931286,
            -0.040804579458519896
        ]
    },
    "250": {
        "acceleration": [
            0.0034332275390625,
            0.003415346145629883,
            0.0022396445274353027
        ],
        "angular_velocity": [
            0.015058810822665691,
            -0.0072446558624506,
            -0.04546714574098587
        ],
        "forward_vector": [
            -0.9867653250694275,
            -0.16144277155399323,
            0.015179288573563099
        ],
        "right_vector": [
            0.16146066784858704,
            -0.9868791699409485,
            -4.676461321651004e-05
        ],
        "location": [
            1204.20849609375,
            4090.69775390625,
            365.0274963378906
        ],
        "rotation": [
            0.0026797237806022167,
            0.8697425723075867,
            -170.70826721191406
        ],
        "velocity": [
            -4.680953502655029,
            -0.7646660208702087,
            0.06933563202619553
        ],
        "speed": 4.742999031993562,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.492435455322266,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.2147216796875,
                4084.71142578125,
                365.5842590332031
            ],
            "velocity": [
                2.5613604520913213e-05,
                4.093851657671621e-06,
                -0.0003982482012361288
            ],
            "speed_kmh": 0.001436731297789904,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.478353977203369,
                "transform": {
                    "location": {
                        "x": 1149.6551513671875,
                        "y": 4084.87890625,
                        "z": 365.8771057128906
                    },
                    "rotation": {
                        "roll": -0.0015869064955040812,
                        "pitch": -1.0137639045715332,
                        "yaw": 9.572466850280762
                    }
                },
                "velocity": {
                    "x": 5.402906894683838,
                    "y": 0.9014906883239746,
                    "z": -0.09095953404903412
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038776397705078,
                "transform": {
                    "location": {
                        "x": 1190.3902587890625,
                        "y": 4091.529541015625,
                        "z": 365.230224609375
                    },
                    "rotation": {
                        "roll": 0.0007402563351206481,
                        "pitch": -0.8830546140670776,
                        "yaw": 9.234278678894043
                    }
                },
                "velocity": {
                    "x": 7.93367862701416,
                    "y": 1.2897785902023315,
                    "z": -0.12302184104919434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.159524917602539,
                "transform": {
                    "location": {
                        "x": 1237.263916015625,
                        "y": 4095.907470703125,
                        "z": 364.54693603515625
                    },
                    "rotation": {
                        "roll": -0.00076293881284073,
                        "pitch": 0.6480209827423096,
                        "yaw": -170.81272888183594
                    }
                },
                "velocity": {
                    "x": -5.092200756072998,
                    "y": -0.8273234963417053,
                    "z": 0.07565175741910934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056110382080078,
                "transform": {
                    "location": {
                        "x": 1233.60498046875,
                        "y": 4098.5546875,
                        "z": 364.5893249511719
                    },
                    "rotation": {
                        "roll": 0.00018438120605424047,
                        "pitch": -0.8327024579048157,
                        "yaw": 9.233431816101074
                    }
                },
                "velocity": {
                    "x": 7.9509148597717285,
                    "y": 1.2925236225128174,
                    "z": -0.11513270437717438
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.379967212677002,
                "transform": {
                    "location": {
                        "x": 1270.17529296875,
                        "y": 4104.501953125,
                        "z": 364.0738830566406
                    },
                    "rotation": {
                        "roll": 0.0013752346858382225,
                        "pitch": -0.9070149064064026,
                        "yaw": 9.236091613769531
                    }
                },
                "velocity": {
                    "x": 5.309576511383057,
                    "y": 0.8634061813354492,
                    "z": -0.0835038274526596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.8999786376953125,
                "transform": {
                    "location": {
                        "x": 1220.1771240234375,
                        "y": 4093.13232421875,
                        "z": 364.7988586425781
                    },
                    "rotation": {
                        "roll": -0.001373295672237873,
                        "pitch": 1.145217776298523,
                        "yaw": -170.7007598876953
                    }
                },
                "velocity": {
                    "x": -7.796585559844971,
                    "y": -1.268883228302002,
                    "z": 0.1133665218949318
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039909203769639134,
                "transform": {
                    "location": {
                        "x": 1168.2147216796875,
                        "y": 4084.71142578125,
                        "z": 365.5842590332031
                    },
                    "rotation": {
                        "roll": 0.005775763187557459,
                        "pitch": 0.903715968132019,
                        "yaw": -170.43679809570312
                    }
                },
                "velocity": {
                    "x": 2.5613604520913213e-05,
                    "y": 4.093851657671621e-06,
                    "z": -0.0003982482012361288
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8635817766189575,
                "transform": {
                    "location": {
                        "x": 1157.689697265625,
                        "y": 4083.05419921875,
                        "z": 365.7516784667969
                    },
                    "rotation": {
                        "roll": -0.0013427637750282884,
                        "pitch": 0.8604944944381714,
                        "yaw": -170.93634033203125
                    }
                },
                "velocity": {
                    "x": -0.8494936227798462,
                    "y": -0.15504276752471924,
                    "z": 0.009790458716452122
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05967501550912857,
        "expert_target_speed": 5.799094839496103,
        "target_point": [
            48.36185474736001,
            0.012881890561450504
        ],
        "target_point_next": [
            85.36189448604632,
            -0.023937914345411926
        ]
    },
    "255": {
        "acceleration": [
            -0.066375732421875,
            -0.006496906280517578,
            -0.002524256706237793
        ],
        "angular_velocity": [
            -0.013989821076393127,
            0.0008442957769148052,
            -0.045268237590789795
        ],
        "forward_vector": [
            -0.9867975115776062,
            -0.16124731302261353,
            0.015164508484303951
        ],
        "right_vector": [
            0.16126513481140137,
            -0.9869111180305481,
            -4.7863690269878134e-05
        ],
        "location": [
            1203.0377197265625,
            4090.506103515625,
            365.0450744628906
        ],
        "rotation": [
            0.002742702839896083,
            0.8688956499099731,
            -170.71961975097656
        ],
        "velocity": [
            -4.6892266273498535,
            -0.7651016712188721,
            0.06929473578929901
        ],
        "speed": 4.751234253322898,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.30839920043945,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.2122802734375,
                4084.711181640625,
                365.5841979980469
            ],
            "velocity": [
                -0.06211524456739426,
                -0.01065109483897686,
                0.0015283202519640326
            ],
            "speed_kmh": 0.2269452446842701,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.110648155212402,
                "transform": {
                    "location": {
                        "x": 1151.09326171875,
                        "y": 4085.118408203125,
                        "z": 365.8523864746094
                    },
                    "rotation": {
                        "roll": -0.0002441448741592467,
                        "pitch": -0.9325871467590332,
                        "yaw": 9.441838264465332
                    }
                },
                "velocity": {
                    "x": 6.0278000831604,
                    "y": 0.9977471828460693,
                    "z": -0.10072429478168488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029961585998535,
                "transform": {
                    "location": {
                        "x": 1192.3726806640625,
                        "y": 4091.851806640625,
                        "z": 365.1997985839844
                    },
                    "rotation": {
                        "roll": 0.0011094431392848492,
                        "pitch": -0.8808279633522034,
                        "yaw": 9.22933292388916
                    }
                },
                "velocity": {
                    "x": 7.92508602142334,
                    "y": 1.287733554840088,
                    "z": -0.12260733544826508
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2000579833984375,
                "transform": {
                    "location": {
                        "x": 1235.990234375,
                        "y": 4095.700439453125,
                        "z": 364.56591796875
                    },
                    "rotation": {
                        "roll": -0.0007019030163064599,
                        "pitch": 0.7965707778930664,
                        "yaw": -170.7971954345703
                    }
                },
                "velocity": {
                    "x": -5.132355213165283,
                    "y": -0.832951545715332,
                    "z": 0.07566218823194504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088862419128418,
                "transform": {
                    "location": {
                        "x": 1235.5968017578125,
                        "y": 4098.87841796875,
                        "z": 364.5600280761719
                    },
                    "rotation": {
                        "roll": -0.0003662208910100162,
                        "pitch": -0.8332557082176208,
                        "yaw": 9.235902786254883
                    }
                },
                "velocity": {
                    "x": 7.983170509338379,
                    "y": 1.2981534004211426,
                    "z": -0.1161370724439621
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.135814666748047,
                "transform": {
                    "location": {
                        "x": 1271.4722900390625,
                        "y": 4104.712890625,
                        "z": 364.0536193847656
                    },
                    "rotation": {
                        "roll": 0.0015977774746716022,
                        "pitch": -0.9071037173271179,
                        "yaw": 9.237183570861816
                    }
                },
                "velocity": {
                    "x": 5.068625450134277,
                    "y": 0.8242531418800354,
                    "z": -0.07895798236131668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.915942907333374,
                "transform": {
                    "location": {
                        "x": 1218.7523193359375,
                        "y": 4092.903076171875,
                        "z": 364.8285827636719
                    },
                    "rotation": {
                        "roll": -0.009735107421875,
                        "pitch": 0.01810683123767376,
                        "yaw": -170.3405303955078
                    }
                },
                "velocity": {
                    "x": -2.878650665283203,
                    "y": -0.46314743161201477,
                    "z": 0.03984704986214638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0630403459072113,
                "transform": {
                    "location": {
                        "x": 1168.2122802734375,
                        "y": 4084.711181640625,
                        "z": 365.5841979980469
                    },
                    "rotation": {
                        "roll": 0.003993830177932978,
                        "pitch": 0.9046175479888916,
                        "yaw": -170.44093322753906
                    }
                },
                "velocity": {
                    "x": -0.06211524456739426,
                    "y": -0.01065109483897686,
                    "z": 0.0015283202519640326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1648964881896973,
                "transform": {
                    "location": {
                        "x": 1157.250732421875,
                        "y": 4082.97998046875,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0003974940627813339,
                        "pitch": 0.9600513577461243,
                        "yaw": -170.74374389648438
                    }
                },
                "velocity": {
                    "x": -2.1341118812561035,
                    "y": -0.3620913326740265,
                    "z": 0.03512183204293251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.056528933346271515,
        "expert_target_speed": 5.803040121639977,
        "target_point": [
            47.175492499961386,
            0.0221393476038525
        ],
        "target_point_next": [
            84.17553881443514,
            -0.007340971204945035
        ]
    },
    "260": {
        "acceleration": [
            -0.038909912109375,
            -0.00580906867980957,
            0.010471343994140625
        ],
        "angular_velocity": [
            0.022758295759558678,
            0.01019253022968769,
            -0.04569147154688835
        ],
        "forward_vector": [
            -0.9868287444114685,
            -0.1610519140958786,
            0.015205511823296547
        ],
        "right_vector": [
            0.16106973588466644,
            -0.9869430065155029,
            -5.3232532081892714e-05
        ],
        "location": [
            1201.8631591796875,
            4090.31494140625,
            365.0626525878906
        ],
        "rotation": [
            0.0030503522139042616,
            0.8712452054023743,
            -170.73095703125
        ],
        "velocity": [
            -4.704289436340332,
            -0.7666735649108887,
            0.07049993425607681
        ],
        "speed": 4.766353685575212,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.1680793762207,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.1630859375,
                4084.703369140625,
                365.5849609375
            ],
            "velocity": [
                -0.4185912609100342,
                -0.06975280493497849,
                0.006780013907700777
            ],
            "speed_kmh": 1.527902371420697,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.259811401367188,
                "transform": {
                    "location": {
                        "x": 1152.8546142578125,
                        "y": 4085.409912109375,
                        "z": 365.82220458984375
                    },
                    "rotation": {
                        "roll": -0.0014038110384717584,
                        "pitch": -0.8298269510269165,
                        "yaw": 9.401460647583008
                    }
                },
                "velocity": {
                    "x": 8.148014068603516,
                    "y": 1.3475189208984375,
                    "z": -0.1361684650182724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04237174987793,
                "transform": {
                    "location": {
                        "x": 1194.355712890625,
                        "y": 4092.17431640625,
                        "z": 365.1694030761719
                    },
                    "rotation": {
                        "roll": -0.0007934562745504081,
                        "pitch": -0.8809167742729187,
                        "yaw": 9.240676879882812
                    }
                },
                "velocity": {
                    "x": 7.937088489532471,
                    "y": 1.2912606000900269,
                    "z": -0.12253669649362564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.3286213874816895,
                "transform": {
                    "location": {
                        "x": 1234.439697265625,
                        "y": 4095.448974609375,
                        "z": 364.5891418457031
                    },
                    "rotation": {
                        "roll": -0.00033567979699000716,
                        "pitch": 1.0836504697799683,
                        "yaw": -170.79147338867188
                    }
                },
                "velocity": {
                    "x": -7.233232498168945,
                    "y": -1.173786997795105,
                    "z": 0.10611259192228317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056055068969727,
                "transform": {
                    "location": {
                        "x": 1237.588623046875,
                        "y": 4099.2021484375,
                        "z": 364.5307312011719
                    },
                    "rotation": {
                        "roll": -0.00015258828352671117,
                        "pitch": -0.8367664217948914,
                        "yaw": 9.238492965698242
                    }
                },
                "velocity": {
                    "x": 7.950691223144531,
                    "y": 1.293255090713501,
                    "z": -0.11840485036373138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1272.76416015625,
                        "y": 4104.830078125,
                        "z": 364.00238037109375
                    },
                    "rotation": {
                        "roll": 6.6708980561713815e-09,
                        "pitch": -0.882931649684906,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9118142127990723,
                "transform": {
                    "location": {
                        "x": 1218.0443115234375,
                        "y": 4092.787353515625,
                        "z": 364.83636474609375
                    },
                    "rotation": {
                        "roll": -0.0029296844732016325,
                        "pitch": 0.32521259784698486,
                        "yaw": -170.4119873046875
                    }
                },
                "velocity": {
                    "x": -2.873279571533203,
                    "y": -0.47029635310173035,
                    "z": 0.041809823364019394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.42441731691360474,
                "transform": {
                    "location": {
                        "x": 1168.1630859375,
                        "y": 4084.703369140625,
                        "z": 365.5849609375
                    },
                    "rotation": {
                        "roll": 0.00551236467435956,
                        "pitch": 0.9146852493286133,
                        "yaw": -170.40875244140625
                    }
                },
                "velocity": {
                    "x": -0.4185912609100342,
                    "y": -0.06975280493497849,
                    "z": 0.006780013907700777
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.736583948135376,
                "transform": {
                    "location": {
                        "x": 1156.48828125,
                        "y": 4082.851806640625,
                        "z": 365.7705078125
                    },
                    "rotation": {
                        "roll": 0.005380040500313044,
                        "pitch": 1.012459397315979,
                        "yaw": -170.34268188476562
                    }
                },
                "velocity": {
                    "x": -3.681504487991333,
                    "y": -0.6363795399665833,
                    "z": 0.06004238873720169
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05839802324771881,
        "expert_target_speed": 5.814028076998961,
        "target_point": [
            45.9854724378144,
            0.03197370960775903
        ],
        "target_point_next": [
            82.9855238510518,
            0.009797592058278681
        ]
    },
    "265": {
        "acceleration": [
            0.03340721130371094,
            0.009753704071044922,
            0.003901273012161255
        ],
        "angular_velocity": [
            0.0023258717264980078,
            -0.02643801085650921,
            -0.04604687914252281
        ],
        "forward_vector": [
            -0.9868617653846741,
            -0.16085609793663025,
            0.015140311792492867
        ],
        "right_vector": [
            0.1608739048242569,
            -0.9869750142097473,
            -4.145433194935322e-05
        ],
        "location": [
            1200.6871337890625,
            4090.123291015625,
            365.0802307128906
        ],
        "rotation": [
            0.002375430427491665,
            0.867509126663208,
            -170.74234008789062
        ],
        "velocity": [
            -4.702353000640869,
            -0.7653346061706543,
            0.07170648127794266
        ],
        "speed": 4.764227198826539,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.146453857421875,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1167.9954833984375,
                4084.6748046875,
                365.5875549316406
            ],
            "velocity": [
                -0.8968349099159241,
                -0.1493169218301773,
                0.014792632311582565
            ],
            "speed_kmh": 3.273481446570677,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.20199203491211,
                "transform": {
                    "location": {
                        "x": 1154.9246826171875,
                        "y": 4085.75244140625,
                        "z": 365.7884826660156
                    },
                    "rotation": {
                        "roll": -0.0020446765702217817,
                        "pitch": -0.9061816334724426,
                        "yaw": 9.390497207641602
                    }
                },
                "velocity": {
                    "x": 8.092080116271973,
                    "y": 1.3314865827560425,
                    "z": -0.1343519687652588
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027007102966309,
                "transform": {
                    "location": {
                        "x": 1196.3377685546875,
                        "y": 4092.49658203125,
                        "z": 365.1390075683594
                    },
                    "rotation": {
                        "roll": -0.00021361542167142034,
                        "pitch": -0.8816475868225098,
                        "yaw": 9.23776912689209
                    }
                },
                "velocity": {
                    "x": 7.92197322845459,
                    "y": 1.2884314060211182,
                    "z": -0.12301360070705414
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4918999671936035,
                "transform": {
                    "location": {
                        "x": 1232.5635986328125,
                        "y": 4095.14501953125,
                        "z": 364.61639404296875
                    },
                    "rotation": {
                        "roll": -0.0015869125491008162,
                        "pitch": 0.9117345809936523,
                        "yaw": -170.91468811035156
                    }
                },
                "velocity": {
                    "x": -7.394353866577148,
                    "y": -1.2001960277557373,
                    "z": 0.10781966894865036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088848114013672,
                "transform": {
                    "location": {
                        "x": 1239.5804443359375,
                        "y": 4099.5263671875,
                        "z": 364.5011291503906
                    },
                    "rotation": {
                        "roll": 5.1425402489257976e-05,
                        "pitch": -0.84200519323349,
                        "yaw": 9.241243362426758
                    }
                },
                "velocity": {
                    "x": 7.98297643661499,
                    "y": 1.2989753484725952,
                    "z": -0.1191994845867157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1274.010986328125,
                        "y": 4105.0302734375,
                        "z": 363.9821472167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8866882920265198,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2521421909332275,
                "transform": {
                    "location": {
                        "x": 1217.2906494140625,
                        "y": 4092.66357421875,
                        "z": 364.8420104980469
                    },
                    "rotation": {
                        "roll": 0.004114155657589436,
                        "pitch": 0.9900973439216614,
                        "yaw": -170.51473999023438
                    }
                },
                "velocity": {
                    "x": -3.2091925144195557,
                    "y": -0.5247126817703247,
                    "z": 0.04678278788924217
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9093003869056702,
                "transform": {
                    "location": {
                        "x": 1167.9954833984375,
                        "y": 4084.6748046875,
                        "z": 365.5875549316406
                    },
                    "rotation": {
                        "roll": 0.004582822788506746,
                        "pitch": 0.9218091368675232,
                        "yaw": -170.44094848632812
                    }
                },
                "velocity": {
                    "x": -0.8968349099159241,
                    "y": -0.1493169218301773,
                    "z": 0.014792632311582565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.504833936691284,
                "transform": {
                    "location": {
                        "x": 1155.5931396484375,
                        "y": 4082.6953125,
                        "z": 365.7857360839844
                    },
                    "rotation": {
                        "roll": 0.0034176462795585394,
                        "pitch": 0.9509535431861877,
                        "yaw": -170.53231811523438
                    }
                },
                "velocity": {
                    "x": -3.4527881145477295,
                    "y": -0.5990179777145386,
                    "z": 0.05738444998860359
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.057779986411333084,
        "expert_target_speed": 5.809725825901119,
        "target_point": [
            44.793925982887316,
            0.041177402041979505
        ],
        "target_point_next": [
            81.79398108126026,
            0.026376058620522613
        ]
    },
    "270": {
        "acceleration": [
            0.1952362060546875,
            0.037332773208618164,
            0.008653998374938965
        ],
        "angular_velocity": [
            -0.008123739622533321,
            -0.03457793965935707,
            -0.04274367541074753
        ],
        "forward_vector": [
            -0.9868960380554199,
            -0.1606612205505371,
            0.014971530064940453
        ],
        "right_vector": [
            0.1606787145137787,
            -0.9870067238807678,
            -3.456359263509512e-05
        ],
        "location": [
            1199.51513671875,
            4089.932373046875,
            365.0979309082031
        ],
        "rotation": [
            0.0019805699121207,
            0.8578375577926636,
            -170.75367736816406
        ],
        "velocity": [
            -4.668040752410889,
            -0.7586854100227356,
            0.07204383611679077
        ],
        "speed": 4.729292549372494,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.258060455322266,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1167.7003173828125,
                4084.626220703125,
                365.5923767089844
            ],
            "velocity": [
                -1.4078478813171387,
                -0.23407073318958282,
                0.021941794082522392
            ],
            "speed_kmh": 5.138432489369537,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.883058547973633,
                "transform": {
                    "location": {
                        "x": 1156.891357421875,
                        "y": 4086.075439453125,
                        "z": 365.75628662109375
                    },
                    "rotation": {
                        "roll": 0.0005443280097097158,
                        "pitch": -0.9446970820426941,
                        "yaw": 9.323997497558594
                    }
                },
                "velocity": {
                    "x": 7.7784037590026855,
                    "y": 1.2738900184631348,
                    "z": -0.1274651736021042
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043789863586426,
                "transform": {
                    "location": {
                        "x": 1198.3204345703125,
                        "y": 4092.818603515625,
                        "z": 365.1087951660156
                    },
                    "rotation": {
                        "roll": 0.0007645022706128657,
                        "pitch": -0.8696811199188232,
                        "yaw": 9.235477447509766
                    }
                },
                "velocity": {
                    "x": 7.938825607299805,
                    "y": 1.2896631956100464,
                    "z": -0.11986009031534195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6141533851623535,
                "transform": {
                    "location": {
                        "x": 1230.8985595703125,
                        "y": 4094.875,
                        "z": 364.6404113769531
                    },
                    "rotation": {
                        "roll": -0.003631591796875,
                        "pitch": 0.6442028880119324,
                        "yaw": -171.06105041503906
                    }
                },
                "velocity": {
                    "x": -5.540605545043945,
                    "y": -0.9021941423416138,
                    "z": 0.08034854382276535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056208610534668,
                "transform": {
                    "location": {
                        "x": 1241.572021484375,
                        "y": 4099.8505859375,
                        "z": 364.4714660644531
                    },
                    "rotation": {
                        "roll": -0.0009460432920604944,
                        "pitch": -0.8417934775352478,
                        "yaw": 9.245891571044922
                    }
                },
                "velocity": {
                    "x": 7.950618743896484,
                    "y": 1.2946583032608032,
                    "z": -0.11841624230146408
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1275.2139892578125,
                        "y": 4105.2236328125,
                        "z": 363.9625549316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8866882920265198,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.148953437805176,
                "transform": {
                    "location": {
                        "x": 1216.3800048828125,
                        "y": 4092.513916015625,
                        "z": 364.85455322265625
                    },
                    "rotation": {
                        "roll": 0.004983648657798767,
                        "pitch": 1.0922633409500122,
                        "yaw": -170.6004180908203
                    }
                },
                "velocity": {
                    "x": -4.09437894821167,
                    "y": -0.6680497527122498,
                    "z": 0.05986284092068672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4273422956466675,
                "transform": {
                    "location": {
                        "x": 1167.7003173828125,
                        "y": 4084.626220703125,
                        "z": 365.5923767089844
                    },
                    "rotation": {
                        "roll": 0.005183253437280655,
                        "pitch": 0.9239811301231384,
                        "yaw": -170.4113311767578
                    }
                },
                "velocity": {
                    "x": -1.4078478813171387,
                    "y": -0.23407073318958282,
                    "z": 0.021941794082522392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.5901434421539307,
                "transform": {
                    "location": {
                        "x": 1154.738525390625,
                        "y": 4082.548095703125,
                        "z": 365.8000183105469
                    },
                    "rotation": {
                        "roll": 0.005418086890131235,
                        "pitch": 0.9427231550216675,
                        "yaw": -170.38499450683594
                    }
                },
                "velocity": {
                    "x": -3.5366830825805664,
                    "y": -0.6144214272499084,
                    "z": 0.05906529352068901
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0574604794383049,
        "expert_target_speed": 5.775683243126725,
        "target_point": [
            43.606471492422976,
            0.04989857518498386
        ],
        "target_point_next": [
            80.6065287917743,
            0.042401434470852095
        ]
    },
    "275": {
        "acceleration": [
            0.22626876831054688,
            0.04152178764343262,
            -0.00838443636894226
        ],
        "angular_velocity": [
            0.011164110153913498,
            0.018913663923740387,
            -0.04886412248015404
        ],
        "forward_vector": [
            -0.9869285821914673,
            -0.1604662835597992,
            0.014916461892426014
        ],
        "right_vector": [
            0.1604839563369751,
            -0.9870384335517883,
            -1.1782626643253025e-05
        ],
        "location": [
            1198.35498046875,
            4089.743896484375,
            365.1155700683594
        ],
        "rotation": [
            0.0006751699256710708,
            0.8546820282936096,
            -170.76499938964844
        ],
        "velocity": [
            -4.614956378936768,
            -0.749164342880249,
            0.07137361168861389
        ],
        "speed": 4.675368391061004,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.516141891479492,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1167.2728271484375,
                4084.55419921875,
                365.5992126464844
            ],
            "velocity": [
                -1.9888302087783813,
                -0.3297507166862488,
                0.03149228170514107
            ],
            "speed_kmh": 7.258418613039463,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.132450103759766,
                "transform": {
                    "location": {
                        "x": 1158.867431640625,
                        "y": 4086.399169921875,
                        "z": 365.7236633300781
                    },
                    "rotation": {
                        "roll": -0.0018310536397621036,
                        "pitch": -0.9201630353927612,
                        "yaw": 9.30278205871582
                    }
                },
                "velocity": {
                    "x": 8.024431228637695,
                    "y": 1.3145073652267456,
                    "z": -0.13162235915660858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83200,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027251243591309,
                "transform": {
                    "location": {
                        "x": 1200.3031005859375,
                        "y": 4093.14111328125,
                        "z": 365.0789794921875
                    },
                    "rotation": {
                        "roll": -0.00012207008694531396,
                        "pitch": -0.8617512583732605,
                        "yaw": 9.238094329833984
                    }
                },
                "velocity": {
                    "x": 7.922257423400879,
                    "y": 1.2885907888412476,
                    "z": -0.11890009790658951
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003987714182585478,
                "transform": {
                    "location": {
                        "x": 1230.370361328125,
                        "y": 4094.7890625,
                        "z": 364.64703369140625
                    },
                    "rotation": {
                        "roll": 0.00572460750117898,
                        "pitch": 0.08336928486824036,
                        "yaw": -171.0855255126953
                    }
                },
                "velocity": {
                    "x": 0.0037825664039701223,
                    "y": 0.001147605711594224,
                    "z": 0.0005263603525236249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088874816894531,
                "transform": {
                    "location": {
                        "x": 1243.56396484375,
                        "y": 4100.1748046875,
                        "z": 364.4417419433594
                    },
                    "rotation": {
                        "roll": -0.0003051774110645056,
                        "pitch": -0.8474420309066772,
                        "yaw": 9.246685981750488
                    }
                },
                "velocity": {
                    "x": 7.982920169830322,
                    "y": 1.2994542121887207,
                    "z": -0.11960257589817047
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82947,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1276.37451171875,
                        "y": 4105.40966796875,
                        "z": 363.9437561035156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8866882920265198,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.027202129364014,
                "transform": {
                    "location": {
                        "x": 1215.2174072265625,
                        "y": 4092.323974609375,
                        "z": 364.871826171875
                    },
                    "rotation": {
                        "roll": 0.004148705862462521,
                        "pitch": 1.082414150238037,
                        "yaw": -170.67239379882812
                    }
                },
                "velocity": {
                    "x": -4.961241722106934,
                    "y": -0.8082684874534607,
                    "z": 0.07445745170116425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0162272453308105,
                "transform": {
                    "location": {
                        "x": 1167.2728271484375,
                        "y": 4084.55419921875,
                        "z": 365.5992126464844
                    },
                    "rotation": {
                        "roll": 0.0045927828177809715,
                        "pitch": 0.9274508357048035,
                        "yaw": -170.46888732910156
                    }
                },
                "velocity": {
                    "x": -1.9888302087783813,
                    "y": -0.3297507166862488,
                    "z": 0.03149228170514107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.2139875888824463,
                "transform": {
                    "location": {
                        "x": 1153.7825927734375,
                        "y": 4082.3857421875,
                        "z": 365.81597900390625
                    },
                    "rotation": {
                        "roll": 0.007725172210484743,
                        "pitch": 0.9413297772407532,
                        "yaw": -170.3844451904297
                    }
                },
                "velocity": {
                    "x": -3.168958902359009,
                    "y": -0.5335397124290466,
                    "z": 0.05245079845190048
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1187.1925048828125,
                        "y": 4084.693115234375,
                        "z": 366.40362548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06103286147117615,
        "expert_target_speed": 5.724838886492281,
        "target_point": [
            42.43109450230532,
            0.058660411677999846
        ],
        "target_point_next": [
            79.43115256070809,
            0.05846747396336305
        ]
    },
    "280": {
        "acceleration": [
            0.30241966247558594,
            0.05272984504699707,
            -0.00964730978012085
        ],
        "angular_velocity": [
            -7.359388837357983e-05,
            -0.0022223058622330427,
            -0.04398329555988312
        ],
        "forward_vector": [
            -0.9869594573974609,
            -0.1602751761674881,
            0.014928977005183697
        ],
        "right_vector": [
            0.16029271483421326,
            -0.9870695471763611,
            -2.201681309088599e-05
        ],
        "location": [
            1197.2098388671875,
            4089.55810546875,
            365.1330871582031
        ],
        "rotation": [
            0.0012616111198440194,
            0.8553991913795471,
            -170.77609252929688
        ],
        "velocity": [
            -4.54499626159668,
            -0.7369884848594666,
            0.06847034394741058
        ],
        "speed": 4.604361306928817,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.741756439208984,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.8927001953125,
                4084.48828125,
                365.6059265136719
            ],
            "velocity": [
                -0.06631959974765778,
                -0.01203425694257021,
                0.0014483164995908737
            ],
            "speed_kmh": 0.24270542869713238,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1120.703125,
                        "y": 4080.098388671875,
                        "z": 366.7076416015625
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.413304090499878,
                "transform": {
                    "location": {
                        "x": 1160.161865234375,
                        "y": 4086.611083984375,
                        "z": 365.701904296875
                    },
                    "rotation": {
                        "roll": 0.00019718993280548602,
                        "pitch": -0.8479269742965698,
                        "yaw": 9.236442565917969
                    }
                },
                "velocity": {
                    "x": 1.3942677974700928,
                    "y": 0.23042798042297363,
                    "z": -0.018676409497857094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4620604515075684,
                "transform": {
                    "location": {
                        "x": 1230.15234375,
                        "y": 4094.75390625,
                        "z": 364.6512145996094
                    },
                    "rotation": {
                        "roll": -0.0034179696813225746,
                        "pitch": 0.7847135663032532,
                        "yaw": -171.09791564941406
                    }
                },
                "velocity": {
                    "x": -1.4434863328933716,
                    "y": -0.23134572803974152,
                    "z": 0.02114739455282688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056916236877441,
                "transform": {
                    "location": {
                        "x": 1245.5555419921875,
                        "y": 4100.4990234375,
                        "z": 364.4118957519531
                    },
                    "rotation": {
                        "roll": 9.610009874450043e-05,
                        "pitch": -0.8487260937690735,
                        "yaw": 9.245985984802246
                    }
                },
                "velocity": {
                    "x": 7.95137357711792,
                    "y": 1.2943906784057617,
                    "z": -0.11879966408014297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.703961372375488,
                "transform": {
                    "location": {
                        "x": 1213.8831787109375,
                        "y": 4092.106201171875,
                        "z": 364.8924255371094
                    },
                    "rotation": {
                        "roll": 0.0018812352791428566,
                        "pitch": 0.9744630455970764,
                        "yaw": -170.7249755859375
                    }
                },
                "velocity": {
                    "x": -5.629482746124268,
                    "y": -0.9150723218917847,
                    "z": 0.08209215104579926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.067418172955513,
                "transform": {
                    "location": {
                        "x": 1166.8927001953125,
                        "y": 4084.48828125,
                        "z": 365.6059265136719
                    },
                    "rotation": {
                        "roll": -0.00018310867017135024,
                        "pitch": 0.8660747408866882,
                        "yaw": -170.78273010253906
                    }
                },
                "velocity": {
                    "x": -0.06631959974765778,
                    "y": -0.01203425694257021,
                    "z": 0.0014483164995908737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6867971420288086,
                "transform": {
                    "location": {
                        "x": 1152.984130859375,
                        "y": 4082.251220703125,
                        "z": 365.82916259765625
                    },
                    "rotation": {
                        "roll": 0.0043103317730128765,
                        "pitch": 0.9582071900367737,
                        "yaw": -170.45816040039062
                    }
                },
                "velocity": {
                    "x": -3.635505199432373,
                    "y": -0.6098127365112305,
                    "z": 0.06085134297609329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.4421522915363312,
                "transform": {
                    "location": {
                        "x": 1187.1961669921875,
                        "y": 4084.737060546875,
                        "z": 366.4034729003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.03671874850988388,
                    "y": 0.44062498211860657,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06002829968929291,
        "expert_target_speed": 5.216223818529678,
        "target_point": [
            41.270966996822374,
            0.06706456034773467
        ],
        "target_point_next": [
            78.27102439587989,
            0.07405232462459033
        ]
    },
    "285": {
        "acceleration": [
            1.366128921508789,
            0.223236083984375,
            -0.004462003707885742
        ],
        "angular_velocity": [
            0.04469038546085358,
            -0.297493040561676,
            -0.04248296469449997
        ],
        "forward_vector": [
            -0.9869973063468933,
            -0.16008786857128143,
            0.014429187402129173
        ],
        "right_vector": [
            0.16010433435440063,
            -0.9871001243591309,
            -1.4643882423115429e-05
        ],
        "location": [
            1196.09228515625,
            4089.377197265625,
            365.1500549316406
        ],
        "rotation": [
            0.0008391200681217015,
            0.8267602324485779,
            -170.7870330810547
        ],
        "velocity": [
            -4.349222660064697,
            -0.7044157981872559,
            0.06794530898332596
        ],
        "speed": 4.405898247072443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.753124237060547,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.7510986328125,
                4084.464599609375,
                365.60784912109375
            ],
            "velocity": [
                -0.8700549006462097,
                -0.14320196211338043,
                0.013923969119787216
            ],
            "speed_kmh": 3.174735086387403,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1122.74951171875,
                        "y": 4080.430908203125,
                        "z": 366.5013122558594
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3334860801696777,
                "transform": {
                    "location": {
                        "x": 1160.5009765625,
                        "y": 4086.666259765625,
                        "z": 365.6968688964844
                    },
                    "rotation": {
                        "roll": -0.0021362414117902517,
                        "pitch": -0.8939487934112549,
                        "yaw": 9.240281105041504
                    }
                },
                "velocity": {
                    "x": 1.3159992694854736,
                    "y": 0.21415866911411285,
                    "z": -0.021607927978038788
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3717780113220215,
                "transform": {
                    "location": {
                        "x": 1229.6888427734375,
                        "y": 4094.6796875,
                        "z": 364.658203125
                    },
                    "rotation": {
                        "roll": -0.005340583622455597,
                        "pitch": 0.9386523365974426,
                        "yaw": -171.05006408691406
                    }
                },
                "velocity": {
                    "x": -2.3414151668548584,
                    "y": -0.3767605125904083,
                    "z": 0.03402933105826378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088379859924316,
                "transform": {
                    "location": {
                        "x": 1247.54736328125,
                        "y": 4100.8232421875,
                        "z": 364.3819885253906
                    },
                    "rotation": {
                        "roll": 0.00035084638511762023,
                        "pitch": -0.8521685004234314,
                        "yaw": 9.24407958984375
                    }
                },
                "velocity": {
                    "x": 7.982473373413086,
                    "y": 1.299062967300415,
                    "z": -0.12013055384159088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.903773784637451,
                "transform": {
                    "location": {
                        "x": 1212.3841552734375,
                        "y": 4091.86181640625,
                        "z": 364.91363525390625
                    },
                    "rotation": {
                        "roll": 0.00020766208763234317,
                        "pitch": 1.0522452592849731,
                        "yaw": -170.759521484375
                    }
                },
                "velocity": {
                    "x": -6.813700199127197,
                    "y": -1.107102632522583,
                    "z": 0.09953483194112778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8818708658218384,
                "transform": {
                    "location": {
                        "x": 1166.7510986328125,
                        "y": 4084.464599609375,
                        "z": 365.60784912109375
                    },
                    "rotation": {
                        "roll": -0.0011901890393346548,
                        "pitch": 0.905799150466919,
                        "yaw": -170.82406616210938
                    }
                },
                "velocity": {
                    "x": -0.8700549006462097,
                    "y": -0.14320196211338043,
                    "z": 0.013923969119787216
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.385108470916748,
                "transform": {
                    "location": {
                        "x": 1151.99462890625,
                        "y": 4082.082763671875,
                        "z": 365.84576416015625
                    },
                    "rotation": {
                        "roll": 0.0006273436592891812,
                        "pitch": 0.9533987045288086,
                        "yaw": -170.78286743164062
                    }
                },
                "velocity": {
                    "x": -3.339918375015259,
                    "y": -0.5483896136283875,
                    "z": 0.056324586272239685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.1790835857391357,
                "transform": {
                    "location": {
                        "x": 1187.2144775390625,
                        "y": 4084.95751953125,
                        "z": 366.4026184082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.09804687649011612,
                    "y": 1.1749999523162842,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06461241841316223,
        "expert_target_speed": 4.871479770929434,
        "target_point": [
            40.138851854497915,
            0.07530654364798828
        ],
        "target_point_next": [
            77.13890724101668,
            0.08936915164562187
        ]
    },
    "290": {
        "acceleration": [
            1.3604116439819336,
            0.21975278854370117,
            -0.015028566122055054
        ],
        "angular_velocity": [
            0.014676671475172043,
            -0.15658804774284363,
            -0.03943224251270294
        ],
        "forward_vector": [
            -0.9870424270629883,
            -0.1599130779504776,
            0.013234227895736694
        ],
        "right_vector": [
            0.159927099943161,
            -0.9871288537979126,
            1.0653164963514428e-06
        ],
        "location": [
            1195.0535888671875,
            4089.208740234375,
            365.1664123535156
        ],
        "rotation": [
            -6.104348722146824e-05,
            0.7582875490188599,
            -170.79733276367188
        ],
        "velocity": [
            -3.9853456020355225,
            -0.6446853280067444,
            0.06194643676280975
        ],
        "speed": 4.0371523057485765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.991884231567383,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.4637451171875,
                4084.41796875,
                365.6121826171875
            ],
            "velocity": [
                -1.4072576761245728,
                -0.2328801155090332,
                0.022356262430548668
            ],
            "speed_kmh": 5.1356585016085745,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1124.7977294921875,
                        "y": 4080.763916015625,
                        "z": 366.3290100097656
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.389940023422241,
                "transform": {
                    "location": {
                        "x": 1160.918701171875,
                        "y": 4086.734375,
                        "z": 365.6898498535156
                    },
                    "rotation": {
                        "roll": -0.0018615707522258162,
                        "pitch": -0.8625162243843079,
                        "yaw": 9.231494903564453
                    }
                },
                "velocity": {
                    "x": 2.358346462249756,
                    "y": 0.38543567061424255,
                    "z": -0.038135822862386703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9544622898101807,
                "transform": {
                    "location": {
                        "x": 1228.904541015625,
                        "y": 4094.552978515625,
                        "z": 364.6697998046875
                    },
                    "rotation": {
                        "roll": -0.005523672793060541,
                        "pitch": 1.0481880903244019,
                        "yaw": -170.9348907470703
                    }
                },
                "velocity": {
                    "x": -3.9033620357513428,
                    "y": -0.6311599612236023,
                    "z": 0.05633806064724922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056464195251465,
                "transform": {
                    "location": {
                        "x": 1249.5390625,
                        "y": 4101.1474609375,
                        "z": 364.3518981933594
                    },
                    "rotation": {
                        "roll": 0.0005454623023979366,
                        "pitch": -0.8572365045547485,
                        "yaw": 9.240835189819336
                    }
                },
                "velocity": {
                    "x": 7.951076984405518,
                    "y": 1.293359398841858,
                    "z": -0.11919248104095459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.899782180786133,
                "transform": {
                    "location": {
                        "x": 1210.5184326171875,
                        "y": 4091.55810546875,
                        "z": 364.94000244140625
                    },
                    "rotation": {
                        "roll": 0.0011704876087605953,
                        "pitch": 1.1704416275024414,
                        "yaw": -170.86122131347656
                    }
                },
                "velocity": {
                    "x": -7.7969536781311035,
                    "y": -1.2653127908706665,
                    "z": 0.11425914615392685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4265718460083008,
                "transform": {
                    "location": {
                        "x": 1166.4637451171875,
                        "y": 4084.41796875,
                        "z": 365.6121826171875
                    },
                    "rotation": {
                        "roll": -0.00012206570681883022,
                        "pitch": 0.9307839870452881,
                        "yaw": -170.73629760742188
                    }
                },
                "velocity": {
                    "x": -1.4072576761245728,
                    "y": -0.2328801155090332,
                    "z": 0.022356262430548668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.2261838912963867,
                "transform": {
                    "location": {
                        "x": 1151.3096923828125,
                        "y": 4081.96875,
                        "z": 365.8573303222656
                    },
                    "rotation": {
                        "roll": 0.00045737711479887366,
                        "pitch": 0.9379146695137024,
                        "yaw": -170.77008056640625
                    }
                },
                "velocity": {
                    "x": -3.1813652515411377,
                    "y": -0.5331847667694092,
                    "z": 0.05377151444554329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9159823656082153,
                "transform": {
                    "location": {
                        "x": 1187.2481689453125,
                        "y": 4085.361083984375,
                        "z": 366.401123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.15898437798023224,
                    "y": 1.9093749523162842,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06142270192503929,
        "expert_target_speed": 4.283369963081581,
        "target_point": [
            39.08656981282861,
            0.08233005068893551
        ],
        "target_point_next": [
            76.08662208336482,
            0.10302642690021813
        ]
    },
    "295": {
        "acceleration": [
            3.5353612899780273,
            0.5757772922515869,
            -0.048324018716812134
        ],
        "angular_velocity": [
            0.10794038325548172,
            -0.6144946217536926,
            -0.03617627173662186
        ],
        "forward_vector": [
            -0.987083911895752,
            -0.15975387394428253,
            0.012007066048681736
        ],
        "right_vector": [
            0.15976542234420776,
            -0.987155020236969,
            2.663058467078372e-06
        ],
        "location": [
            1194.118408203125,
            4089.057373046875,
            365.1810607910156
        ],
        "rotation": [
            -0.00015259301289916039,
            0.687970757484436,
            -170.8067169189453
        ],
        "velocity": [
            -3.4121041297912598,
            -0.5512732863426208,
            0.05295216292142868
        ],
        "speed": 3.4563502178994483,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.45584487915039,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.057861328125,
                4084.35107421875,
                365.6187438964844
            ],
            "velocity": [
                -1.8643230199813843,
                -0.30828753113746643,
                0.02994258888065815
            ],
            "speed_kmh": 6.803560065126066,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037046432495117,
                "transform": {
                    "location": {
                        "x": 1126.8206787109375,
                        "y": 4081.099365234375,
                        "z": 366.2860412597656
                    },
                    "rotation": {
                        "roll": -0.0646057054400444,
                        "pitch": -1.0633511543273926,
                        "yaw": 9.476574897766113
                    }
                },
                "velocity": {
                    "x": 7.920205593109131,
                    "y": 1.3540568351745605,
                    "z": -0.17605124413967133
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6730852127075195,
                "transform": {
                    "location": {
                        "x": 1161.6717529296875,
                        "y": 4086.859375,
                        "z": 365.6773681640625
                    },
                    "rotation": {
                        "roll": 0.0008396757184527814,
                        "pitch": -0.8363634347915649,
                        "yaw": 9.08098030090332
                    }
                },
                "velocity": {
                    "x": 3.624850273132324,
                    "y": 0.5903921723365784,
                    "z": -0.058759257197380066
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.332348346710205,
                "transform": {
                    "location": {
                        "x": 1227.748046875,
                        "y": 4094.365478515625,
                        "z": 364.68682861328125
                    },
                    "rotation": {
                        "roll": -0.0037231515161693096,
                        "pitch": 1.049991250038147,
                        "yaw": -170.8365936279297
                    }
                },
                "velocity": {
                    "x": -5.262999057769775,
                    "y": -0.8535041809082031,
                    "z": 0.07941781729459763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076725959777832,
                "transform": {
                    "location": {
                        "x": 1251.5306396484375,
                        "y": 4101.470703125,
                        "z": 364.32177734375
                    },
                    "rotation": {
                        "roll": 0.0003823866427410394,
                        "pitch": -0.8573936223983765,
                        "yaw": 9.235650062561035
                    }
                },
                "velocity": {
                    "x": 7.971275329589844,
                    "y": 1.2952886819839478,
                    "z": -0.12038568407297134
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8020191192626953,
                "transform": {
                    "location": {
                        "x": 1208.9219970703125,
                        "y": 4091.290283203125,
                        "z": 364.9713439941406
                    },
                    "rotation": {
                        "roll": 0.00814403872936964,
                        "pitch": 0.1984647959470749,
                        "yaw": -171.83860778808594
                    }
                },
                "velocity": {
                    "x": -3.7486283779144287,
                    "y": -0.632713794708252,
                    "z": 0.052985258400440216
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8898777961730957,
                "transform": {
                    "location": {
                        "x": 1166.057861328125,
                        "y": 4084.35107421875,
                        "z": 365.6187438964844
                    },
                    "rotation": {
                        "roll": 0.0014539352850988507,
                        "pitch": 0.9318426847457886,
                        "yaw": -170.69314575195312
                    }
                },
                "velocity": {
                    "x": -1.8643230199813843,
                    "y": -0.30828753113746643,
                    "z": 0.02994258888065815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.179305553436279,
                "transform": {
                    "location": {
                        "x": 1150.396240234375,
                        "y": 4081.81689453125,
                        "z": 365.8721923828125
                    },
                    "rotation": {
                        "roll": 0.0003062577161472291,
                        "pitch": 0.9983072280883789,
                        "yaw": -170.652587890625
                    }
                },
                "velocity": {
                    "x": -4.120830535888672,
                    "y": -0.6932594180107117,
                    "z": 0.06887584179639816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.2896728515625,
                        "y": 4085.859375,
                        "z": 366.4060974121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.13673357665538788,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06237107515335083,
        "expert_target_speed": 3.3666497516904457,
        "target_point": [
            38.13920426367241,
            0.08872799854823565
        ],
        "target_point_next": [
            75.13925264157022,
            0.11549356637751629
        ]
    },
    "300": {
        "acceleration": [
            4.013862609863281,
            0.6511306762695312,
            -0.06360381841659546
        ],
        "angular_velocity": [
            0.06595906615257263,
            -0.45149314403533936,
            -0.031233619898557663
        ],
        "forward_vector": [
            -0.9871355891227722,
            -0.15963038802146912,
            0.009028191678225994
        ],
        "right_vector": [
            0.15963692963123322,
            -0.9871758222579956,
            3.195658791810274e-06
        ],
        "location": [
            1193.401123046875,
            4088.94140625,
            365.1925964355469
        ],
        "rotation": [
            -0.00018310522136744112,
            0.5172843337059021,
            -170.81417846679688
        ],
        "velocity": [
            -2.367684841156006,
            -0.3822297155857086,
            0.036231935024261475
        ],
        "speed": 2.3983392300749853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.271238327026367,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1165.5230712890625,
                4084.262939453125,
                365.62738037109375
            ],
            "velocity": [
                -2.392465114593506,
                -0.395920068025589,
                0.03843100368976593
            ],
            "speed_kmh": 8.731108853431248,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.257034301757812,
                "transform": {
                    "location": {
                        "x": 1128.828857421875,
                        "y": 4081.446044921875,
                        "z": 366.24432373046875
                    },
                    "rotation": {
                        "roll": -0.0634460300207138,
                        "pitch": -1.0239546298980713,
                        "yaw": 9.828986167907715
                    }
                },
                "velocity": {
                    "x": 8.132330894470215,
                    "y": 1.420873999595642,
                    "z": -0.1578691601753235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.827134132385254,
                "transform": {
                    "location": {
                        "x": 1162.712890625,
                        "y": 4087.02685546875,
                        "z": 365.6604309082031
                    },
                    "rotation": {
                        "roll": -0.0031738304533064365,
                        "pitch": -0.8310495615005493,
                        "yaw": 9.31592845916748
                    }
                },
                "velocity": {
                    "x": 4.763880729675293,
                    "y": 0.7751072645187378,
                    "z": -0.07663034647703171
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.729557991027832,
                "transform": {
                    "location": {
                        "x": 1226.3719482421875,
                        "y": 4094.14208984375,
                        "z": 364.7067565917969
                    },
                    "rotation": {
                        "roll": -0.0013122642412781715,
                        "pitch": 0.9337824583053589,
                        "yaw": -170.8118133544922
                    }
                },
                "velocity": {
                    "x": -5.65485954284668,
                    "y": -0.9186730980873108,
                    "z": 0.08023379743099213
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.755712509155273,
                "transform": {
                    "location": {
                        "x": 1253.4893798828125,
                        "y": 4101.7890625,
                        "z": 364.2921447753906
                    },
                    "rotation": {
                        "roll": 0.0004097249766346067,
                        "pitch": -0.8684380054473877,
                        "yaw": 9.227710723876953
                    }
                },
                "velocity": {
                    "x": 7.654356479644775,
                    "y": 1.2442275285720825,
                    "z": -0.11745866388082504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.23250040411949158,
                "transform": {
                    "location": {
                        "x": 1208.6693115234375,
                        "y": 4091.243408203125,
                        "z": 364.9800720214844
                    },
                    "rotation": {
                        "roll": 0.05746082961559296,
                        "pitch": -0.44113457202911377,
                        "yaw": -172.10462951660156
                    }
                },
                "velocity": {
                    "x": -0.22926020622253418,
                    "y": -0.038579948246479034,
                    "z": 0.0027897644322365522
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4253079891204834,
                "transform": {
                    "location": {
                        "x": 1165.5230712890625,
                        "y": 4084.262939453125,
                        "z": 365.62738037109375
                    },
                    "rotation": {
                        "roll": 0.001686801086179912,
                        "pitch": 0.9352645874023438,
                        "yaw": -170.67115783691406
                    }
                },
                "velocity": {
                    "x": -2.392465114593506,
                    "y": -0.395920068025589,
                    "z": 0.03843100368976593
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6493380069732666,
                "transform": {
                    "location": {
                        "x": 1149.876220703125,
                        "y": 4081.728271484375,
                        "z": 365.8819580078125
                    },
                    "rotation": {
                        "roll": 0.0013562672538682818,
                        "pitch": 0.846178412437439,
                        "yaw": -170.67372131347656
                    }
                },
                "velocity": {
                    "x": -1.6258362531661987,
                    "y": -0.27596062421798706,
                    "z": 0.028605574741959572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3311767578125,
                        "y": 4086.357421875,
                        "z": 366.2455139160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06066405400633812,
        "expert_target_speed": 1.8983668601745747,
        "target_point": [
            37.412593262287835,
            0.09371828409399363
        ],
        "target_point_next": [
            74.41263784243638,
            0.12530039011556582
        ]
    },
    "305": {
        "acceleration": [
            0.405437707901001,
            0.05593691021203995,
            -0.01881721243262291
        ],
        "angular_velocity": [
            0.05431511253118515,
            -0.6033766865730286,
            0.0009249720023944974
        ],
        "forward_vector": [
            -0.9871543645858765,
            -0.15976770222187042,
            0.0007125138072296977
        ],
        "right_vector": [
            0.1597677618265152,
            -0.9871546030044556,
            1.6511599824298173e-05
        ],
        "location": [
            1193.090087890625,
            4088.891357421875,
            365.19915771484375
        ],
        "rotation": [
            -0.0009460451547056437,
            0.0408240370452404,
            -170.80657958984375
        ],
        "velocity": [
            -0.0018457463011145592,
            -0.00014987697068136185,
            -0.0003871400549542159
        ],
        "speed": 0.0018518214045686746,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.629518508911133,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1164.8587646484375,
                4084.1533203125,
                365.6380920410156
            ],
            "velocity": [
                -2.907017707824707,
                -0.4811945855617523,
                0.0467100515961647
            ],
            "speed_kmh": 10.609000276729104,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.091255187988281,
                "transform": {
                    "location": {
                        "x": 1130.84130859375,
                        "y": 4081.794189453125,
                        "z": 366.2068786621094
                    },
                    "rotation": {
                        "roll": -0.0031433161348104477,
                        "pitch": -1.0104923248291016,
                        "yaw": 9.803443908691406
                    }
                },
                "velocity": {
                    "x": 7.974350452423096,
                    "y": 1.3628666400909424,
                    "z": -0.14404061436653137
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.2919392585754395,
                "transform": {
                    "location": {
                        "x": 1164.0390625,
                        "y": 4087.242431640625,
                        "z": 365.63897705078125
                    },
                    "rotation": {
                        "roll": -0.003082277486100793,
                        "pitch": -0.8277574181556702,
                        "yaw": 9.384139060974121
                    }
                },
                "velocity": {
                    "x": 6.209231853485107,
                    "y": 1.0117729902267456,
                    "z": -0.1012374758720398
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.551131248474121,
                "transform": {
                    "location": {
                        "x": 1224.7730712890625,
                        "y": 4093.8818359375,
                        "z": 364.72998046875
                    },
                    "rotation": {
                        "roll": -0.0012512223329395056,
                        "pitch": 1.0839645862579346,
                        "yaw": -170.7566375732422
                    }
                },
                "velocity": {
                    "x": -7.452152729034424,
                    "y": -1.2138139009475708,
                    "z": 0.10797715932130814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.450253963470459,
                "transform": {
                    "location": {
                        "x": 1255.3597412109375,
                        "y": 4102.09326171875,
                        "z": 364.2635192871094
                    },
                    "rotation": {
                        "roll": 0.0005036314250901341,
                        "pitch": -0.8726180791854858,
                        "yaw": 9.228079795837402
                    }
                },
                "velocity": {
                    "x": 7.352987289428711,
                    "y": 1.1946699619293213,
                    "z": -0.11236844956874847
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8916310667991638,
                "transform": {
                    "location": {
                        "x": 1208.5072021484375,
                        "y": 4091.218017578125,
                        "z": 364.9715881347656
                    },
                    "rotation": {
                        "roll": -0.01928711123764515,
                        "pitch": 0.9150881767272949,
                        "yaw": -172.02444458007812
                    }
                },
                "velocity": {
                    "x": -0.880680501461029,
                    "y": -0.1385575234889984,
                    "z": 0.014477300457656384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9469447135925293,
                "transform": {
                    "location": {
                        "x": 1164.8587646484375,
                        "y": 4084.1533203125,
                        "z": 365.6380920410156
                    },
                    "rotation": {
                        "roll": 0.0012727127177640796,
                        "pitch": 0.9362754225730896,
                        "yaw": -170.6495819091797
                    }
                },
                "velocity": {
                    "x": -2.907017707824707,
                    "y": -0.4811945855617523,
                    "z": 0.0467100515961647
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.40764832496643066,
                "transform": {
                    "location": {
                        "x": 1149.4461669921875,
                        "y": 4081.653564453125,
                        "z": 365.8888854980469
                    },
                    "rotation": {
                        "roll": -0.003967287018895149,
                        "pitch": 0.8799878358840942,
                        "yaw": -170.97964477539062
                    }
                },
                "velocity": {
                    "x": -0.3988949954509735,
                    "y": -0.08400359004735947,
                    "z": 0.0018220423953607678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3726806640625,
                        "y": 4086.85546875,
                        "z": 366.2435607910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0639750063419342,
        "expert_target_speed": 0.0,
        "target_point": [
            37.097569373255766,
            0.08904625390880305
        ],
        "target_point_next": [
            74.0976178148625,
            0.11572360674839821
        ]
    },
    "310": {
        "acceleration": [
            -0.015291944146156311,
            -0.00120105454698205,
            -0.006905011832714081
        ],
        "angular_velocity": [
            -0.26943933963775635,
            1.7005034685134888,
            -0.00045842587132938206
        ],
        "forward_vector": [
            -0.98712158203125,
            -0.1597619205713272,
            0.008190658874809742
        ],
        "right_vector": [
            0.15976743400096893,
            -0.9871547222137451,
            1.8108750737155788e-05
        ],
        "location": [
            1193.0872802734375,
            4088.890869140625,
            365.1976013183594
        ],
        "rotation": [
            -0.0010375898564234376,
            0.4692954421043396,
            -170.80661010742188
        ],
        "velocity": [
            0.005391743499785662,
            0.001022471347823739,
            -0.0007772246026434004
        ],
        "speed": 0.005487836151398967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.4436092376709,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1164.0528564453125,
                4084.020263671875,
                365.6510925292969
            ],
            "velocity": [
                -3.541964292526245,
                -0.5825083255767822,
                0.057473257184028625
            ],
            "speed_kmh": 12.924015129110753,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.309237480163574,
                "transform": {
                    "location": {
                        "x": 1132.86328125,
                        "y": 4082.138427734375,
                        "z": 366.1708984375
                    },
                    "rotation": {
                        "roll": 0.008556324988603592,
                        "pitch": -0.9882531762123108,
                        "yaw": 9.638344764709473
                    }
                },
                "velocity": {
                    "x": 8.191563606262207,
                    "y": 1.3858699798583984,
                    "z": -0.14518111944198608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.266515731811523,
                "transform": {
                    "location": {
                        "x": 1165.8828125,
                        "y": 4087.543701171875,
                        "z": 365.60888671875
                    },
                    "rotation": {
                        "roll": -3.0511948352796026e-05,
                        "pitch": -0.7876573801040649,
                        "yaw": 9.288990020751953
                    }
                },
                "velocity": {
                    "x": 8.157980918884277,
                    "y": 1.3286951780319214,
                    "z": -0.13112829625606537
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.256991386413574,
                "transform": {
                    "location": {
                        "x": 1222.900390625,
                        "y": 4093.576904296875,
                        "z": 364.7568664550781
                    },
                    "rotation": {
                        "roll": -0.001007086131721735,
                        "pitch": 0.8603305816650391,
                        "yaw": -170.75611877441406
                    }
                },
                "velocity": {
                    "x": -7.1617279052734375,
                    "y": -1.1674349308013916,
                    "z": 0.10329598933458328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.2141218185424805,
                "transform": {
                    "location": {
                        "x": 1257.1671142578125,
                        "y": 4102.38671875,
                        "z": 364.23590087890625
                    },
                    "rotation": {
                        "roll": 0.00012089632946299389,
                        "pitch": -0.8716413974761963,
                        "yaw": 9.22831916809082
                    }
                },
                "velocity": {
                    "x": 7.119930744171143,
                    "y": 1.1567535400390625,
                    "z": -0.1098337173461914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8151181936264038,
                "transform": {
                    "location": {
                        "x": 1208.293701171875,
                        "y": 4091.185302734375,
                        "z": 364.9738464355469
                    },
                    "rotation": {
                        "roll": -0.023834234103560448,
                        "pitch": 1.0345618724822998,
                        "yaw": -171.91726684570312
                    }
                },
                "velocity": {
                    "x": -0.8049008250236511,
                    "y": -0.1279703825712204,
                    "z": 0.013259400613605976
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5900044441223145,
                "transform": {
                    "location": {
                        "x": 1164.0528564453125,
                        "y": 4084.020263671875,
                        "z": 365.6510925292969
                    },
                    "rotation": {
                        "roll": 0.0029042873065918684,
                        "pitch": 0.938870906829834,
                        "yaw": -170.6386260986328
                    }
                },
                "velocity": {
                    "x": -3.541964292526245,
                    "y": -0.5825083255767822,
                    "z": 0.057473257184028625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010368734365329146,
                "transform": {
                    "location": {
                        "x": 1149.4443359375,
                        "y": 4081.6533203125,
                        "z": 365.88873291015625
                    },
                    "rotation": {
                        "roll": -0.0027160632889717817,
                        "pitch": 0.8924939632415771,
                        "yaw": -170.9818572998047
                    }
                },
                "velocity": {
                    "x": 0.0002478882670402527,
                    "y": -0.00012334775237832218,
                    "z": -0.000999221345409751
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4141845703125,
                        "y": 4087.353759765625,
                        "z": 366.2416076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06111687794327736,
        "expert_target_speed": 0.0,
        "target_point": [
            37.09471976690534,
            0.08903049924138884
        ],
        "target_point_next": [
            74.09476819578713,
            0.11572549507893548
        ]
    },
    "315": {
        "acceleration": [
            -0.010699494741857052,
            0.0008694163989275694,
            -0.0023868530988693237
        ],
        "angular_velocity": [
            -0.12465174496173859,
            0.6358678340911865,
            0.0005289995460771024
        ],
        "forward_vector": [
            -0.9870709180831909,
            -0.1597537249326706,
            0.013026702217757702
        ],
        "right_vector": [
            0.15976734459400177,
            -0.9871547222137451,
            4.793167590833036e-06
        ],
        "location": [
            1193.08544921875,
            4088.890625,
            365.19659423828125
        ],
        "rotation": [
            -0.0002746515965554863,
            0.7463961839675903,
            -170.80661010742188
        ],
        "velocity": [
            0.0020809031557291746,
            0.00041568666347302496,
            -0.00014302394993137568
        ],
        "speed": 0.0021220163396432584,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.44375228881836,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1163.0643310546875,
                4083.857421875,
                365.6671142578125
            ],
            "velocity": [
                -4.365837097167969,
                -0.7169849872589111,
                0.07053481787443161
            ],
            "speed_kmh": 15.929573360318813,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.145757675170898,
                "transform": {
                    "location": {
                        "x": 1134.8902587890625,
                        "y": 4082.47998046875,
                        "z": 366.13531494140625
                    },
                    "rotation": {
                        "roll": 0.01393226906657219,
                        "pitch": -0.994468629360199,
                        "yaw": 9.5637788772583
                    }
                },
                "velocity": {
                    "x": 8.033084869384766,
                    "y": 1.3428988456726074,
                    "z": -0.13981221616268158
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.172808647155762,
                "transform": {
                    "location": {
                        "x": 1167.9461669921875,
                        "y": 4087.880126953125,
                        "z": 365.57647705078125
                    },
                    "rotation": {
                        "roll": 0.001906444551423192,
                        "pitch": -0.8735401630401611,
                        "yaw": 9.256056785583496
                    }
                },
                "velocity": {
                    "x": 8.065604209899902,
                    "y": 1.3130635023117065,
                    "z": -0.12922191619873047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.217302322387695,
                "transform": {
                    "location": {
                        "x": 1221.3736572265625,
                        "y": 4093.328125,
                        "z": 364.77838134765625
                    },
                    "rotation": {
                        "roll": 0.008622814901173115,
                        "pitch": 0.47118058800697327,
                        "yaw": -170.49923706054688
                    }
                },
                "velocity": {
                    "x": -4.1643571853637695,
                    "y": -0.6638796925544739,
                    "z": 0.05502680689096451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.994491100311279,
                "transform": {
                    "location": {
                        "x": 1258.9202880859375,
                        "y": 4102.671875,
                        "z": 364.208984375
                    },
                    "rotation": {
                        "roll": -0.0004272370133548975,
                        "pitch": -0.877194344997406,
                        "yaw": 9.229788780212402
                    }
                },
                "velocity": {
                    "x": 6.9030046463012695,
                    "y": 1.1225248575210571,
                    "z": -0.10664558410644531
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2327793836593628,
                "transform": {
                    "location": {
                        "x": 1208.0748291015625,
                        "y": 4091.1513671875,
                        "z": 364.9785461425781
                    },
                    "rotation": {
                        "roll": -0.0173950232565403,
                        "pitch": 0.8793458342552185,
                        "yaw": -171.8006591796875
                    }
                },
                "velocity": {
                    "x": -1.2173229455947876,
                    "y": -0.19371376931667328,
                    "z": 0.018563689664006233
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.424881458282471,
                "transform": {
                    "location": {
                        "x": 1163.0643310546875,
                        "y": 4083.857421875,
                        "z": 365.6671142578125
                    },
                    "rotation": {
                        "roll": 0.0025387005880475044,
                        "pitch": 0.9446151256561279,
                        "yaw": -170.65335083007812
                    }
                },
                "velocity": {
                    "x": -4.365837097167969,
                    "y": -0.7169849872589111,
                    "z": 0.07053481787443161
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021923806343693286,
                "transform": {
                    "location": {
                        "x": 1149.444091796875,
                        "y": 4081.6533203125,
                        "z": 365.8884582519531
                    },
                    "rotation": {
                        "roll": -0.0032348709646612406,
                        "pitch": 0.9340488314628601,
                        "yaw": -170.98184204101562
                    }
                },
                "velocity": {
                    "x": 4.848062962992117e-05,
                    "y": 0.00021346757421270013,
                    "z": 1.2105826499464456e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4556884765625,
                        "y": 4087.8515625,
                        "z": 366.2396545410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06392732262611389,
        "expert_target_speed": 0.0,
        "target_point": [
            37.09287322696045,
            0.08908203704590623
        ],
        "target_point_next": [
            74.09292165584223,
            0.11577703288345198
        ]
    },
    "320": {
        "acceleration": [
            -0.0032733799889683723,
            -0.0028595086187124252,
            0.00046311644837260246
        ],
        "angular_velocity": [
            -0.01256584469228983,
            0.20249022543430328,
            -6.742348341504112e-05
        ],
        "forward_vector": [
            -0.9870482683181763,
            -0.1597503125667572,
            0.014682481065392494
        ],
        "right_vector": [
            0.15976746380329132,
            -0.9871546626091003,
            -3.6592825836123666e-06
        ],
        "location": [
            1193.0848388671875,
            4088.89013671875,
            365.1962890625
        ],
        "rotation": [
            0.0002096840471494943,
            0.8412743806838989,
            -170.8065948486328
        ],
        "velocity": [
            0.0006773517816327512,
            4.9355399823980406e-05,
            -0.000645026913844049
        ],
        "speed": 0.0006791475477190853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.671567916870117,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1161.8521728515625,
                4083.65869140625,
                365.6869812011719
            ],
            "velocity": [
                -5.164914608001709,
                -0.8469879031181335,
                0.08606408536434174
            ],
            "speed_kmh": 18.8445948276493,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.348333358764648,
                "transform": {
                    "location": {
                        "x": 1136.9248046875,
                        "y": 4082.818603515625,
                        "z": 366.10003662109375
                    },
                    "rotation": {
                        "roll": 0.0173641387373209,
                        "pitch": -0.9837998747825623,
                        "yaw": 9.435344696044922
                    }
                },
                "velocity": {
                    "x": 8.235075950622559,
                    "y": 1.3630367517471313,
                    "z": -0.14255885779857635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.886447429656982,
                "transform": {
                    "location": {
                        "x": 1169.908935546875,
                        "y": 4088.199951171875,
                        "z": 365.54547119140625
                    },
                    "rotation": {
                        "roll": 0.0012070698430761695,
                        "pitch": -0.9155868291854858,
                        "yaw": 9.242583274841309
                    }
                },
                "velocity": {
                    "x": 7.783434867858887,
                    "y": 1.2644615173339844,
                    "z": -0.12384118884801865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4682975113391876,
                "transform": {
                    "location": {
                        "x": 1220.998779296875,
                        "y": 4093.2724609375,
                        "z": 364.78338623046875
                    },
                    "rotation": {
                        "roll": -0.0030517580453306437,
                        "pitch": 0.24393336474895477,
                        "yaw": -169.60398864746094
                    }
                },
                "velocity": {
                    "x": -0.4618399441242218,
                    "y": -0.07718116790056229,
                    "z": 0.0070355795323848724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.694268226623535,
                "transform": {
                    "location": {
                        "x": 1260.6063232421875,
                        "y": 4102.94580078125,
                        "z": 364.1830749511719
                    },
                    "rotation": {
                        "roll": 0.0006171573768369853,
                        "pitch": -0.8780549168586731,
                        "yaw": 9.234048843383789
                    }
                },
                "velocity": {
                    "x": 6.606740474700928,
                    "y": 1.0740960836410522,
                    "z": -0.10258307307958603
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3419182300567627,
                "transform": {
                    "location": {
                        "x": 1207.633056640625,
                        "y": 4091.08251953125,
                        "z": 364.9834289550781
                    },
                    "rotation": {
                        "roll": -0.02401733584702015,
                        "pitch": 1.0799006223678589,
                        "yaw": -171.6291961669922
                    }
                },
                "velocity": {
                    "x": -2.31252121925354,
                    "y": -0.368339866399765,
                    "z": 0.033939000219106674
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.234609603881836,
                "transform": {
                    "location": {
                        "x": 1161.8521728515625,
                        "y": 4083.65869140625,
                        "z": 365.6869812011719
                    },
                    "rotation": {
                        "roll": 0.0016376490239053965,
                        "pitch": 0.9490205645561218,
                        "yaw": -170.6712188720703
                    }
                },
                "velocity": {
                    "x": -5.164914608001709,
                    "y": -0.8469879031181335,
                    "z": 0.08606408536434174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011864426778629422,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.003814700525254011,
                        "pitch": 0.946418285369873,
                        "yaw": -170.98175048828125
                    }
                },
                "velocity": {
                    "x": 6.575047882506624e-05,
                    "y": 5.3227879106998444e-05,
                    "z": 0.0011834229808300734
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4971923828125,
                        "y": 4088.349609375,
                        "z": 366.2377014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06218271702528,
        "expert_target_speed": 0.0,
        "target_point": [
            37.092192746518414,
            0.08867985509061693
        ],
        "target_point_next": [
            74.09224118812514,
            0.1153572079302112
        ]
    },
    "325": {
        "acceleration": [
            -0.0007779448060318828,
            -0.003009679727256298,
            -0.005306755192577839
        ],
        "angular_velocity": [
            -0.008310999721288681,
            0.06762555241584778,
            0.00017749179096426815
        ],
        "forward_vector": [
            -0.9870419502258301,
            -0.15975071489810944,
            0.01509835384786129
        ],
        "right_vector": [
            0.15976914763450623,
            -0.9871543645858765,
            1.544447150081396e-05
        ],
        "location": [
            1193.084716796875,
            4088.89013671875,
            365.1961669921875
        ],
        "rotation": [
            -0.0008850038866512477,
            0.8651048541069031,
            -170.8065185546875
        ],
        "velocity": [
            0.00024284436949528754,
            2.8583275707205757e-05,
            -0.0004818156885448843
        ],
        "speed": 0.0002445207382732963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.7823371887207,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.756103515625,
                4083.478759765625,
                365.7054138183594
            ],
            "velocity": [
                -2.6530752182006836,
                -0.43566638231277466,
                0.04137192666530609
            ],
            "speed_kmh": 9.680134880550808,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.160240173339844,
                "transform": {
                    "location": {
                        "x": 1138.9595947265625,
                        "y": 4083.155029296875,
                        "z": 366.06494140625
                    },
                    "rotation": {
                        "roll": 0.008052820339798927,
                        "pitch": -0.9870920777320862,
                        "yaw": 9.385316848754883
                    }
                },
                "velocity": {
                    "x": 8.049897193908691,
                    "y": 1.3302233219146729,
                    "z": -0.1385304480791092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.139931678771973,
                "transform": {
                    "location": {
                        "x": 1171.888916015625,
                        "y": 4088.521728515625,
                        "z": 365.51373291015625
                    },
                    "rotation": {
                        "roll": 0.000346186978276819,
                        "pitch": -0.8906224966049194,
                        "yaw": 9.235291481018066
                    }
                },
                "velocity": {
                    "x": 8.033432960510254,
                    "y": 1.3062716722488403,
                    "z": -0.12689034640789032
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7051950693130493,
                "transform": {
                    "location": {
                        "x": 1220.69775390625,
                        "y": 4093.2216796875,
                        "z": 364.78863525390625
                    },
                    "rotation": {
                        "roll": 0.015631936490535736,
                        "pitch": 0.8285428881645203,
                        "yaw": -169.73609924316406
                    }
                },
                "velocity": {
                    "x": -1.6809343099594116,
                    "y": -0.28560560941696167,
                    "z": 0.02407662384212017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1262.24853515625,
                        "y": 4103.169921875,
                        "z": 364.1600341796875
                    },
                    "rotation": {
                        "roll": 1.3341769466990172e-08,
                        "pitch": -0.8751521110534668,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.286648750305176,
                "transform": {
                    "location": {
                        "x": 1206.8079833984375,
                        "y": 4090.952392578125,
                        "z": 364.9938659667969
                    },
                    "rotation": {
                        "roll": -0.024200432002544403,
                        "pitch": 1.293139100074768,
                        "yaw": -171.36846923828125
                    }
                },
                "velocity": {
                    "x": -4.2322001457214355,
                    "y": -0.6781350374221802,
                    "z": 0.06301110982894897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6889264583587646,
                "transform": {
                    "location": {
                        "x": 1160.756103515625,
                        "y": 4083.478759765625,
                        "z": 365.7054138183594
                    },
                    "rotation": {
                        "roll": 0.0020797622855752707,
                        "pitch": 0.8640803694725037,
                        "yaw": -170.67308044433594
                    }
                },
                "velocity": {
                    "x": -2.6530752182006836,
                    "y": -0.43566638231277466,
                    "z": 0.04137192666530609
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012839664705097675,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.0033264178782701492,
                        "pitch": 0.9488088488578796,
                        "yaw": -170.98170471191406
                    }
                },
                "velocity": {
                    "x": 5.9202906413702294e-05,
                    "y": 2.2223443011171184e-05,
                    "z": 0.001282408251427114
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5386962890625,
                        "y": 4088.84765625,
                        "z": 366.2357482910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06184989586472511,
        "expert_target_speed": 0.0,
        "target_point": [
            37.0920723710889,
            0.08864629733816543
        ],
        "target_point_next": [
            74.09212085082004,
            0.11527072118387771
        ]
    },
    "330": {
        "acceleration": [
            -0.0018340290989726782,
            -0.00019127951236441731,
            0.012411564588546753
        ],
        "angular_velocity": [
            -0.001154002035036683,
            0.003313973546028137,
            0.00019314090604893863
        ],
        "forward_vector": [
            -0.987038791179657,
            -0.15975116193294525,
            0.015296099707484245
        ],
        "right_vector": [
            0.15977013111114502,
            -0.9871542453765869,
            1.7574870071257465e-05
        ],
        "location": [
            1193.08447265625,
            4088.89013671875,
            365.1961364746094
        ],
        "rotation": [
            -0.0010070838034152985,
            0.876436173915863,
            -170.80645751953125
        ],
        "velocity": [
            3.913000182365067e-05,
            8.256416549556889e-06,
            -2.0813187802559696e-05
        ],
        "speed": 3.999156732310828e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.98674011230469,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.5543212890625,
                4083.44482421875,
                365.70892333984375
            ],
            "velocity": [
                -0.5786898732185364,
                -0.09571518748998642,
                0.009730539284646511
            ],
            "speed_kmh": 2.1118781040585697,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.353800773620605,
                "transform": {
                    "location": {
                        "x": 1140.9970703125,
                        "y": 4083.489990234375,
                        "z": 366.0299072265625
                    },
                    "rotation": {
                        "roll": 0.009975516237318516,
                        "pitch": -0.9825773239135742,
                        "yaw": 9.339011192321777
                    }
                },
                "velocity": {
                    "x": 8.242431640625,
                    "y": 1.3520817756652832,
                    "z": -0.14203990995883942
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.061856269836426,
                "transform": {
                    "location": {
                        "x": 1173.89306640625,
                        "y": 4088.847412109375,
                        "z": 365.4820861816406
                    },
                    "rotation": {
                        "roll": -0.0010070768184959888,
                        "pitch": -0.8998978734016418,
                        "yaw": 9.2324800491333
                    }
                },
                "velocity": {
                    "x": 7.9561896324157715,
                    "y": 1.2947927713394165,
                    "z": -0.12686145305633545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1613175868988037,
                "transform": {
                    "location": {
                        "x": 1220.1796875,
                        "y": 4093.13427734375,
                        "z": 364.7961730957031
                    },
                    "rotation": {
                        "roll": 0.014388596639037132,
                        "pitch": 0.8902468085289001,
                        "yaw": -169.9765167236328
                    }
                },
                "velocity": {
                    "x": -2.131251573562622,
                    "y": -0.35786765813827515,
                    "z": 0.03147557005286217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1263.869384765625,
                        "y": 4103.38818359375,
                        "z": 364.137451171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8828087449073792,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.622146129608154,
                "transform": {
                    "location": {
                        "x": 1205.5867919921875,
                        "y": 4090.756103515625,
                        "z": 365.0135498046875
                    },
                    "rotation": {
                        "roll": -0.0016784690087661147,
                        "pitch": 1.1365501880645752,
                        "yaw": -171.50303649902344
                    }
                },
                "velocity": {
                    "x": -4.565239429473877,
                    "y": -0.7199292778968811,
                    "z": 0.06724605709314346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5866327881813049,
                "transform": {
                    "location": {
                        "x": 1160.5543212890625,
                        "y": 4083.44482421875,
                        "z": 365.70892333984375
                    },
                    "rotation": {
                        "roll": 0.0011223583715036511,
                        "pitch": 0.8368415832519531,
                        "yaw": -170.72715759277344
                    }
                },
                "velocity": {
                    "x": -0.5786898732185364,
                    "y": -0.09571518748998642,
                    "z": 0.009730539284646511
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014982683351263404,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.0030517533887177706,
                        "pitch": 0.9503661394119263,
                        "yaw": -170.9816436767578
                    }
                },
                "velocity": {
                    "x": 4.90182610519696e-05,
                    "y": 1.1661461940093432e-05,
                    "z": 0.0014974208315834403
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5802001953125,
                        "y": 4089.345458984375,
                        "z": 366.2337951660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06287474930286407,
        "expert_target_speed": 1.1729139326536635,
        "target_point": [
            37.09183145115072,
            0.08864992992116694
        ],
        "target_point_next": [
            74.09187995625607,
            0.11523906777092563
        ]
    },
    "335": {
        "acceleration": [
            -0.1388004869222641,
            -0.011516055092215538,
            0.0019842146430164576
        ],
        "angular_velocity": [
            -0.013439326547086239,
            0.03636140748858452,
            -0.006116414908319712
        ],
        "forward_vector": [
            -0.987067461013794,
            -0.1595655232667923,
            0.015381325036287308
        ],
        "right_vector": [
            0.15958452224731445,
            -0.9871842861175537,
            7.988651304913219e-06
        ],
        "location": [
            1193.0850830078125,
            4088.889892578125,
            365.1961364746094
        ],
        "rotation": [
            -0.00045777016202919185,
            0.8813197612762451,
            -170.81723022460938
        ],
        "velocity": [
            0.0005162805318832397,
            1.0791867680381984e-05,
            0.00014389037096407264
        ],
        "speed": 0.0005163933113525696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.21638107299805,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.3282470703125,
                4083.407958984375,
                365.7118225097656
            ],
            "velocity": [
                -1.2204134464263916,
                -0.19980807602405548,
                0.0200983714312315
            ],
            "speed_kmh": 4.452570162083993,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.161125183105469,
                "transform": {
                    "location": {
                        "x": 1143.0330810546875,
                        "y": 4083.823974609375,
                        "z": 365.9951477050781
                    },
                    "rotation": {
                        "roll": 0.004375339951366186,
                        "pitch": -0.9830895662307739,
                        "yaw": 9.3086576461792
                    }
                },
                "velocity": {
                    "x": 8.052763938903809,
                    "y": 1.3182661533355713,
                    "z": -0.1383083164691925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.5980658531188965,
                "transform": {
                    "location": {
                        "x": 1175.84716796875,
                        "y": 4089.164794921875,
                        "z": 365.4512023925781
                    },
                    "rotation": {
                        "roll": 0.00035155308432877064,
                        "pitch": -0.9183598756790161,
                        "yaw": 9.23039722442627
                    }
                },
                "velocity": {
                    "x": 7.49877405166626,
                    "y": 1.2185814380645752,
                    "z": -0.11853182315826416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6010716557502747,
                "transform": {
                    "location": {
                        "x": 1220.0096435546875,
                        "y": 4093.106201171875,
                        "z": 364.7984619140625
                    },
                    "rotation": {
                        "roll": 0.008025423623621464,
                        "pitch": 0.6861061453819275,
                        "yaw": -170.03994750976562
                    }
                },
                "velocity": {
                    "x": -0.5928226113319397,
                    "y": -0.09886521100997925,
                    "z": 0.008610734716057777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1265.429443359375,
                        "y": 4103.6357421875,
                        "z": 364.11346435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8828087449073792,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8722379207611084,
                "transform": {
                    "location": {
                        "x": 1204.6136474609375,
                        "y": 4090.5908203125,
                        "z": 365.0334167480469
                    },
                    "rotation": {
                        "roll": 0.025165686383843422,
                        "pitch": 0.46863290667533875,
                        "yaw": -173.7412109375
                    }
                },
                "velocity": {
                    "x": -2.84108304977417,
                    "y": -0.41970473527908325,
                    "z": 0.04295342415571213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2368251085281372,
                "transform": {
                    "location": {
                        "x": 1160.3282470703125,
                        "y": 4083.407958984375,
                        "z": 365.7118225097656
                    },
                    "rotation": {
                        "roll": 0.0008658421575091779,
                        "pitch": 0.9368833303451538,
                        "yaw": -170.75357055664062
                    }
                },
                "velocity": {
                    "x": -1.2204134464263916,
                    "y": -0.19980807602405548,
                    "z": 0.0200983714312315
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001071094418875873,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.003082286799326539,
                        "pitch": 0.9505231976509094,
                        "yaw": -170.98159790039062
                    }
                },
                "velocity": {
                    "x": 3.883197859977372e-05,
                    "y": 2.8189773729536682e-05,
                    "z": 0.0010700189741328359
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6217041015625,
                        "y": 4089.84375,
                        "z": 366.2318420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06136130914092064,
        "expert_target_speed": 1.174049557041232,
        "target_point": [
            37.092377664505236,
            0.09529778572255587
        ],
        "target_point_next": [
            74.09242050522205,
            0.12885590726258123
        ]
    },
    "340": {
        "acceleration": [
            0.24278578162193298,
            0.04195127636194229,
            -0.0068878172896802425
        ],
        "angular_velocity": [
            -0.04264623299241066,
            -0.026561537757515907,
            0.009539704769849777
        ],
        "forward_vector": [
            -0.9870567917823792,
            -0.1596338301897049,
            0.015358677133917809
        ],
        "right_vector": [
            0.1596529185771942,
            -0.9871731996536255,
            1.6509786291862838e-05
        ],
        "location": [
            1193.087890625,
            4088.889892578125,
            365.1961364746094
        ],
        "rotation": [
            -0.0009460527217015624,
            0.8800219893455505,
            -170.81326293945312
        ],
        "velocity": [
            0.01911870948970318,
            0.0033067252952605486,
            -0.0014894104097038507
        ],
        "speed": 0.01940256387001425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.58808517456055,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.9642333984375,
                4083.34814453125,
                365.7176818847656
            ],
            "velocity": [
                -1.6681197881698608,
                -0.2730981707572937,
                0.02685951255261898
            ],
            "speed_kmh": 6.085946321544703,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.353907585144043,
                "transform": {
                    "location": {
                        "x": 1145.071044921875,
                        "y": 4084.157470703125,
                        "z": 365.96038818359375
                    },
                    "rotation": {
                        "roll": 0.005234774202108383,
                        "pitch": -0.9687734842300415,
                        "yaw": 9.286602020263672
                    }
                },
                "velocity": {
                    "x": 8.243457794189453,
                    "y": 1.34671950340271,
                    "z": -0.13969630002975464
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.794548511505127,
                "transform": {
                    "location": {
                        "x": 1177.5272216796875,
                        "y": 4089.43798828125,
                        "z": 365.42523193359375
                    },
                    "rotation": {
                        "roll": -0.00024414880317635834,
                        "pitch": -0.9870579242706299,
                        "yaw": 9.233498573303223
                    }
                },
                "velocity": {
                    "x": 5.718863487243652,
                    "y": 0.9291485548019409,
                    "z": -0.08988895267248154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5410822629928589,
                "transform": {
                    "location": {
                        "x": 1219.7276611328125,
                        "y": 4093.0595703125,
                        "z": 364.80279541015625
                    },
                    "rotation": {
                        "roll": 0.010936826467514038,
                        "pitch": 0.9082033634185791,
                        "yaw": -170.1654510498047
                    }
                },
                "velocity": {
                    "x": -1.5199776887893677,
                    "y": -0.25318679213523865,
                    "z": 0.0223394762724638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1266.934814453125,
                        "y": 4103.8759765625,
                        "z": 364.09033203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8828087449073792,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004645529668778181,
                "transform": {
                    "location": {
                        "x": 1204.4190673828125,
                        "y": 4090.556884765625,
                        "z": 365.0399475097656
                    },
                    "rotation": {
                        "roll": 0.03365044295787811,
                        "pitch": 0.021159924566745758,
                        "yaw": -174.2383575439453
                    }
                },
                "velocity": {
                    "x": 0.0018715762998908758,
                    "y": 0.004208912141621113,
                    "z": 0.0006026658229529858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6905406713485718,
                "transform": {
                    "location": {
                        "x": 1159.9642333984375,
                        "y": 4083.34814453125,
                        "z": 365.7176818847656
                    },
                    "rotation": {
                        "roll": -0.00048827193677425385,
                        "pitch": 0.9481189846992493,
                        "yaw": -170.75286865234375
                    }
                },
                "velocity": {
                    "x": -1.6681197881698608,
                    "y": -0.2730981707572937,
                    "z": 0.02685951255261898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012650733697228134,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.003082286799326539,
                        "pitch": 0.9505231976509094,
                        "yaw": -170.98159790039062
                    }
                },
                "velocity": {
                    "x": 3.3428219467168674e-05,
                    "y": 1.4690830539620947e-05,
                    "z": 0.00012112324475310743
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6632080078125,
                        "y": 4090.341796875,
                        "z": 366.2298889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06196980178356171,
        "expert_target_speed": 1.1937405228899025,
        "target_point": [
            37.09515576962183,
            0.09228492451321912
        ],
        "target_point_next": [
            74.0952008421538,
            0.12328481165924288
        ]
    },
    "345": {
        "acceleration": [
            -1.290815830230713,
            -0.20745369791984558,
            0.0356382355093956
        ],
        "angular_velocity": [
            -0.06996641308069229,
            0.3274259865283966,
            -0.855715811252594
        ],
        "forward_vector": [
            -0.9870556592941284,
            -0.15962035953998566,
            0.015571917407214642
        ],
        "right_vector": [
            0.15963998436927795,
            -0.9871752858161926,
            1.704215355857741e-05
        ],
        "location": [
            1193.088623046875,
            4088.889892578125,
            365.1960144042969
        ],
        "rotation": [
            -0.0009765619179233909,
            0.8922412395477295,
            -170.8140106201172
        ],
        "velocity": [
            -0.055641058832407,
            -0.009073016233742237,
            -0.00017815589671954513
        ],
        "speed": 0.05637594390845378,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.823448181152344,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.732666015625,
                4083.310546875,
                365.7220764160156
            ],
            "velocity": [
                1.9115655959467404e-05,
                -8.848706056596711e-05,
                0.00018815678777173162
            ],
            "speed_kmh": 0.0007516878014676387,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.160551071166992,
                "transform": {
                    "location": {
                        "x": 1147.107177734375,
                        "y": 4084.4892578125,
                        "z": 365.92596435546875
                    },
                    "rotation": {
                        "roll": 0.004237781744450331,
                        "pitch": -0.9774478077888489,
                        "yaw": 9.269026756286621
                    }
                },
                "velocity": {
                    "x": 8.053084373474121,
                    "y": 1.3130778074264526,
                    "z": -0.1351284682750702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0022852157708257437,
                "transform": {
                    "location": {
                        "x": 1178.1416015625,
                        "y": 4089.537353515625,
                        "z": 365.4169921875
                    },
                    "rotation": {
                        "roll": -0.00112913828343153,
                        "pitch": -1.2204864025115967,
                        "yaw": 9.286205291748047
                    }
                },
                "velocity": {
                    "x": -0.000259161286521703,
                    "y": 5.023406629334204e-05,
                    "z": -0.002269916934892535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3568458557128906,
                "transform": {
                    "location": {
                        "x": 1219.2265625,
                        "y": 4092.9765625,
                        "z": 364.8101501464844
                    },
                    "rotation": {
                        "roll": 0.009432620368897915,
                        "pitch": 0.9502636790275574,
                        "yaw": -170.30299377441406
                    }
                },
                "velocity": {
                    "x": -2.3249075412750244,
                    "y": -0.38520702719688416,
                    "z": 0.03379523381590843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1268.38671875,
                        "y": 4104.1103515625,
                        "z": 364.06787109375
                    },
                    "rotation": {
                        "roll": 6.6708980561713815e-09,
                        "pitch": -0.882931649684906,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6572310328483582,
                "transform": {
                    "location": {
                        "x": 1204.33642578125,
                        "y": 4090.545654296875,
                        "z": 365.0341796875
                    },
                    "rotation": {
                        "roll": -0.065032958984375,
                        "pitch": 0.9007584452629089,
                        "yaw": -174.11904907226562
                    }
                },
                "velocity": {
                    "x": -0.6504883170127869,
                    "y": -0.09331733733415604,
                    "z": 0.010462331585586071
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002088021719828248,
                "transform": {
                    "location": {
                        "x": 1159.732666015625,
                        "y": 4083.310546875,
                        "z": 365.7220764160156
                    },
                    "rotation": {
                        "roll": -0.0001525967090856284,
                        "pitch": 0.8807596564292908,
                        "yaw": -170.7468719482422
                    }
                },
                "velocity": {
                    "x": 1.9115655959467404e-05,
                    "y": -8.848706056596711e-05,
                    "z": 0.00018815678777173162
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005918252281844616,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.0030517533887177706,
                        "pitch": 0.95033198595047,
                        "yaw": -170.98147583007812
                    }
                },
                "velocity": {
                    "x": 3.9265007217181846e-05,
                    "y": 1.9472985513857566e-05,
                    "z": 0.0005902001284994185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 82939,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.7047119140625,
                        "y": 4090.83984375,
                        "z": 366.2279357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06305209547281265,
        "expert_target_speed": 1.2304166539776626,
        "target_point": [
            37.09587765142139,
            0.09262789770654578
        ],
        "target_point_next": [
            74.09592233678046,
            0.12408650275516564
        ]
    },
    "350": {
        "acceleration": [
            -2.6136863231658936,
            -0.430278480052948,
            0.03946857526898384
        ],
        "angular_velocity": [
            -0.05740029364824295,
            0.44150394201278687,
            -0.7358598709106445
        ],
        "forward_vector": [
            -0.9870226383209229,
            -0.15969543159008026,
            0.01684192568063736
        ],
        "right_vector": [
            0.15971824526786804,
            -0.9871626496315002,
            9.053503163158894e-06
        ],
        "location": [
            1193.0335693359375,
            4088.880859375,
            365.1965637207031
        ],
        "rotation": [
            -0.0005188010982237756,
            0.9650169014930725,
            -170.80946350097656
        ],
        "velocity": [
            -0.36816203594207764,
            -0.059602878987789154,
            0.005216579418629408
        ],
        "speed": 0.3729554770916345,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.76789474487305,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.732421875,
                4083.310546875,
                365.72174072265625
            ],
            "velocity": [
                7.565184932900593e-05,
                1.0710600690799765e-05,
                0.0002780107024591416
            ],
            "speed_kmh": 0.0010379485510506902,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.353673934936523,
                "transform": {
                    "location": {
                        "x": 1149.145263671875,
                        "y": 4084.82177734375,
                        "z": 365.8917236328125
                    },
                    "rotation": {
                        "roll": -6.671045493789052e-09,
                        "pitch": -0.9613627195358276,
                        "yaw": 9.260933876037598
                    }
                },
                "velocity": {
                    "x": 8.243475914001465,
                    "y": 1.345306396484375,
                    "z": -0.13828667998313904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.16006362438201904,
                "transform": {
                    "location": {
                        "x": 1178.1492919921875,
                        "y": 4089.53857421875,
                        "z": 365.4151611328125
                    },
                    "rotation": {
                        "roll": -0.002014146652072668,
                        "pitch": -0.9800979495048523,
                        "yaw": 9.29013442993164
                    }
                },
                "velocity": {
                    "x": 0.1579713672399521,
                    "y": 0.02569936029613018,
                    "z": -0.0022254467476159334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012335729552432895,
                "transform": {
                    "location": {
                        "x": 1218.929931640625,
                        "y": 4092.927490234375,
                        "z": 364.81390380859375
                    },
                    "rotation": {
                        "roll": 0.004172834102064371,
                        "pitch": 0.545684278011322,
                        "yaw": -170.4490203857422
                    }
                },
                "velocity": {
                    "x": 0.000769641250371933,
                    "y": 5.2759216487174854e-05,
                    "z": 0.0009625856182537973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1269.7872314453125,
                        "y": 4104.337890625,
                        "z": 364.04595947265625
                    },
                    "rotation": {
                        "roll": 6.6708980561713815e-09,
                        "pitch": -0.882931649684906,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4489809274673462,
                "transform": {
                    "location": {
                        "x": 1204.1004638671875,
                        "y": 4090.51171875,
                        "z": 365.0357666015625
                    },
                    "rotation": {
                        "roll": -0.078216552734375,
                        "pitch": 1.1428613662719727,
                        "yaw": -173.82144165039062
                    }
                },
                "velocity": {
                    "x": -1.431968331336975,
                    "y": -0.22039563953876495,
                    "z": 0.02093461900949478
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00028831904637627304,
                "transform": {
                    "location": {
                        "x": 1159.732421875,
                        "y": 4083.310546875,
                        "z": 365.72174072265625
                    },
                    "rotation": {
                        "roll": -0.0011901925317943096,
                        "pitch": 0.9162424802780151,
                        "yaw": -170.746826171875
                    }
                },
                "velocity": {
                    "x": 7.565184932900593e-05,
                    "y": 1.0710600690799765e-05,
                    "z": 0.0002780107024591416
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00014791171997785568,
                "transform": {
                    "location": {
                        "x": 1149.4439697265625,
                        "y": 4081.6533203125,
                        "z": 365.8883361816406
                    },
                    "rotation": {
                        "roll": -0.0030517533887177706,
                        "pitch": 0.95033198595047,
                        "yaw": -170.98147583007812
                    }
                },
                "velocity": {
                    "x": 3.859385833493434e-05,
                    "y": 1.3394262168731075e-05,
                    "z": 0.00014215830015018582
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06581120938062668,
        "expert_target_speed": 1.5455760717966145,
        "target_point": [
            37.04009513307095,
            0.08956741268120272
        ],
        "target_point_next": [
            74.04014219262285,
            0.11809728027157718
        ]
    },
    "355": {
        "acceleration": [
            -0.0031006336212158203,
            0.018890798091888428,
            0.029463190585374832
        ],
        "angular_velocity": [
            0.019528677687048912,
            -0.10133509337902069,
            1.1477164030075073
        ],
        "forward_vector": [
            -0.986984133720398,
            -0.15986934304237366,
            0.017437644302845
        ],
        "right_vector": [
            0.1598936766386032,
            -0.9871342182159424,
            5.324836820363998e-07
        ],
        "location": [
            1192.9058837890625,
            4088.860107421875,
            365.1983642578125
        ],
        "rotation": [
            -3.0513707315549254e-05,
            0.9991541504859924,
            -170.7992706298828
        ],
        "velocity": [
            -0.6163932085037231,
            -0.09907504916191101,
            0.009171933867037296
        ],
        "speed": 0.6243047756152034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.63855743408203,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.732421875,
                4083.310302734375,
                365.72161865234375
            ],
            "velocity": [
                4.955157419317402e-05,
                4.039834948343923e-06,
                0.0006493605324067175
            ],
            "speed_kmh": 0.002344539295139626,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.160616874694824,
                "transform": {
                    "location": {
                        "x": 1151.181396484375,
                        "y": 4085.153564453125,
                        "z": 365.8576354980469
                    },
                    "rotation": {
                        "roll": 0.0014550891937687993,
                        "pitch": -0.9633435010910034,
                        "yaw": 9.260722160339355
                    }
                },
                "velocity": {
                    "x": 8.053414344787598,
                    "y": 1.3115010261535645,
                    "z": -0.13474641740322113
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1323809623718262,
                "transform": {
                    "location": {
                        "x": 1178.333251953125,
                        "y": 4089.568603515625,
                        "z": 365.41162109375
                    },
                    "rotation": {
                        "roll": 0.00024164516071323305,
                        "pitch": -0.8602895736694336,
                        "yaw": 9.254770278930664
                    }
                },
                "velocity": {
                    "x": 1.1172878742218018,
                    "y": 0.18369798362255096,
                    "z": -0.014473170973360538
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0759528875350952,
                "transform": {
                    "location": {
                        "x": 1218.7747802734375,
                        "y": 4092.90185546875,
                        "z": 364.8166198730469
                    },
                    "rotation": {
                        "roll": 0.00409125117585063,
                        "pitch": 0.8668602705001831,
                        "yaw": -170.5113525390625
                    }
                },
                "velocity": {
                    "x": -1.0615642070770264,
                    "y": -0.1747559756040573,
                    "z": 0.014712819829583168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83185,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1271.138427734375,
                        "y": 4104.5576171875,
                        "z": 364.0248718261719
                    },
                    "rotation": {
                        "roll": 6.6708980561713815e-09,
                        "pitch": -0.882931649684906,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.389721155166626,
                "transform": {
                    "location": {
                        "x": 1203.59228515625,
                        "y": 4090.43798828125,
                        "z": 365.04339599609375
                    },
                    "rotation": {
                        "roll": -0.0706786960363388,
                        "pitch": 1.1269128322601318,
                        "yaw": -173.1702423095703
                    }
                },
                "velocity": {
                    "x": -2.360774278640747,
                    "y": -0.3691268563270569,
                    "z": 0.03545783832669258
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006512608961202204,
                "transform": {
                    "location": {
                        "x": 1159.732421875,
                        "y": 4083.310302734375,
                        "z": 365.72161865234375
                    },
                    "rotation": {
                        "roll": -0.0014953601639717817,
                        "pitch": 0.927150309085846,
                        "yaw": -170.74676513671875
                    }
                },
                "velocity": {
                    "x": 4.955157419317402e-05,
                    "y": 4.039834948343923e-06,
                    "z": 0.0006493605324067175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6341104507446289,
                "transform": {
                    "location": {
                        "x": 1149.3861083984375,
                        "y": 4081.643310546875,
                        "z": 365.88916015625
                    },
                    "rotation": {
                        "roll": -0.005249022040516138,
                        "pitch": 0.9807741045951843,
                        "yaw": -171.0250701904297
                    }
                },
                "velocity": {
                    "x": -0.6259163618087769,
                    "y": -0.10097256302833557,
                    "z": 0.011371459811925888
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06017155200242996,
        "expert_target_speed": 1.7954343773461299,
        "target_point": [
            36.910749596039885,
            0.08291060979012421
        ],
        "target_point_next": [
            73.91080114468664,
            0.10485963897354722
        ]
    },
    "360": {
        "acceleration": [
            -0.40157556533813477,
            -0.06060376763343811,
            -0.00027485191822052
        ],
        "angular_velocity": [
            0.0032049636356532574,
            -0.17263875901699066,
            0.11385262757539749
        ],
        "forward_vector": [
            -0.9871030449867249,
            -0.15918298065662384,
            0.016980068758130074
        ],
        "right_vector": [
            0.15920601785182953,
            -0.9872453808784485,
            5.325418442225782e-06
        ],
        "location": [
            1192.7313232421875,
            4088.83203125,
            365.20123291015625
        ],
        "rotation": [
            -0.00030516801052726805,
            0.9729330539703369,
            -170.8391876220703
        ],
        "velocity": [
            -0.7611942291259766,
            -0.1219879537820816,
            0.010928172618150711
        ],
        "speed": 0.7709070730786097,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.461734771728516,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.732421875,
                4083.310302734375,
                365.72161865234375
            ],
            "velocity": [
                1.5087872270669322e-05,
                0.00010104881221195683,
                0.00032316124998033047
            ],
            "speed_kmh": 0.0012201382010945607,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.352826118469238,
                "transform": {
                    "location": {
                        "x": 1153.219482421875,
                        "y": 4085.48583984375,
                        "z": 365.8236389160156
                    },
                    "rotation": {
                        "roll": 0.0011454635532572865,
                        "pitch": -0.9567592144012451,
                        "yaw": 9.252829551696777
                    }
                },
                "velocity": {
                    "x": 8.2430419921875,
                    "y": 1.3427751064300537,
                    "z": -0.13753224909305573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5756559371948242,
                "transform": {
                    "location": {
                        "x": 1178.6375732421875,
                        "y": 4089.61767578125,
                        "z": 365.4068908691406
                    },
                    "rotation": {
                        "roll": -0.000976565876044333,
                        "pitch": -0.8559250831604004,
                        "yaw": 9.311978340148926
                    }
                },
                "velocity": {
                    "x": 1.5565688610076904,
                    "y": 0.24321986734867096,
                    "z": -0.025079011917114258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9440861940383911,
                "transform": {
                    "location": {
                        "x": 1218.397216796875,
                        "y": 4092.83984375,
                        "z": 364.8221740722656
                    },
                    "rotation": {
                        "roll": 0.0037765917368233204,
                        "pitch": 0.942682147026062,
                        "yaw": -170.5612030029297
                    }
                },
                "velocity": {
                    "x": -1.9182980060577393,
                    "y": -0.3143443465232849,
                    "z": 0.028128966689109802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016729348571971059,
                "transform": {
                    "location": {
                        "x": 1203.40576171875,
                        "y": 4090.4111328125,
                        "z": 365.05230712890625
                    },
                    "rotation": {
                        "roll": 0.01609128899872303,
                        "pitch": 0.3638168275356293,
                        "yaw": -172.92312622070312
                    }
                },
                "velocity": {
                    "x": -0.0010705678723752499,
                    "y": -0.0001535148621769622,
                    "z": 0.00127633404918015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003389272606000304,
                "transform": {
                    "location": {
                        "x": 1159.732421875,
                        "y": 4083.310302734375,
                        "z": 365.72161865234375
                    },
                    "rotation": {
                        "roll": -0.0017394990427419543,
                        "pitch": 0.9292539954185486,
                        "yaw": -170.74673461914062
                    }
                },
                "velocity": {
                    "x": 1.5087872270669322e-05,
                    "y": 0.00010104881221195683,
                    "z": 0.00032316124998033047
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.32788798213005066,
                "transform": {
                    "location": {
                        "x": 1149.15380859375,
                        "y": 4081.60595703125,
                        "z": 365.893310546875
                    },
                    "rotation": {
                        "roll": -0.002563473070040345,
                        "pitch": 0.9666356444358826,
                        "yaw": -170.9447784423828
                    }
                },
                "velocity": {
                    "x": -0.32392454147338867,
                    "y": -0.0507962740957737,
                    "z": 0.0017749976832419634
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06380704045295715,
        "expert_target_speed": 1.940837278599365,
        "target_point": [
            36.73387888933011,
            0.10869781726572114
        ],
        "target_point_next": [
            73.73390616829843,
            0.15642326121063377
        ]
    },
    "365": {
        "acceleration": [
            -0.7246601581573486,
            -0.1165163516998291,
            0.017137527465820312
        ],
        "angular_velocity": [
            -0.005204538814723492,
            0.02994665503501892,
            0.12511752545833588
        ],
        "forward_vector": [
            -0.9871057868003845,
            -0.15918582677841187,
            0.016794128343462944
        ],
        "right_vector": [
            0.15920861065387726,
            -0.9872449636459351,
            1.970457196875941e-05
        ],
        "location": [
            1192.52001953125,
            4088.79833984375,
            365.20452880859375
        ],
        "rotation": [
            -0.0011291480623185635,
            0.9622779488563538,
            -170.83905029296875
        ],
        "velocity": [
            -0.9331024885177612,
            -0.14986060559749603,
            0.014585742726922035
        ],
        "speed": 0.9450600272935508,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.250953674316406,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.729248046875,
                4083.309814453125,
                365.72161865234375
            ],
            "velocity": [
                -0.016599975526332855,
                -0.0030345143750309944,
                0.0007361602620221674
            ],
            "speed_kmh": 0.06080797467277266,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.160459518432617,
                "transform": {
                    "location": {
                        "x": 1155.2557373046875,
                        "y": 4085.817626953125,
                        "z": 365.7898864746094
                    },
                    "rotation": {
                        "roll": 0.0013916769530624151,
                        "pitch": -0.9533987045288086,
                        "yaw": 9.242083549499512
                    }
                },
                "velocity": {
                    "x": 8.053609848022461,
                    "y": 1.3093819618225098,
                    "z": -0.1340988129377365
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.665396213531494,
                "transform": {
                    "location": {
                        "x": 1179.1719970703125,
                        "y": 4089.703125,
                        "z": 365.398193359375
                    },
                    "rotation": {
                        "roll": -0.0016174232587218285,
                        "pitch": -0.8289458751678467,
                        "yaw": 9.369235038757324
                    }
                },
                "velocity": {
                    "x": 2.63108491897583,
                    "y": 0.4242788553237915,
                    "z": -0.04142449423670769
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1495678424835205,
                "transform": {
                    "location": {
                        "x": 1217.838623046875,
                        "y": 4092.748779296875,
                        "z": 364.8302307128906
                    },
                    "rotation": {
                        "roll": 0.0030871862545609474,
                        "pitch": 0.8844752907752991,
                        "yaw": -170.617431640625
                    }
                },
                "velocity": {
                    "x": -2.121163845062256,
                    "y": -0.3468557596206665,
                    "z": 0.031569983810186386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.03112354688346386,
                "transform": {
                    "location": {
                        "x": 1203.3958740234375,
                        "y": 4090.409912109375,
                        "z": 365.0496520996094
                    },
                    "rotation": {
                        "roll": -0.02435302548110485,
                        "pitch": 0.7231121063232422,
                        "yaw": -172.91445922851562
                    }
                },
                "velocity": {
                    "x": -0.030967535451054573,
                    "y": -0.002619736362248659,
                    "z": 0.0016804503975436091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.016891105100512505,
                "transform": {
                    "location": {
                        "x": 1159.729248046875,
                        "y": 4083.309814453125,
                        "z": 365.72161865234375
                    },
                    "rotation": {
                        "roll": -0.0005798288621008396,
                        "pitch": 0.9310640096664429,
                        "yaw": -170.7493438720703
                    }
                },
                "velocity": {
                    "x": -0.016599975526332855,
                    "y": -0.0030345143750309944,
                    "z": 0.0007361602620221674
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0525540113449097,
                "transform": {
                    "location": {
                        "x": 1148.9854736328125,
                        "y": 4081.57861328125,
                        "z": 365.8960876464844
                    },
                    "rotation": {
                        "roll": -0.0028381419833749533,
                        "pitch": 0.9839774966239929,
                        "yaw": -170.88926696777344
                    }
                },
                "velocity": {
                    "x": -1.0386697053909302,
                    "y": -0.1690722107887268,
                    "z": 0.02120710350573063
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06812379509210587,
        "expert_target_speed": 2.1134534674526373,
        "target_point": [
            36.5199066618858,
            0.10898988659235709
        ],
        "target_point_next": [
            73.51993405453528,
            0.1566271155978285
        ]
    },
    "370": {
        "acceleration": [
            -0.8387184143066406,
            -0.14166325330734253,
            0.017588045448064804
        ],
        "angular_velocity": [
            -0.04156507924199104,
            0.03685953468084335,
            -0.09360469877719879
        ],
        "forward_vector": [
            -0.9871525168418884,
            -0.15890046954154968,
            0.016750624403357506
        ],
        "right_vector": [
            0.15892337262630463,
            -0.9872909188270569,
            3.7279092794051394e-05
        ],
        "location": [
            1192.2666015625,
            4088.75732421875,
            365.2084045410156
        ],
        "rotation": [
            -0.002136234426870942,
            0.959784984588623,
            -170.85562133789062
        ],
        "velocity": [
            -1.0963033437728882,
            -0.17707179486751556,
            0.016234740614891052
        ],
        "speed": 1.110511342627899,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.064823150634766,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.6595458984375,
                4083.298583984375,
                365.72271728515625
            ],
            "velocity": [
                -0.4947376549243927,
                -0.08138559013605118,
                0.0072854324243962765
            ],
            "speed_kmh": 1.8051838758245893,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.35297966003418,
                "transform": {
                    "location": {
                        "x": 1157.293701171875,
                        "y": 4086.14990234375,
                        "z": 365.75616455078125
                    },
                    "rotation": {
                        "roll": 0.0010761533631011844,
                        "pitch": -0.9410429000854492,
                        "yaw": 9.236602783203125
                    }
                },
                "velocity": {
                    "x": 8.243590354919434,
                    "y": 1.3406189680099487,
                    "z": -0.13504675030708313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.816091775894165,
                "transform": {
                    "location": {
                        "x": 1180.0096435546875,
                        "y": 4089.841064453125,
                        "z": 365.3848876953125
                    },
                    "rotation": {
                        "roll": -0.00036621183971874416,
                        "pitch": -0.8071302175521851,
                        "yaw": 9.2277193069458
                    }
                },
                "velocity": {
                    "x": 3.7660741806030273,
                    "y": 0.6129422187805176,
                    "z": -0.05953332781791687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5697661638259888,
                "transform": {
                    "location": {
                        "x": 1217.709228515625,
                        "y": 4092.727783203125,
                        "z": 364.8319396972656
                    },
                    "rotation": {
                        "roll": 0.0025278946850448847,
                        "pitch": 0.6981682181358337,
                        "yaw": -170.6917724609375
                    }
                },
                "velocity": {
                    "x": -0.5624672174453735,
                    "y": -0.09053643047809601,
                    "z": 0.008198938332498074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6283894181251526,
                "transform": {
                    "location": {
                        "x": 1203.340576171875,
                        "y": 4090.401123046875,
                        "z": 365.0482482910156
                    },
                    "rotation": {
                        "roll": -0.047180164605379105,
                        "pitch": 1.009481430053711,
                        "yaw": -172.89385986328125
                    }
                },
                "velocity": {
                    "x": -0.6203085780143738,
                    "y": -0.10000535845756531,
                    "z": 0.009457606822252274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5014399886131287,
                "transform": {
                    "location": {
                        "x": 1159.6595458984375,
                        "y": 4083.298583984375,
                        "z": 365.72271728515625
                    },
                    "rotation": {
                        "roll": -0.00070191704435274,
                        "pitch": 0.9433242082595825,
                        "yaw": -170.74386596679688
                    }
                },
                "velocity": {
                    "x": -0.4947376549243927,
                    "y": -0.08138559013605118,
                    "z": 0.0072854324243962765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8538862466812134,
                "transform": {
                    "location": {
                        "x": 1148.8328857421875,
                        "y": 4081.55419921875,
                        "z": 365.89862060546875
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.9533714056015015,
                        "yaw": -170.8094482421875
                    }
                },
                "velocity": {
                    "x": -0.8423276543617249,
                    "y": -0.1393042653799057,
                    "z": 0.014146585017442703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06640393286943436,
        "expert_target_speed": 2.2777012329982913,
        "target_point": [
            36.26315798517926,
            0.1193396997687346
        ],
        "target_point_next": [
            73.2631700398522,
            0.17768622029387338
        ]
    },
    "375": {
        "acceleration": [
            -0.5216193199157715,
            -0.08431583642959595,
            0.009191147983074188
        ],
        "angular_velocity": [
            0.016291994601488113,
            -0.04339545592665672,
            0.10078588128089905
        ],
        "forward_vector": [
            -0.9871458411216736,
            -0.1589498519897461,
            0.01667553186416626
        ],
        "right_vector": [
            0.15897248685359955,
            -0.9872830510139465,
            3.142084096907638e-05
        ],
        "location": [
            1191.9727783203125,
            4088.7099609375,
            365.2129211425781
        ],
        "rotation": [
            -0.0018005319871008396,
            0.9554819464683533,
            -170.85276794433594
        ],
        "velocity": [
            -1.2400825023651123,
            -0.2005804181098938,
            0.018419723957777023
        ],
        "speed": 1.2561994733326625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.95463943481445,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.4747314453125,
                4083.267333984375,
                365.7257080078125
            ],
            "velocity": [
                -0.9631271958351135,
                -0.15760537981987,
                0.015376748517155647
            ],
            "speed_kmh": 3.513810046898428,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.160065650939941,
                "transform": {
                    "location": {
                        "x": 1159.3299560546875,
                        "y": 4086.480224609375,
                        "z": 365.72283935546875
                    },
                    "rotation": {
                        "roll": 8.36879262351431e-05,
                        "pitch": -0.9476272463798523,
                        "yaw": 9.228582382202148
                    }
                },
                "velocity": {
                    "x": 8.053407669067383,
                    "y": 1.3084056377410889,
                    "z": -0.13179725408554077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.291426181793213,
                "transform": {
                    "location": {
                        "x": 1181.1357421875,
                        "y": 4090.0234375,
                        "z": 365.3671875
                    },
                    "rotation": {
                        "roll": -0.003631591796875,
                        "pitch": -0.7987359166145325,
                        "yaw": 9.351052284240723
                    }
                },
                "velocity": {
                    "x": 5.221877098083496,
                    "y": 0.8512051701545715,
                    "z": -0.08150708675384521
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4615018367767334,
                "transform": {
                    "location": {
                        "x": 1217.4462890625,
                        "y": 4092.684814453125,
                        "z": 364.83599853515625
                    },
                    "rotation": {
                        "roll": 0.0011678185546770692,
                        "pitch": 0.9173967838287354,
                        "yaw": -170.69671630859375
                    }
                },
                "velocity": {
                    "x": -1.442344307899475,
                    "y": -0.2349274754524231,
                    "z": 0.020970763638615608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.473260521888733,
                "transform": {
                    "location": {
                        "x": 1203.0946044921875,
                        "y": 4090.3642578125,
                        "z": 365.0512390136719
                    },
                    "rotation": {
                        "roll": -0.0494384802877903,
                        "pitch": 1.089674711227417,
                        "yaw": -172.6414031982422
                    }
                },
                "velocity": {
                    "x": -1.4548852443695068,
                    "y": -0.2309514731168747,
                    "z": 0.021610841155052185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9760583639144897,
                "transform": {
                    "location": {
                        "x": 1159.4747314453125,
                        "y": 4083.267333984375,
                        "z": 365.7257080078125
                    },
                    "rotation": {
                        "roll": -0.001678474829532206,
                        "pitch": 0.9472242593765259,
                        "yaw": -170.8105010986328
                    }
                },
                "velocity": {
                    "x": -0.9631271958351135,
                    "y": -0.15760537981987,
                    "z": 0.015376748517155647
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0510915517807007,
                "transform": {
                    "location": {
                        "x": 1148.56396484375,
                        "y": 4081.509033203125,
                        "z": 365.9034423828125
                    },
                    "rotation": {
                        "roll": -0.000762942829169333,
                        "pitch": 0.9706381559371948,
                        "yaw": -170.84445190429688
                    }
                },
                "velocity": {
                    "x": -1.0372264385223389,
                    "y": -0.16927331686019897,
                    "z": 0.017358874902129173
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06510275602340698,
        "expert_target_speed": 2.4224415399549346,
        "target_point": [
            35.96554770427701,
            0.11748994865107676
        ],
        "target_point_next": [
            72.96556260691943,
            0.17400159912265245
        ]
    },
    "380": {
        "acceleration": [
            -0.5340695381164551,
            -0.09114980697631836,
            0.011249929666519165
        ],
        "angular_velocity": [
            0.04522570222616196,
            -0.004591767676174641,
            -0.0929306298494339
        ],
        "forward_vector": [
            -0.9871288537979126,
            -0.15906713902950287,
            0.01656217873096466
        ],
        "right_vector": [
            0.15908928215503693,
            -0.9872642159461975,
            1.9704573787748814e-05
        ],
        "location": [
            1191.6455078125,
            4088.65673828125,
            365.2178955078125
        ],
        "rotation": [
            -0.0011291437549516559,
            0.9489864110946655,
            -170.84597778320312
        ],
        "velocity": [
            -1.3741858005523682,
            -0.22236907482147217,
            0.02103321999311447
        ],
        "speed": 1.3920612845261915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.94850158691406,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.153564453125,
                4083.21484375,
                365.73089599609375
            ],
            "velocity": [
                -1.5058475732803345,
                -0.2453540414571762,
                0.024673718959093094
            ],
            "speed_kmh": 5.493255927388697,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.351988792419434,
                "transform": {
                    "location": {
                        "x": 1161.367919921875,
                        "y": 4086.8115234375,
                        "z": 365.6895751953125
                    },
                    "rotation": {
                        "roll": 0.0012038461863994598,
                        "pitch": -0.9305722713470459,
                        "yaw": 9.229973793029785
                    }
                },
                "velocity": {
                    "x": 8.242972373962402,
                    "y": 1.3383467197418213,
                    "z": -0.1339811384677887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.067748546600342,
                "transform": {
                    "location": {
                        "x": 1182.567626953125,
                        "y": 4090.2568359375,
                        "z": 365.3444519042969
                    },
                    "rotation": {
                        "roll": -0.0027770951855927706,
                        "pitch": -0.7585471272468567,
                        "yaw": 9.31148624420166
                    }
                },
                "velocity": {
                    "x": 6.974986553192139,
                    "y": 1.1360331773757935,
                    "z": -0.10982587933540344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.263078451156616,
                "transform": {
                    "location": {
                        "x": 1216.9617919921875,
                        "y": 4092.606689453125,
                        "z": 364.84307861328125
                    },
                    "rotation": {
                        "roll": 0.0008959855767898262,
                        "pitch": 0.9515545964241028,
                        "yaw": -170.83799743652344
                    }
                },
                "velocity": {
                    "x": -2.233731269836426,
                    "y": -0.36177143454551697,
                    "z": 0.03301515430212021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1121.1124267578125,
                        "y": 4080.164794921875,
                        "z": 366.6663513183594
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7999107837677002,
                "transform": {
                    "location": {
                        "x": 1202.6434326171875,
                        "y": 4090.29833984375,
                        "z": 365.0587158203125
                    },
                    "rotation": {
                        "roll": -0.0373230017721653,
                        "pitch": 0.9992771148681641,
                        "yaw": -171.87200927734375
                    }
                },
                "velocity": {
                    "x": -1.7765041589736938,
                    "y": -0.2881329357624054,
                    "z": 0.02629012055695057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5259044170379639,
                "transform": {
                    "location": {
                        "x": 1159.153564453125,
                        "y": 4083.21484375,
                        "z": 365.73089599609375
                    },
                    "rotation": {
                        "roll": -0.0024719280190765858,
                        "pitch": 0.9504890441894531,
                        "yaw": -170.82627868652344
                    }
                },
                "velocity": {
                    "x": -1.5058475732803345,
                    "y": -0.2453540414571762,
                    "z": 0.024673718959093094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5610862970352173,
                "transform": {
                    "location": {
                        "x": 1148.2650146484375,
                        "y": 4081.460205078125,
                        "z": 365.90826416015625
                    },
                    "rotation": {
                        "roll": -0.002960201585665345,
                        "pitch": 0.9828368425369263,
                        "yaw": -170.7620391845703
                    }
                },
                "velocity": {
                    "x": -1.5382534265518188,
                    "y": -0.2647625207901001,
                    "z": 0.02584199793636799
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06729888170957565,
        "expert_target_speed": 2.5577067313005712,
        "target_point": [
            35.63399179065906,
            0.11273991854520293
        ],
        "target_point_next": [
            72.6340131422664,
            0.16485846612081367
        ]
    },
    "385": {
        "acceleration": [
            -0.40500402450561523,
            -0.06580889225006104,
            -0.005314275622367859
        ],
        "angular_velocity": [
            0.05124542862176895,
            -0.0372718870639801,
            0.14169079065322876
        ],
        "forward_vector": [
            -0.9871024489402771,
            -0.15924252569675446,
            0.016450973227620125
        ],
        "right_vector": [
            0.15926435589790344,
            -0.987235963344574,
            1.7574404409970157e-05
        ],
        "location": [
            1191.2860107421875,
            4088.5986328125,
            365.2235107421875
        ],
        "rotation": [
            -0.001007075421512127,
            0.9426138401031494,
            -170.8358154296875
        ],
        "velocity": [
            -1.4917187690734863,
            -0.24169813096523285,
            0.021281031891703606
        ],
        "speed": 1.5111726812373905,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.028350830078125,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.71533203125,
                4083.1435546875,
                365.7381286621094
            ],
            "velocity": [
                -2.001817226409912,
                -0.32637104392051697,
                0.03200990706682205
            ],
            "speed_kmh": 7.302602351856167,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.158970832824707,
                "transform": {
                    "location": {
                        "x": 1163.4039306640625,
                        "y": 4087.14208984375,
                        "z": 365.65655517578125
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.9348410964012146,
                        "yaw": 9.231582641601562
                    }
                },
                "velocity": {
                    "x": 8.052249908447266,
                    "y": 1.3088407516479492,
                    "z": -0.1304006576538086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.406163215637207,
                "transform": {
                    "location": {
                        "x": 1184.50830078125,
                        "y": 4090.5732421875,
                        "z": 365.314208984375
                    },
                    "rotation": {
                        "roll": -0.0010681158164516091,
                        "pitch": -0.7775213718414307,
                        "yaw": 9.26274299621582
                    }
                },
                "velocity": {
                    "x": 8.296091079711914,
                    "y": 1.3495962619781494,
                    "z": -0.13051578402519226
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3987807035446167,
                "transform": {
                    "location": {
                        "x": 1216.6771240234375,
                        "y": 4092.560546875,
                        "z": 364.8468933105469
                    },
                    "rotation": {
                        "roll": -0.0007934603490866721,
                        "pitch": 0.6072925925254822,
                        "yaw": -170.97525024414062
                    }
                },
                "velocity": {
                    "x": -0.3934749662876129,
                    "y": -0.06454978138208389,
                    "z": 0.006069164257496595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.48607349395752,
                "transform": {
                    "location": {
                        "x": 1123.1588134765625,
                        "y": 4080.498046875,
                        "z": 366.4060974121094
                    },
                    "rotation": {
                        "roll": 6.671136087987861e-09,
                        "pitch": -1.00653076171875,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 8.184057235717773,
                    "y": 1.332686185836792,
                    "z": -1.8051605224609375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3354485034942627,
                "transform": {
                    "location": {
                        "x": 1202.09423828125,
                        "y": 4090.21337890625,
                        "z": 365.06781005859375
                    },
                    "rotation": {
                        "roll": -0.019409170374274254,
                        "pitch": 0.8762722611427307,
                        "yaw": -171.42149353027344
                    }
                },
                "velocity": {
                    "x": -1.3184829950332642,
                    "y": -0.21116746962070465,
                    "z": 0.020824307575821877
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.02850079536438,
                "transform": {
                    "location": {
                        "x": 1158.71533203125,
                        "y": 4083.1435546875,
                        "z": 365.7381286621094
                    },
                    "rotation": {
                        "roll": -0.002258300082758069,
                        "pitch": 0.948139488697052,
                        "yaw": -170.8068389892578
                    }
                },
                "velocity": {
                    "x": -2.001817226409912,
                    "y": -0.32637104392051697,
                    "z": 0.03200990706682205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3731211423873901,
                "transform": {
                    "location": {
                        "x": 1147.9825439453125,
                        "y": 4081.41845703125,
                        "z": 365.91302490234375
                    },
                    "rotation": {
                        "roll": 0.003270421177148819,
                        "pitch": 0.9698185324668884,
                        "yaw": -170.47705078125
                    }
                },
                "velocity": {
                    "x": -1.354671597480774,
                    "y": -0.22282472252845764,
                    "z": 0.025995120406150818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06662295013666153,
        "expert_target_speed": 2.676444916894266,
        "target_point": [
            35.26984865849659,
            0.1063101412903995
        ],
        "target_point_next": [
            72.26987867296964,
            0.15186549764754886
        ]
    },
    "390": {
        "acceleration": [
            -0.38631200790405273,
            -0.0734853744506836,
            0.01473844051361084
        ],
        "angular_velocity": [
            0.008260741829872131,
            -0.010545387864112854,
            -0.006518735084682703
        ],
        "forward_vector": [
            -0.9870669841766357,
            -0.15947416424751282,
            0.01633213832974434
        ],
        "right_vector": [
            0.15949608385562897,
            -0.987198531627655,
            3.994209328084253e-05
        ],
        "location": [
            1190.8992919921875,
            4088.5361328125,
            365.2294006347656
        ],
        "rotation": [
            -0.0022888188250362873,
            0.9358041882514954,
            -170.8223876953125
        ],
        "velocity": [
            -1.5961577892303467,
            -0.26020577549934387,
            0.024337977170944214
        ],
        "speed": 1.6172281019460188,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.029048919677734,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.3280029296875,
                4083.08056640625,
                365.74505615234375
            ],
            "velocity": [
                -0.0660037025809288,
                -0.011035922914743423,
                0.0017173575470224023
            ],
            "speed_kmh": 0.24099115434030707,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.351266860961914,
                "transform": {
                    "location": {
                        "x": 1165.441650390625,
                        "y": 4087.473876953125,
                        "z": 365.6236267089844
                    },
                    "rotation": {
                        "roll": -0.00021361804101616144,
                        "pitch": -0.9259687066078186,
                        "yaw": 9.235952377319336
                    }
                },
                "velocity": {
                    "x": 8.241963386535645,
                    "y": 1.3401116132736206,
                    "z": -0.13341200351715088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080687522888184,
                "transform": {
                    "location": {
                        "x": 1186.5565185546875,
                        "y": 4090.90673828125,
                        "z": 365.2828063964844
                    },
                    "rotation": {
                        "roll": -0.0005493212956935167,
                        "pitch": -0.8794824481010437,
                        "yaw": 9.24232292175293
                    }
                },
                "velocity": {
                    "x": 7.97482967376709,
                    "y": 1.297642469406128,
                    "z": -0.1254246085882187
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4256501197814941,
                "transform": {
                    "location": {
                        "x": 1216.4249267578125,
                        "y": 4092.52001953125,
                        "z": 364.85089111328125
                    },
                    "rotation": {
                        "roll": -0.003143299138173461,
                        "pitch": 0.8967559933662415,
                        "yaw": -170.97735595703125
                    }
                },
                "velocity": {
                    "x": -1.4072532653808594,
                    "y": -0.22740939259529114,
                    "z": 0.020038451999425888
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.877213478088379,
                "transform": {
                    "location": {
                        "x": 1124.4559326171875,
                        "y": 4080.719970703125,
                        "z": 366.3086242675781
                    },
                    "rotation": {
                        "roll": -0.02554321102797985,
                        "pitch": -1.3091696500778198,
                        "yaw": 9.616393089294434
                    }
                },
                "velocity": {
                    "x": 4.80347204208374,
                    "y": 0.8441300988197327,
                    "z": -0.036227308213710785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1331579685211182,
                "transform": {
                    "location": {
                        "x": 1201.9666748046875,
                        "y": 4090.193359375,
                        "z": 365.0720520019531
                    },
                    "rotation": {
                        "roll": -0.005279545206576586,
                        "pitch": 0.6066983342170715,
                        "yaw": -171.3541717529297
                    }
                },
                "velocity": {
                    "x": -1.1179308891296387,
                    "y": -0.1842656433582306,
                    "z": 0.0179907213896513
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06694198399782181,
                "transform": {
                    "location": {
                        "x": 1158.3280029296875,
                        "y": 4083.08056640625,
                        "z": 365.74505615234375
                    },
                    "rotation": {
                        "roll": -0.001770017552189529,
                        "pitch": 0.8858959674835205,
                        "yaw": -170.81654357910156
                    }
                },
                "velocity": {
                    "x": -0.0660037025809288,
                    "y": -0.011035922914743423,
                    "z": 0.0017173575470224023
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5189226269721985,
                "transform": {
                    "location": {
                        "x": 1147.6668701171875,
                        "y": 4081.367919921875,
                        "z": 365.9186096191406
                    },
                    "rotation": {
                        "roll": 0.006237547844648361,
                        "pitch": 0.908906877040863,
                        "yaw": -170.3206329345703
                    }
                },
                "velocity": {
                    "x": -0.5123060345649719,
                    "y": -0.08247528225183487,
                    "z": 0.004588422831147909
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06613045185804367,
        "expert_target_speed": 2.7791981008333817,
        "target_point": [
            34.878135883099546,
            0.09803232519398719
        ],
        "target_point_next": [
            71.87817554922638,
            0.1349249727014339
        ]
    },
    "395": {
        "acceleration": [
            -0.37540674209594727,
            -0.06492495536804199,
            -0.0029350444674491882
        ],
        "angular_velocity": [
            0.025241103023290634,
            -0.028299566358327866,
            0.22705017030239105
        ],
        "forward_vector": [
            -0.9869793653488159,
            -0.16002410650253296,
            0.01625060848891735
        ],
        "right_vector": [
            0.16004608571529388,
            -0.9871095418930054,
            5.3256397222867236e-05
        ],
        "location": [
            1190.4876708984375,
            4088.46875,
            365.2358093261719
        ],
        "rotation": [
            -0.0030517696868628263,
            0.9311323165893555,
            -170.7904815673828
        ],
        "velocity": [
            -1.6926894187927246,
            -0.2780740559101105,
            0.02559087611734867
        ],
        "speed": 1.7153782816227887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.75833511352539,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.1834716796875,
                4083.05712890625,
                365.7471008300781
            ],
            "velocity": [
                -0.8752957582473755,
                -0.1423943042755127,
                0.014640864916145802
            ],
            "speed_kmh": 3.19292432068002,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15899658203125,
                "transform": {
                    "location": {
                        "x": 1167.4776611328125,
                        "y": 4087.80419921875,
                        "z": 365.5908508300781
                    },
                    "rotation": {
                        "roll": 0.0027049053460359573,
                        "pitch": -0.9226082563400269,
                        "yaw": 9.228840827941895
                    }
                },
                "velocity": {
                    "x": 8.052350044250488,
                    "y": 1.3083654642105103,
                    "z": -0.13061566650867462
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8959197998046875,
                "transform": {
                    "location": {
                        "x": 1188.5057373046875,
                        "y": 4091.2236328125,
                        "z": 365.2525939941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8826584815979004,
                        "yaw": 9.236488342285156
                    }
                },
                "velocity": {
                    "x": 7.792646884918213,
                    "y": 1.2672696113586426,
                    "z": -0.11929963529109955
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2158446311950684,
                "transform": {
                    "location": {
                        "x": 1215.9498291015625,
                        "y": 4092.442626953125,
                        "z": 364.85784912109375
                    },
                    "rotation": {
                        "roll": -0.0019226076547056437,
                        "pitch": 0.9479140639305115,
                        "yaw": -170.80636596679688
                    }
                },
                "velocity": {
                    "x": -2.1869847774505615,
                    "y": -0.3549148738384247,
                    "z": 0.033176954835653305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.90621280670166,
                "transform": {
                    "location": {
                        "x": 1125.6629638671875,
                        "y": 4080.928466796875,
                        "z": 366.2976379394531
                    },
                    "rotation": {
                        "roll": -0.00839233212172985,
                        "pitch": -1.072906494140625,
                        "yaw": 9.706167221069336
                    }
                },
                "velocity": {
                    "x": 4.835562229156494,
                    "y": 0.8271721601486206,
                    "z": -0.0636395812034607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0192790031433105,
                "transform": {
                    "location": {
                        "x": 1201.55615234375,
                        "y": 4090.12744140625,
                        "z": 365.0739440917969
                    },
                    "rotation": {
                        "roll": -0.015747062861919403,
                        "pitch": 1.1410104036331177,
                        "yaw": -171.16078186035156
                    }
                },
                "velocity": {
                    "x": -1.992570400238037,
                    "y": -0.32606300711631775,
                    "z": 0.02888071909546852
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8869234323501587,
                "transform": {
                    "location": {
                        "x": 1158.1834716796875,
                        "y": 4083.05712890625,
                        "z": 365.7471008300781
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": 0.9267814755439758,
                        "yaw": -170.7892608642578
                    }
                },
                "velocity": {
                    "x": -0.8752957582473755,
                    "y": -0.1423943042755127,
                    "z": 0.014640864916145802
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8758107423782349,
                "transform": {
                    "location": {
                        "x": 1147.2999267578125,
                        "y": 4081.304931640625,
                        "z": 365.9245300292969
                    },
                    "rotation": {
                        "roll": 0.005670561920851469,
                        "pitch": 0.9929728507995605,
                        "yaw": -170.45474243164062
                    }
                },
                "velocity": {
                    "x": -1.8506275415420532,
                    "y": -0.3047606945037842,
                    "z": 0.03105504997074604
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0627860575914383,
        "expert_target_speed": 2.876530764835337,
        "target_point": [
            34.46108560793607,
            0.07797068821446906
        ],
        "target_point_next": [
            71.4611400827714,
            0.09425631434462822
        ]
    },
    "400": {
        "acceleration": [
            -0.3460693359375,
            -0.05985856056213379,
            0.018111765384674072
        ],
        "angular_velocity": [
            0.0021126994397491217,
            -0.005538537632673979,
            0.06278274953365326
        ],
        "forward_vector": [
            -0.9868844747543335,
            -0.16061367094516754,
            0.01619589887559414
        ],
        "right_vector": [
            0.16063520312309265,
            -0.9870138764381409,
            2.929102447524201e-05
        ],
        "location": [
            1190.052734375,
            4088.397216796875,
            365.2425231933594
        ],
        "rotation": [
            -0.0016784722683951259,
            0.9279972314834595,
            -170.75625610351562
        ],
        "velocity": [
            -1.7827492952346802,
            -0.29407837986946106,
            0.026380203664302826
        ],
        "speed": 1.8068417593044488,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.612220764160156,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.892578125,
                4083.010009765625,
                365.7516784667969
            ],
            "velocity": [
                -1.4530067443847656,
                -0.2363925278186798,
                0.02392255701124668
            ],
            "speed_kmh": 5.300298369394331,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.175520896911621,
                "transform": {
                    "location": {
                        "x": 1169.3004150390625,
                        "y": 4088.1005859375,
                        "z": 365.56365966796875
                    },
                    "rotation": {
                        "roll": -0.0007018944015726447,
                        "pitch": -1.4537715911865234,
                        "yaw": 9.215716361999512
                    }
                },
                "velocity": {
                    "x": 6.094608783721924,
                    "y": 0.991700291633606,
                    "z": -0.09659887105226517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.193284034729004,
                "transform": {
                    "location": {
                        "x": 1190.502685546875,
                        "y": 4091.54833984375,
                        "z": 365.2217102050781
                    },
                    "rotation": {
                        "roll": 0.00014629178622271866,
                        "pitch": -0.8567174077033997,
                        "yaw": 9.231607437133789
                    }
                },
                "velocity": {
                    "x": 8.08626937866211,
                    "y": 1.3141400814056396,
                    "z": -0.1232263520359993
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.37931710481643677,
                "transform": {
                    "location": {
                        "x": 1215.7083740234375,
                        "y": 4092.4033203125,
                        "z": 364.8610534667969
                    },
                    "rotation": {
                        "roll": -0.001342774834483862,
                        "pitch": 0.622216522693634,
                        "yaw": -170.66339111328125
                    }
                },
                "velocity": {
                    "x": -0.3744029104709625,
                    "y": -0.06063046678900719,
                    "z": 0.005279235541820526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.574700355529785,
                "transform": {
                    "location": {
                        "x": 1126.8309326171875,
                        "y": 4081.12841796875,
                        "z": 366.2795104980469
                    },
                    "rotation": {
                        "roll": -0.008819585666060448,
                        "pitch": -1.0699695348739624,
                        "yaw": 9.718096733093262
                    }
                },
                "velocity": {
                    "x": 4.508302688598633,
                    "y": 0.7728822231292725,
                    "z": -0.07579018175601959
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3214646577835083,
                "transform": {
                    "location": {
                        "x": 1201.3043212890625,
                        "y": 4090.090576171875,
                        "z": 365.0806884765625
                    },
                    "rotation": {
                        "roll": -0.008514399640262127,
                        "pitch": 0.7565799951553345,
                        "yaw": -170.68519592285156
                    }
                },
                "velocity": {
                    "x": -1.3035529851913452,
                    "y": -0.21600930392742157,
                    "z": 0.01893722452223301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.472305178642273,
                "transform": {
                    "location": {
                        "x": 1157.892578125,
                        "y": 4083.010009765625,
                        "z": 365.7516784667969
                    },
                    "rotation": {
                        "roll": -0.0016174294287338853,
                        "pitch": 0.9497172832489014,
                        "yaw": -170.80047607421875
                    }
                },
                "velocity": {
                    "x": -1.4530067443847656,
                    "y": -0.2363925278186798,
                    "z": 0.02392255701124668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9065905809402466,
                "transform": {
                    "location": {
                        "x": 1146.8746337890625,
                        "y": 4081.23779296875,
                        "z": 365.9317932128906
                    },
                    "rotation": {
                        "roll": 0.009676109068095684,
                        "pitch": 0.9675030708312988,
                        "yaw": -170.16680908203125
                    }
                },
                "velocity": {
                    "x": -1.880797028541565,
                    "y": -0.3109390139579773,
                    "z": 0.03173498064279556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06112631782889366,
        "expert_target_speed": 2.9672612218859253,
        "target_point": [
            34.02034692190566,
            0.056642558240283414
        ],
        "target_point_next": [
            71.02040452291101,
            0.0508215027399892
        ]
    },
    "405": {
        "acceleration": [
            -0.3655862808227539,
            -0.06507515907287598,
            0.0010572373867034912
        ],
        "angular_velocity": [
            -0.042058393359184265,
            0.005727351643145084,
            0.2327781766653061
        ],
        "forward_vector": [
            -0.9867781400680542,
            -0.16126416623592377,
            0.016212468966841698
        ],
        "right_vector": [
            0.16128571331501007,
            -0.9869077801704407,
            2.1302488676155917e-05
        ],
        "location": [
            1189.5950927734375,
            4088.321533203125,
            365.24951171875
        ],
        "rotation": [
            -0.001220703125,
            0.9289466738700867,
            -170.71849060058594
        ],
        "velocity": [
            -1.8757178783416748,
            -0.31065526604652405,
            0.029549922794103622
        ],
        "speed": 1.9012691165253357,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.571685791015625,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.474853515625,
                4082.94140625,
                365.7585754394531
            ],
            "velocity": [
                -1.8781956434249878,
                -0.3063850700855255,
                0.030040759593248367
            ],
            "speed_kmh": 6.8517308038713525,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.731184482574463,
                "transform": {
                    "location": {
                        "x": 1170.739990234375,
                        "y": 4088.334228515625,
                        "z": 365.5403747558594
                    },
                    "rotation": {
                        "roll": 0.0018106967909261584,
                        "pitch": -1.3328840732574463,
                        "yaw": 9.205690383911133
                    }
                },
                "velocity": {
                    "x": 5.656386375427246,
                    "y": 0.9183598756790161,
                    "z": -0.09154307842254639
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.97452449798584,
                "transform": {
                    "location": {
                        "x": 1192.4969482421875,
                        "y": 4091.872314453125,
                        "z": 365.1913146972656
                    },
                    "rotation": {
                        "roll": -0.0003051662934012711,
                        "pitch": -0.8753911256790161,
                        "yaw": 9.234749794006348
                    }
                },
                "velocity": {
                    "x": 7.870260238647461,
                    "y": 1.279555082321167,
                    "z": -0.12158749997615814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.395027995109558,
                "transform": {
                    "location": {
                        "x": 1215.474365234375,
                        "y": 4092.365234375,
                        "z": 364.8648681640625
                    },
                    "rotation": {
                        "roll": 0.00041502565727569163,
                        "pitch": 0.9042009115219116,
                        "yaw": -170.68858337402344
                    }
                },
                "velocity": {
                    "x": -1.3766471147537231,
                    "y": -0.22487521171569824,
                    "z": 0.019418811425566673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.281759738922119,
                "transform": {
                    "location": {
                        "x": 1128.0728759765625,
                        "y": 4081.341064453125,
                        "z": 366.2584228515625
                    },
                    "rotation": {
                        "roll": -0.008331297896802425,
                        "pitch": -0.9377166032791138,
                        "yaw": 9.700432777404785
                    }
                },
                "velocity": {
                    "x": 5.20518159866333,
                    "y": 0.8914304375648499,
                    "z": -0.09175874292850494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4724154472351074,
                "transform": {
                    "location": {
                        "x": 1200.8017578125,
                        "y": 4090.00732421875,
                        "z": 365.0852966308594
                    },
                    "rotation": {
                        "roll": -0.000976567273028195,
                        "pitch": 1.1114424467086792,
                        "yaw": -170.65335083007812
                    }
                },
                "velocity": {
                    "x": -2.438606023788452,
                    "y": -0.4058181643486023,
                    "z": 0.036741066724061966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9032585620880127,
                "transform": {
                    "location": {
                        "x": 1157.474853515625,
                        "y": 4082.94140625,
                        "z": 365.7585754394531
                    },
                    "rotation": {
                        "roll": -0.0012817495735362172,
                        "pitch": 0.9478731155395508,
                        "yaw": -170.81924438476562
                    }
                },
                "velocity": {
                    "x": -1.8781956434249878,
                    "y": -0.3063850700855255,
                    "z": 0.030040759593248367
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.487525701522827,
                "transform": {
                    "location": {
                        "x": 1146.4862060546875,
                        "y": 4081.17578125,
                        "z": 365.9380798339844
                    },
                    "rotation": {
                        "roll": 0.012673920951783657,
                        "pitch": 1.0108952522277832,
                        "yaw": -169.98960876464844
                    }
                },
                "velocity": {
                    "x": -2.4538967609405518,
                    "y": -0.4054032564163208,
                    "z": 0.0426911823451519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.058096058666706085,
        "expert_target_speed": 3.060990844446201,
        "target_point": [
            33.55652014989302,
            0.033325505204644834
        ],
        "target_point_next": [
            70.55656586653957,
            0.0031041805304123926
        ]
    },
    "410": {
        "acceleration": [
            -0.3873276710510254,
            -0.06923317909240723,
            -0.008924119174480438
        ],
        "angular_velocity": [
            -0.023580526933073997,
            0.007518111262470484,
            0.06672760844230652
        ],
        "forward_vector": [
            -0.9866697192192078,
            -0.16191773116588593,
            0.01629459112882614
        ],
        "right_vector": [
            0.1619396209716797,
            -0.9868006706237793,
            2.4498089260305278e-05
        ],
        "location": [
            1189.11376953125,
            4088.24169921875,
            365.2570495605469
        ],
        "rotation": [
            -0.0014038234949111938,
            0.9336526393890381,
            -170.68052673339844
        ],
        "velocity": [
            -1.9711670875549316,
            -0.32774612307548523,
            0.029637783765792847
        ],
        "speed": 1.998228517525161,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.558204650878906,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.006591796875,
                4082.865234375,
                365.7664794921875
            ],
            "velocity": [
                -0.9542750120162964,
                -0.15523706376552582,
                0.016441192477941513
            ],
            "speed_kmh": 3.481052306281252,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.0170369148254395,
                "transform": {
                    "location": {
                        "x": 1172.2728271484375,
                        "y": 4088.583740234375,
                        "z": 365.513671875
                    },
                    "rotation": {
                        "roll": -0.0007934590103104711,
                        "pitch": -0.7232077121734619,
                        "yaw": 9.288561820983887
                    }
                },
                "velocity": {
                    "x": 6.924970626831055,
                    "y": 1.1276084184646606,
                    "z": -0.10992585867643356
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082525253295898,
                "transform": {
                    "location": {
                        "x": 1194.4735107421875,
                        "y": 4092.194091796875,
                        "z": 365.1609802246094
                    },
                    "rotation": {
                        "roll": -0.00018310871382709593,
                        "pitch": -0.867222249507904,
                        "yaw": 9.235639572143555
                    }
                },
                "velocity": {
                    "x": 7.97683048248291,
                    "y": 1.297109842300415,
                    "z": -0.12207383662462234
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.328439474105835,
                "transform": {
                    "location": {
                        "x": 1215.0169677734375,
                        "y": 4092.29052734375,
                        "z": 364.8716735839844
                    },
                    "rotation": {
                        "roll": 0.000797597982455045,
                        "pitch": 0.9660482406616211,
                        "yaw": -170.7122039794922
                    }
                },
                "velocity": {
                    "x": -2.297959089279175,
                    "y": -0.3739928603172302,
                    "z": 0.03382446989417076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.594242572784424,
                "transform": {
                    "location": {
                        "x": 1129.4163818359375,
                        "y": 4081.571533203125,
                        "z": 366.2345275878906
                    },
                    "rotation": {
                        "roll": -0.009338361211121082,
                        "pitch": -0.9632205367088318,
                        "yaw": 9.726903915405273
                    }
                },
                "velocity": {
                    "x": 5.512850761413574,
                    "y": 0.945770800113678,
                    "z": -0.09768225252628326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4450605809688568,
                "transform": {
                    "location": {
                        "x": 1200.5733642578125,
                        "y": 4089.96875,
                        "z": 365.09417724609375
                    },
                    "rotation": {
                        "roll": 0.007534865289926529,
                        "pitch": 0.45399582386016846,
                        "yaw": -170.72171020507812
                    }
                },
                "velocity": {
                    "x": -0.43897899985313416,
                    "y": -0.07295747846364975,
                    "z": 0.007318201009184122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9669589996337891,
                "transform": {
                    "location": {
                        "x": 1157.006591796875,
                        "y": 4082.865234375,
                        "z": 365.7664794921875
                    },
                    "rotation": {
                        "roll": -0.0006408730987459421,
                        "pitch": 0.9199649691581726,
                        "yaw": -170.7908172607422
                    }
                },
                "velocity": {
                    "x": -0.9542750120162964,
                    "y": -0.15523706376552582,
                    "z": 0.016441192477941513
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.543243169784546,
                "transform": {
                    "location": {
                        "x": 1146.1070556640625,
                        "y": 4081.1201171875,
                        "z": 365.9449768066406
                    },
                    "rotation": {
                        "roll": 0.01869276352226734,
                        "pitch": 0.9341580867767334,
                        "yaw": -169.37034606933594
                    }
                },
                "velocity": {
                    "x": -1.5222208499908447,
                    "y": -0.25215980410575867,
                    "z": 0.029303988441824913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.056263118982315063,
        "expert_target_speed": 3.1552333560242447,
        "target_point": [
            33.06863648020354,
            0.01026492876342644
        ],
        "target_point_next": [
            70.06865406492726,
            -0.04446250984129385
        ]
    },
    "415": {
        "acceleration": [
            -0.3957557678222656,
            -0.059838294982910156,
            0.008768662810325623
        ],
        "angular_velocity": [
            -0.015627961605787277,
            0.03282872214913368,
            0.06681592017412186
        ],
        "forward_vector": [
            -0.9866229295730591,
            -0.1621958315372467,
            0.01636372320353985
        ],
        "right_vector": [
            0.1622164398431778,
            -0.9867551922798157,
            -6.815767119405791e-05
        ],
        "location": [
            1188.60791015625,
            4088.158447265625,
            365.2648620605469
        ],
        "rotation": [
            0.0039056697860360146,
            0.9376141428947449,
            -170.66436767578125
        ],
        "velocity": [
            -2.070575714111328,
            -0.34035053849220276,
            0.030864868313074112
        ],
        "speed": 2.098361807915777,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.162498474121094,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.89111328125,
                4082.846435546875,
                365.76849365234375
            ],
            "velocity": [
                -0.7695649266242981,
                -0.12563066184520721,
                0.011952524073421955
            ],
            "speed_kmh": 2.807437102774837,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.357346534729004,
                "transform": {
                    "location": {
                        "x": 1174.1854248046875,
                        "y": 4088.8955078125,
                        "z": 365.4822082519531
                    },
                    "rotation": {
                        "roll": 0.0007349017541855574,
                        "pitch": -0.41686689853668213,
                        "yaw": 9.243114471435547
                    }
                },
                "velocity": {
                    "x": 8.2478609085083,
                    "y": 1.3419861793518066,
                    "z": -0.130794957280159
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050614356994629,
                "transform": {
                    "location": {
                        "x": 1196.4678955078125,
                        "y": 4092.51806640625,
                        "z": 365.13037109375
                    },
                    "rotation": {
                        "roll": 9.922922617988661e-05,
                        "pitch": -0.8683765530586243,
                        "yaw": 9.233138084411621
                    }
                },
                "velocity": {
                    "x": 7.945609092712402,
                    "y": 1.2901901006698608,
                    "z": -0.12288171797990799
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.874466896057129,
                "transform": {
                    "location": {
                        "x": 1214.2491455078125,
                        "y": 4092.16552734375,
                        "z": 364.88299560546875
                    },
                    "rotation": {
                        "roll": 0.0010839689057320356,
                        "pitch": 1.0537956953048706,
                        "yaw": -170.73329162597656
                    }
                },
                "velocity": {
                    "x": -3.823838949203491,
                    "y": -0.6217701435089111,
                    "z": 0.05613674223423004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.775601387023926,
                "transform": {
                    "location": {
                        "x": 1131.1407470703125,
                        "y": 4081.863037109375,
                        "z": 366.2044372558594
                    },
                    "rotation": {
                        "roll": 0.0015321954851970077,
                        "pitch": -0.7526184916496277,
                        "yaw": 9.581806182861328
                    }
                },
                "velocity": {
                    "x": 7.667046546936035,
                    "y": 1.287689447402954,
                    "z": -0.1350003182888031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5069910287857056,
                "transform": {
                    "location": {
                        "x": 1200.2994384765625,
                        "y": 4089.923095703125,
                        "z": 365.0942077636719
                    },
                    "rotation": {
                        "roll": -0.0005798334605060518,
                        "pitch": 0.9588013887405396,
                        "yaw": -170.7211151123047
                    }
                },
                "velocity": {
                    "x": -1.4864672422409058,
                    "y": -0.2468547224998474,
                    "z": 0.022352008149027824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7798436880111694,
                "transform": {
                    "location": {
                        "x": 1156.89111328125,
                        "y": 4082.846435546875,
                        "z": 365.76849365234375
                    },
                    "rotation": {
                        "roll": -0.0013732962543144822,
                        "pitch": 0.9145008325576782,
                        "yaw": -170.79580688476562
                    }
                },
                "velocity": {
                    "x": -0.7695649266242981,
                    "y": -0.12563066184520721,
                    "z": 0.011952524073421955
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6430580615997314,
                "transform": {
                    "location": {
                        "x": 1145.629638671875,
                        "y": 4081.036376953125,
                        "z": 365.9525451660156
                    },
                    "rotation": {
                        "roll": 0.016712335869669914,
                        "pitch": 1.0234969854354858,
                        "yaw": -169.7233428955078
                    }
                },
                "velocity": {
                    "x": -2.606091022491455,
                    "y": -0.4383019208908081,
                    "z": 0.04400964453816414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05572636052966118,
        "expert_target_speed": 3.252422494904441,
        "target_point": [
            32.55597385510504,
            0.0008556223515201467
        ],
        "target_point_next": [
            69.55597454782702,
            -0.06429881703602369
        ]
    },
    "420": {
        "acceleration": [
            -0.43572425842285156,
            -0.07197082042694092,
            0.007923170924186707
        ],
        "angular_velocity": [
            0.022462142631411552,
            0.02587110735476017,
            -0.07804679125547409
        ],
        "forward_vector": [
            -0.9866269826889038,
            -0.162160262465477,
            0.016465870663523674
        ],
        "right_vector": [
            0.16218140721321106,
            -0.9867609143257141,
            -5.255359792499803e-05
        ],
        "location": [
            1188.076904296875,
            4088.071044921875,
            365.2730712890625
        ],
        "rotation": [
            0.0030115076806396246,
            0.9434676170349121,
            -170.66641235351562
        ],
        "velocity": [
            -2.175107717514038,
            -0.3573833703994751,
            0.03330766782164574
        ],
        "speed": 2.2042723189813045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.889455795288086,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.62939453125,
                4082.803955078125,
                365.77239990234375
            ],
            "velocity": [
                -1.2690743207931519,
                -0.20699910819530487,
                0.02059270814061165
            ],
            "speed_kmh": 4.62963684263246,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.1403226852417,
                "transform": {
                    "location": {
                        "x": 1176.2449951171875,
                        "y": 4089.23046875,
                        "z": 365.4507751464844
                    },
                    "rotation": {
                        "roll": -0.0003051825042348355,
                        "pitch": -0.7355020642280579,
                        "yaw": 9.252745628356934
                    }
                },
                "velocity": {
                    "x": 8.03369140625,
                    "y": 1.3071033954620361,
                    "z": -0.12702403962612152
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.062270164489746,
                "transform": {
                    "location": {
                        "x": 1198.453857421875,
                        "y": 4092.841064453125,
                        "z": 365.1002197265625
                    },
                    "rotation": {
                        "roll": 0.0002084508741972968,
                        "pitch": -0.858424961566925,
                        "yaw": 9.234557151794434
                    }
                },
                "velocity": {
                    "x": 7.956892490386963,
                    "y": 1.2936991453170776,
                    "z": -0.12005697190761566
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.256974697113037,
                "transform": {
                    "location": {
                        "x": 1213.1126708984375,
                        "y": 4091.98095703125,
                        "z": 364.89990234375
                    },
                    "rotation": {
                        "roll": 0.00031185400439426303,
                        "pitch": 1.058262586593628,
                        "yaw": -170.7493438720703
                    }
                },
                "velocity": {
                    "x": -5.188273906707764,
                    "y": -0.8433498740196228,
                    "z": 0.07973498851060867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.354500770568848,
                "transform": {
                    "location": {
                        "x": 1133.166259765625,
                        "y": 4082.201904296875,
                        "z": 366.1687927246094
                    },
                    "rotation": {
                        "roll": 0.0002557474363129586,
                        "pitch": -0.8610818982124329,
                        "yaw": 9.49719524383545
                    }
                },
                "velocity": {
                    "x": 8.239095687866211,
                    "y": 1.376429557800293,
                    "z": -0.14291499555110931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.19534306228160858,
                "transform": {
                    "location": {
                        "x": 1199.8973388671875,
                        "y": 4089.853271484375,
                        "z": 365.1007995605469
                    },
                    "rotation": {
                        "roll": 0.00747363455593586,
                        "pitch": 0.8867292404174805,
                        "yaw": -171.05734252929688
                    }
                },
                "velocity": {
                    "x": -0.1911889761686325,
                    "y": -0.039979465305805206,
                    "z": 0.0027071188669651747
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2860102653503418,
                "transform": {
                    "location": {
                        "x": 1156.62939453125,
                        "y": 4082.803955078125,
                        "z": 365.77239990234375
                    },
                    "rotation": {
                        "roll": -0.0009765702998265624,
                        "pitch": 0.9470056891441345,
                        "yaw": -170.79824829101562
                    }
                },
                "velocity": {
                    "x": -1.2690743207931519,
                    "y": -0.20699910819530487,
                    "z": 0.02059270814061165
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3062721490859985,
                "transform": {
                    "location": {
                        "x": 1145.23046875,
                        "y": 4080.968017578125,
                        "z": 365.96002197265625
                    },
                    "rotation": {
                        "roll": 0.010773913003504276,
                        "pitch": 0.9119189977645874,
                        "yaw": -170.0841827392578
                    }
                },
                "velocity": {
                    "x": -1.2883358001708984,
                    "y": -0.21440698206424713,
                    "z": 0.023819999769330025
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0528273843228817,
        "expert_target_speed": 3.356592765108598,
        "target_point": [
            32.01782291813531,
            0.0018789657510129842
        ],
        "target_point_next": [
            69.01782588685926,
            -0.061969893432635814
        ]
    },
    "425": {
        "acceleration": [
            -0.4550933837890625,
            -0.07266819477081299,
            0.012426972389221191
        ],
        "angular_velocity": [
            0.010373027995228767,
            0.030569197610020638,
            0.06864520907402039
        ],
        "forward_vector": [
            -0.9866268038749695,
            -0.1621513068675995,
            0.01656671054661274
        ],
        "right_vector": [
            0.1621731072664261,
            -0.986762285232544,
            -2.6907187930191867e-05
        ],
        "location": [
            1187.5186767578125,
            4087.979248046875,
            365.28173828125
        ],
        "rotation": [
            0.0015418798429891467,
            0.9492459893226624,
            -170.6669158935547
        ],
        "velocity": [
            -2.28619647026062,
            -0.3754448890686035,
            0.03496222570538521
        ],
        "speed": 2.3168196229659,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.71272087097168,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.2454833984375,
                4082.7412109375,
                365.7787780761719
            ],
            "velocity": [
                -1.768575668334961,
                -0.2886076867580414,
                0.029418468475341797
            ],
            "speed_kmh": 6.451959066942035,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.823055267333984,
                "transform": {
                    "location": {
                        "x": 1178.19140625,
                        "y": 4089.546875,
                        "z": 365.42095947265625
                    },
                    "rotation": {
                        "roll": 0.0007699519628658891,
                        "pitch": -0.9608777761459351,
                        "yaw": 9.221837997436523
                    }
                },
                "velocity": {
                    "x": 7.720683574676514,
                    "y": 1.2555170059204102,
                    "z": -0.12210708111524582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038958549499512,
                "transform": {
                    "location": {
                        "x": 1200.4403076171875,
                        "y": 4093.1640625,
                        "z": 365.0703125
                    },
                    "rotation": {
                        "roll": 0.00046661176020279527,
                        "pitch": -0.8485416769981384,
                        "yaw": 9.233562469482422
                    }
                },
                "velocity": {
                    "x": 7.933890342712402,
                    "y": 1.2899950742721558,
                    "z": -0.11892317235469818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.907227039337158,
                "transform": {
                    "location": {
                        "x": 1211.859130859375,
                        "y": 4091.77734375,
                        "z": 364.9176330566406
                    },
                    "rotation": {
                        "roll": -3.0518222047248855e-05,
                        "pitch": 0.7310487627983093,
                        "yaw": -170.78245544433594
                    }
                },
                "velocity": {
                    "x": -3.8561370372772217,
                    "y": -0.6274675726890564,
                    "z": 0.05397965386509895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.927668571472168,
                "transform": {
                    "location": {
                        "x": 1135.168212890625,
                        "y": 4082.53564453125,
                        "z": 366.13372802734375
                    },
                    "rotation": {
                        "roll": 0.001296064117923379,
                        "pitch": -1.0129033327102661,
                        "yaw": 9.450135231018066
                    }
                },
                "velocity": {
                    "x": 7.819670677185059,
                    "y": 1.296892523765564,
                    "z": -0.13691693544387817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8496956825256348,
                "transform": {
                    "location": {
                        "x": 1199.623291015625,
                        "y": 4089.80810546875,
                        "z": 365.1048889160156
                    },
                    "rotation": {
                        "roll": -0.0020141645800322294,
                        "pitch": 0.8959773182868958,
                        "yaw": -171.01329040527344
                    }
                },
                "velocity": {
                    "x": -1.8250105381011963,
                    "y": -0.29988110065460205,
                    "z": 0.027965374290943146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7922108173370361,
                "transform": {
                    "location": {
                        "x": 1156.2454833984375,
                        "y": 4082.7412109375,
                        "z": 365.7787780761719
                    },
                    "rotation": {
                        "roll": -0.0015563955530524254,
                        "pitch": 0.9481736421585083,
                        "yaw": -170.8260040283203
                    }
                },
                "velocity": {
                    "x": -1.768575668334961,
                    "y": -0.2886076867580414,
                    "z": 0.029418468475341797
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.47714900970459,
                "transform": {
                    "location": {
                        "x": 1144.7890625,
                        "y": 4080.894287109375,
                        "z": 365.9669189453125
                    },
                    "rotation": {
                        "roll": 0.011508610099554062,
                        "pitch": 1.0067424774169922,
                        "yaw": -170.1269073486328
                    }
                },
                "velocity": {
                    "x": -2.4427342414855957,
                    "y": -0.4093451201915741,
                    "z": 0.04186424985527992
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05307380110025406,
        "expert_target_speed": 3.467464825905279,
        "target_point": [
            31.452098011781864,
            0.0021170187347356872
        ],
        "target_point_next": [
            68.45210155745197,
            -0.061396623897183034
        ]
    },
    "430": {
        "acceleration": [
            -0.4764413833618164,
            -0.0767594575881958,
            0.0021813809871673584
        ],
        "angular_velocity": [
            0.00016307826444972306,
            0.006826044991612434,
            -0.07285057008266449
        ],
        "forward_vector": [
            -0.9866295456886292,
            -0.16212372481822968,
            0.016674699261784554
        ],
        "right_vector": [
            0.16214619576931,
            -0.9867667555809021,
            -4.728789917862741e-06
        ],
        "location": [
            1186.9320068359375,
            4087.883056640625,
            365.2908630371094
        ],
        "rotation": [
            0.000270977383479476,
            0.9554341435432434,
            -170.6685028076172
        ],
        "velocity": [
            -2.4027605056762695,
            -0.39466243982315063,
            0.037399470806121826
        ],
        "speed": 2.4349571842323727,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.608482360839844,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.7615966796875,
                4082.662353515625,
                365.7868347167969
            ],
            "velocity": [
                -1.667017936706543,
                -0.2719423174858093,
                0.02834714762866497
            ],
            "speed_kmh": 6.081448562646047,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.181557655334473,
                "transform": {
                    "location": {
                        "x": 1180.1724853515625,
                        "y": 4089.868896484375,
                        "z": 365.3892517089844
                    },
                    "rotation": {
                        "roll": 0.00039721952634863555,
                        "pitch": -0.8270197510719299,
                        "yaw": 9.24595832824707
                    }
                },
                "velocity": {
                    "x": 8.07462215423584,
                    "y": 1.312395453453064,
                    "z": -0.1264098733663559
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081198692321777,
                "transform": {
                    "location": {
                        "x": 1202.4296875,
                        "y": 4093.487060546875,
                        "z": 365.04046630859375
                    },
                    "rotation": {
                        "roll": -0.0010070833377540112,
                        "pitch": -0.84991455078125,
                        "yaw": 9.236950874328613
                    }
                },
                "velocity": {
                    "x": 7.975184917449951,
                    "y": 1.2991852760314941,
                    "z": -0.11966512352228165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002591637196019292,
                "transform": {
                    "location": {
                        "x": 1211.443359375,
                        "y": 4091.709716796875,
                        "z": 364.9231262207031
                    },
                    "rotation": {
                        "roll": 0.0012475320836529136,
                        "pitch": 0.3002414405345917,
                        "yaw": -170.7347412109375
                    }
                },
                "velocity": {
                    "x": 0.0022098699118942022,
                    "y": 0.0005985618336126208,
                    "z": 0.001214406220242381
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062164306640625,
                "transform": {
                    "location": {
                        "x": 1137.1297607421875,
                        "y": 4082.859375,
                        "z": 366.0997619628906
                    },
                    "rotation": {
                        "roll": 0.002633742056787014,
                        "pitch": -0.9698458313941956,
                        "yaw": 9.365987777709961
                    }
                },
                "velocity": {
                    "x": 7.953908443450928,
                    "y": 1.309578537940979,
                    "z": -0.13724075257778168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7428606152534485,
                "transform": {
                    "location": {
                        "x": 1199.235107421875,
                        "y": 4089.748779296875,
                        "z": 365.1119079589844
                    },
                    "rotation": {
                        "roll": -0.003448489122092724,
                        "pitch": 0.7611699104309082,
                        "yaw": -170.50538635253906
                    }
                },
                "velocity": {
                    "x": -0.7336767911911011,
                    "y": -0.11594392359256744,
                    "z": 0.010831899009644985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.68929123878479,
                "transform": {
                    "location": {
                        "x": 1155.7615966796875,
                        "y": 4082.662353515625,
                        "z": 365.7868347167969
                    },
                    "rotation": {
                        "roll": -0.0008850156445987523,
                        "pitch": 0.9409472942352295,
                        "yaw": -170.80398559570312
                    }
                },
                "velocity": {
                    "x": -1.667017936706543,
                    "y": -0.2719423174858093,
                    "z": 0.02834714762866497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.952251434326172,
                "transform": {
                    "location": {
                        "x": 1144.155029296875,
                        "y": 4080.7861328125,
                        "z": 365.97772216796875
                    },
                    "rotation": {
                        "roll": 0.008031646721065044,
                        "pitch": 1.0036484003067017,
                        "yaw": -170.5045928955078
                    }
                },
                "velocity": {
                    "x": -2.9144108295440674,
                    "y": -0.4685308635234833,
                    "z": 0.0497654527425766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05197072774171829,
        "expert_target_speed": 3.582826091750418,
        "target_point": [
            30.857594500760094,
            0.0031946487853744543
        ],
        "target_point_next": [
            67.85759978884838,
            -0.05929570118282079
        ]
    },
    "435": {
        "acceleration": [
            -0.4867982864379883,
            -0.07454216480255127,
            -0.0023477524518966675
        ],
        "angular_velocity": [
            -0.0354427807033062,
            -0.0005974155501462519,
            0.06049472838640213
        ],
        "forward_vector": [
            -0.9866306185722351,
            -0.1621149480342865,
            0.01669841632246971
        ],
        "right_vector": [
            0.1621372401714325,
            -0.9867682456970215,
            -1.8981751054525375e-05
        ],
        "location": [
            1186.3157958984375,
            4087.78173828125,
            365.300537109375
        ],
        "rotation": [
            0.0010877258609980345,
            0.9567933082580566,
            -170.66900634765625
        ],
        "velocity": [
            -2.522963285446167,
            -0.4142589569091797,
            0.03812773525714874
        ],
        "speed": 2.556746804650159,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.10150718688965,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.6456298828125,
                4082.64306640625,
                365.7891845703125
            ],
            "velocity": [
                -0.6032118797302246,
                -0.09883217513561249,
                0.00999536458402872
            ],
            "speed_kmh": 2.2008112874386256,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.002878189086914,
                "transform": {
                    "location": {
                        "x": 1182.174072265625,
                        "y": 4090.1943359375,
                        "z": 365.3581848144531
                    },
                    "rotation": {
                        "roll": -0.0007934553432278335,
                        "pitch": -0.90777987241745,
                        "yaw": 9.222352981567383
                    }
                },
                "velocity": {
                    "x": 7.898366928100586,
                    "y": 1.28314208984375,
                    "z": -0.12414626777172089
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02591323852539,
                "transform": {
                    "location": {
                        "x": 1204.415771484375,
                        "y": 4093.810546875,
                        "z": 365.01068115234375
                    },
                    "rotation": {
                        "roll": -0.0003356901870574802,
                        "pitch": -0.851895272731781,
                        "yaw": 9.235816955566406
                    }
                },
                "velocity": {
                    "x": 7.920970439910889,
                    "y": 1.288089394569397,
                    "z": -0.11973381787538528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.501372218132019,
                "transform": {
                    "location": {
                        "x": 1211.2149658203125,
                        "y": 4091.67236328125,
                        "z": 364.9272155761719
                    },
                    "rotation": {
                        "roll": 0.001130932942032814,
                        "pitch": 0.8458232879638672,
                        "yaw": -170.71205139160156
                    }
                },
                "velocity": {
                    "x": -1.4817254543304443,
                    "y": -0.2411613017320633,
                    "z": 0.02119569666683674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.11251163482666,
                "transform": {
                    "location": {
                        "x": 1139.1343994140625,
                        "y": 4083.188720703125,
                        "z": 366.0652160644531
                    },
                    "rotation": {
                        "roll": -9.15469863684848e-05,
                        "pitch": -0.9698731303215027,
                        "yaw": 9.334077835083008
                    }
                },
                "velocity": {
                    "x": 8.004060745239258,
                    "y": 1.3148341178894043,
                    "z": -0.13809466361999512
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.388690233230591,
                "transform": {
                    "location": {
                        "x": 1198.82275390625,
                        "y": 4089.68017578125,
                        "z": 365.1160583496094
                    },
                    "rotation": {
                        "roll": 0.003923328593373299,
                        "pitch": 1.0231622457504272,
                        "yaw": -170.49310302734375
                    }
                },
                "velocity": {
                    "x": -2.3564467430114746,
                    "y": -0.389521986246109,
                    "z": 0.035684023052453995
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6113364696502686,
                "transform": {
                    "location": {
                        "x": 1155.6456298828125,
                        "y": 4082.64306640625,
                        "z": 365.7891845703125
                    },
                    "rotation": {
                        "roll": -0.0018005340825766325,
                        "pitch": 0.9071925282478333,
                        "yaw": -170.81976318359375
                    }
                },
                "velocity": {
                    "x": -0.6032118797302246,
                    "y": -0.09883217513561249,
                    "z": 0.00999536458402872
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4166256189346313,
                "transform": {
                    "location": {
                        "x": 1143.57080078125,
                        "y": 4080.6875,
                        "z": 365.9885559082031
                    },
                    "rotation": {
                        "roll": -0.0006713924231007695,
                        "pitch": 0.8820164203643799,
                        "yaw": -170.83062744140625
                    }
                },
                "velocity": {
                    "x": -1.3975924253463745,
                    "y": -0.23017887771129608,
                    "z": 0.024107685312628746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.050960831344127655,
        "expert_target_speed": 3.698151146016823,
        "target_point": [
            30.23310962451881,
            0.003392769362176473
        ],
        "target_point_next": [
            67.23311544760318,
            -0.05878000701097008
        ]
    },
    "440": {
        "acceleration": [
            -0.44268131256103516,
            -0.07167518138885498,
            -0.00718824565410614
        ],
        "angular_velocity": [
            -0.02289010025560856,
            0.009068477898836136,
            -0.07012014836072922
        ],
        "forward_vector": [
            -0.9866350293159485,
            -0.16208717226982117,
            0.016704615205526352
        ],
        "right_vector": [
            0.1621095836162567,
            -0.9867727756500244,
            -1.3094743735564407e-05
        ],
        "location": [
            1185.66943359375,
            4087.675537109375,
            365.31060791015625
        ],
        "rotation": [
            0.0007503782398998737,
            0.9571484923362732,
            -170.67062377929688
        ],
        "velocity": [
            -2.6401546001434326,
            -0.4336056709289551,
            0.04083094373345375
        ],
        "speed": 2.675524283298561,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.67034912109375,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.424560546875,
                4082.607421875,
                365.7924499511719
            ],
            "velocity": [
                -1.1262511014938354,
                -0.18354184925556183,
                0.018251027911901474
            ],
            "speed_kmh": 4.108516862892295,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.995753765106201,
                "transform": {
                    "location": {
                        "x": 1184.1385498046875,
                        "y": 4090.513671875,
                        "z": 365.32745361328125
                    },
                    "rotation": {
                        "roll": -0.0005188076174817979,
                        "pitch": -0.9196780920028687,
                        "yaw": 9.242591857910156
                    }
                },
                "velocity": {
                    "x": 7.891338348388672,
                    "y": 1.2820391654968262,
                    "z": -0.12342841178178787
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.085623741149902,
                "transform": {
                    "location": {
                        "x": 1206.404052734375,
                        "y": 4094.133544921875,
                        "z": 364.9808654785156
                    },
                    "rotation": {
                        "roll": 0.0009056467097252607,
                        "pitch": -0.8503380417823792,
                        "yaw": 9.234269142150879
                    }
                },
                "velocity": {
                    "x": 7.980222702026367,
                    "y": 1.295827031135559,
                    "z": -0.11908221244812012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3399722576141357,
                "transform": {
                    "location": {
                        "x": 1210.745849609375,
                        "y": 4091.59619140625,
                        "z": 364.9342346191406
                    },
                    "rotation": {
                        "roll": 0.0012576746521517634,
                        "pitch": 0.9500656127929688,
                        "yaw": -170.73866271972656
                    }
                },
                "velocity": {
                    "x": -2.3093793392181396,
                    "y": -0.3756084442138672,
                    "z": 0.03399106115102768
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011141777038574,
                "transform": {
                    "location": {
                        "x": 1141.1185302734375,
                        "y": 4083.513916015625,
                        "z": 366.0310363769531
                    },
                    "rotation": {
                        "roll": 8.110050112009048e-05,
                        "pitch": -0.9863885641098022,
                        "yaw": 9.296192169189453
                    }
                },
                "velocity": {
                    "x": 7.905062675476074,
                    "y": 1.292379379272461,
                    "z": -0.13467544317245483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.3669819831848145,
                "transform": {
                    "location": {
                        "x": 1197.991455078125,
                        "y": 4089.54248046875,
                        "z": 365.1261291503906
                    },
                    "rotation": {
                        "roll": 0.007364147342741489,
                        "pitch": 1.3411281108856201,
                        "yaw": -170.5486602783203
                    }
                },
                "velocity": {
                    "x": -4.308220386505127,
                    "y": -0.7109408974647522,
                    "z": 0.06579460203647614
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1412546634674072,
                "transform": {
                    "location": {
                        "x": 1155.424560546875,
                        "y": 4082.607421875,
                        "z": 365.7924499511719
                    },
                    "rotation": {
                        "roll": -0.0014037967193871737,
                        "pitch": 0.9497104287147522,
                        "yaw": -170.7794647216797
                    }
                },
                "velocity": {
                    "x": -1.1262511014938354,
                    "y": -0.18354184925556183,
                    "z": 0.018251027911901474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.7406115531921387,
                "transform": {
                    "location": {
                        "x": 1143.072021484375,
                        "y": 4080.60498046875,
                        "z": 365.9962158203125
                    },
                    "rotation": {
                        "roll": -0.002014148747548461,
                        "pitch": 1.0058478116989136,
                        "yaw": -170.86122131347656
                    }
                },
                "velocity": {
                    "x": -2.7030160427093506,
                    "y": -0.4499942362308502,
                    "z": 0.04648550972342491
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04799596965312958,
        "expert_target_speed": 3.8136443475354787,
        "target_point": [
            29.578080570981392,
            0.0042427409360330515
        ],
        "target_point_next": [
            66.57808815770008,
            -0.056871456754002736
        ]
    },
    "445": {
        "acceleration": [
            -0.39695262908935547,
            -0.06489932537078857,
            -0.001299530267715454
        ],
        "angular_velocity": [
            0.00768915843218565,
            -0.025053219869732857,
            0.052371058613061905
        ],
        "forward_vector": [
            -0.9866381883621216,
            -0.16207440197467804,
            0.016642514616250992
        ],
        "right_vector": [
            0.16209693253040314,
            -0.9867748618125916,
            4.2604510781529825e-06
        ],
        "location": [
            1184.9954833984375,
            4087.56494140625,
            365.32122802734375
        ],
        "rotation": [
            -0.00024413969367742538,
            0.9535899758338928,
            -170.67137145996094
        ],
        "velocity": [
            -2.744414806365967,
            -0.4507238566875458,
            0.04173572361469269
        ],
        "speed": 2.7811804372223032,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.343883514404297,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.0726318359375,
                4082.55029296875,
                365.7981872558594
            ],
            "velocity": [
                -1.636414647102356,
                -0.2674781382083893,
                0.027329836040735245
            ],
            "speed_kmh": 5.970081327423191,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.087539672851562,
                "transform": {
                    "location": {
                        "x": 1186.1287841796875,
                        "y": 4090.836669921875,
                        "z": 365.2960510253906
                    },
                    "rotation": {
                        "roll": -0.00036621178151108325,
                        "pitch": -0.8776792883872986,
                        "yaw": 9.216450691223145
                    }
                },
                "velocity": {
                    "x": 7.9820685386657715,
                    "y": 1.2960375547409058,
                    "z": -0.12315434962511063
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026094436645508,
                "transform": {
                    "location": {
                        "x": 1208.3914794921875,
                        "y": 4094.456787109375,
                        "z": 364.9513854980469
                    },
                    "rotation": {
                        "roll": -6.103128180257045e-05,
                        "pitch": -0.8350452184677124,
                        "yaw": 9.228262901306152
                    }
                },
                "velocity": {
                    "x": 7.9213995933532715,
                    "y": 1.2868061065673828,
                    "z": -0.11723706871271133
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.01171625591814518,
                "transform": {
                    "location": {
                        "x": 1210.3087158203125,
                        "y": 4091.525146484375,
                        "z": 364.940185546875
                    },
                    "rotation": {
                        "roll": -0.001708990428596735,
                        "pitch": 0.5856135487556458,
                        "yaw": -170.6686248779297
                    }
                },
                "velocity": {
                    "x": -0.011549673043191433,
                    "y": -0.0014539789408445358,
                    "z": 0.0013272679643705487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087105751037598,
                "transform": {
                    "location": {
                        "x": 1143.104736328125,
                        "y": 4083.8388671875,
                        "z": 365.9971008300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9624350666999817,
                        "yaw": 9.2850341796875
                    }
                },
                "velocity": {
                    "x": 7.980155944824219,
                    "y": 1.3039100170135498,
                    "z": -0.1349269598722458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.590414524078369,
                "transform": {
                    "location": {
                        "x": 1196.8917236328125,
                        "y": 4089.363037109375,
                        "z": 365.1467590332031
                    },
                    "rotation": {
                        "roll": 0.0019114206079393625,
                        "pitch": 0.8727957010269165,
                        "yaw": -170.36973571777344
                    }
                },
                "velocity": {
                    "x": -2.5570101737976074,
                    "y": -0.41291099786758423,
                    "z": 0.03809913620352745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.658355951309204,
                "transform": {
                    "location": {
                        "x": 1155.0726318359375,
                        "y": 4082.55029296875,
                        "z": 365.7981872558594
                    },
                    "rotation": {
                        "roll": -0.0012817332753911614,
                        "pitch": 0.9575036764144897,
                        "yaw": -170.73858642578125
                    }
                },
                "velocity": {
                    "x": -1.636414647102356,
                    "y": -0.2674781382083893,
                    "z": 0.027329836040735245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3576266765594482,
                "transform": {
                    "location": {
                        "x": 1142.3848876953125,
                        "y": 4080.48779296875,
                        "z": 366.00836181640625
                    },
                    "rotation": {
                        "roll": -0.008422840386629105,
                        "pitch": 0.9525654315948486,
                        "yaw": -171.36444091796875
                    }
                },
                "velocity": {
                    "x": -2.3266260623931885,
                    "y": -0.37907275557518005,
                    "z": 0.03896258398890495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04727216437458992,
        "expert_target_speed": 3.9165068938294088,
        "target_point": [
            28.895116193641456,
            0.004735602709022402
        ],
        "target_point_next": [
            65.89512456411472,
            -0.05590223455723908
        ]
    },
    "450": {
        "acceleration": [
            -0.35811424255371094,
            -0.0581592321395874,
            0.011819079518318176
        ],
        "angular_velocity": [
            -0.006548723671585321,
            -0.03963327407836914,
            -0.061598606407642365
        ],
        "forward_vector": [
            -0.9866447448730469,
            -0.16204288601875305,
            0.016558606177568436
        ],
        "right_vector": [
            0.16206496953964233,
            -0.986780047416687,
            -8.532777428627014e-06
        ],
        "location": [
            1184.29736328125,
            4087.4501953125,
            365.3320617675781
        ],
        "rotation": [
            0.0004889591364189982,
            0.9487815499305725,
            -170.6732177734375
        ],
        "velocity": [
            -2.83622145652771,
            -0.4657394587993622,
            0.04482986405491829
        ],
        "speed": 2.8742069156466252,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.12717056274414,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1154.58837890625,
                4082.470458984375,
                365.8062438964844
            ],
            "velocity": [
                -2.20296573638916,
                -0.35915297269821167,
                0.03692282736301422
            ],
            "speed_kmh": 8.036480695262863,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.003703117370605,
                "transform": {
                    "location": {
                        "x": 1188.1129150390625,
                        "y": 4091.1591796875,
                        "z": 365.2654113769531
                    },
                    "rotation": {
                        "roll": -0.000946052314247936,
                        "pitch": -0.9044535756111145,
                        "yaw": 9.247726440429688
                    }
                },
                "velocity": {
                    "x": 7.899048805236816,
                    "y": 1.2841594219207764,
                    "z": -0.12337131053209305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082907676696777,
                "transform": {
                    "location": {
                        "x": 1210.379150390625,
                        "y": 4094.7802734375,
                        "z": 364.9221496582031
                    },
                    "rotation": {
                        "roll": -0.0002746704558376223,
                        "pitch": -0.8299225568771362,
                        "yaw": 9.239070892333984
                    }
                },
                "velocity": {
                    "x": 7.977219581604004,
                    "y": 1.2976253032684326,
                    "z": -0.11633924394845963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9223774671554565,
                "transform": {
                    "location": {
                        "x": 1210.1973876953125,
                        "y": 4091.507080078125,
                        "z": 364.9421691894531
                    },
                    "rotation": {
                        "roll": -0.00018310020095668733,
                        "pitch": 0.8281126022338867,
                        "yaw": -170.7054443359375
                    }
                },
                "velocity": {
                    "x": -0.9103121161460876,
                    "y": -0.14809010922908783,
                    "z": 0.013465413823723793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05270767211914,
                "transform": {
                    "location": {
                        "x": 1145.096923828125,
                        "y": 4084.164306640625,
                        "z": 365.96331787109375
                    },
                    "rotation": {
                        "roll": -0.00024414040672127157,
                        "pitch": -0.9637396335601807,
                        "yaw": 9.26661205291748
                    }
                },
                "velocity": {
                    "x": 7.9466376304626465,
                    "y": 1.2957645654678345,
                    "z": -0.13436053693294525
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9724422693252563,
                "transform": {
                    "location": {
                        "x": 1196.7266845703125,
                        "y": 4089.336669921875,
                        "z": 365.15533447265625
                    },
                    "rotation": {
                        "roll": -0.011108394712209702,
                        "pitch": 0.09487131983041763,
                        "yaw": -170.31808471679688
                    }
                },
                "velocity": {
                    "x": -0.9591042399406433,
                    "y": -0.15989920496940613,
                    "z": 0.013972816057503223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2323555946350098,
                "transform": {
                    "location": {
                        "x": 1154.58837890625,
                        "y": 4082.470458984375,
                        "z": 365.8062438964844
                    },
                    "rotation": {
                        "roll": -0.0027771072927862406,
                        "pitch": 0.9586852788925171,
                        "yaw": -170.82461547851562
                    }
                },
                "velocity": {
                    "x": -2.20296573638916,
                    "y": -0.35915297269821167,
                    "z": 0.03692282736301422
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.197397232055664,
                "transform": {
                    "location": {
                        "x": 1141.6513671875,
                        "y": 4080.37109375,
                        "z": 366.0209655761719
                    },
                    "rotation": {
                        "roll": -0.0019836381543427706,
                        "pitch": 0.9429417252540588,
                        "yaw": -170.91354370117188
                    }
                },
                "velocity": {
                    "x": -2.168851375579834,
                    "y": -0.35109561681747437,
                    "z": 0.037018146365880966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0453236922621727,
        "expert_target_speed": 4.007550484901638,
        "target_point": [
            28.187628670796215,
            0.005584004122553665
        ],
        "target_point_next": [
            65.18763898799645,
            -0.053854110550590306
        ]
    },
    "455": {
        "acceleration": [
            -0.4116344451904297,
            -0.05944550037384033,
            -0.006103515625
        ],
        "angular_velocity": [
            -0.006139544304460287,
            0.0032236340921372175,
            -0.01713446155190468
        ],
        "forward_vector": [
            -0.9866763353347778,
            -0.1618548035621643,
            0.01651962846517563
        ],
        "right_vector": [
            0.16187652945518494,
            -0.9868110418319702,
            -2.213066727563273e-05
        ],
        "location": [
            1183.576416015625,
            4087.33203125,
            365.343505859375
        ],
        "rotation": [
            0.0012681668158620596,
            0.9465480446815491,
            -170.68414306640625
        ],
        "velocity": [
            -2.9304611682891846,
            -0.47888240218162537,
            0.04507896304130554
        ],
        "speed": 2.969331745354509,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.016908645629883,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1153.976318359375,
                4082.36962890625,
                365.81640625
            ],
            "velocity": [
                -2.6793456077575684,
                -0.4353850483894348,
                0.044926032423973083
            ],
            "speed_kmh": 9.773500346053108,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038793563842773,
                "transform": {
                    "location": {
                        "x": 1190.0902099609375,
                        "y": 4091.48095703125,
                        "z": 365.23480224609375
                    },
                    "rotation": {
                        "roll": -0.0001220706762978807,
                        "pitch": -0.8805820941925049,
                        "yaw": 9.222302436828613
                    }
                },
                "velocity": {
                    "x": 7.933815002441406,
                    "y": 1.2891061305999756,
                    "z": -0.12240836769342422
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028234481811523,
                "transform": {
                    "location": {
                        "x": 1212.3665771484375,
                        "y": 4095.103759765625,
                        "z": 364.89300537109375
                    },
                    "rotation": {
                        "roll": -0.00036622080369852483,
                        "pitch": -0.8322380185127258,
                        "yaw": 9.22694206237793
                    }
                },
                "velocity": {
                    "x": 7.92357873916626,
                    "y": 1.2869184017181396,
                    "z": -0.11529697477817535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8991014957427979,
                "transform": {
                    "location": {
                        "x": 1209.8411865234375,
                        "y": 4091.44921875,
                        "z": 364.9475402832031
                    },
                    "rotation": {
                        "roll": 0.0007382488693110645,
                        "pitch": 0.95033198595047,
                        "yaw": -170.7664337158203
                    }
                },
                "velocity": {
                    "x": -1.8744268417358398,
                    "y": -0.30395516753196716,
                    "z": 0.02687273919582367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060431480407715,
                "transform": {
                    "location": {
                        "x": 1147.0833740234375,
                        "y": 4084.488037109375,
                        "z": 365.9296875
                    },
                    "rotation": {
                        "roll": -3.0520062864525244e-05,
                        "pitch": -0.964504599571228,
                        "yaw": 9.254562377929688
                    }
                },
                "velocity": {
                    "x": 7.9543938636779785,
                    "y": 1.2961771488189697,
                    "z": -0.13456149399280548
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4007768630981445,
                "transform": {
                    "location": {
                        "x": 1196.2528076171875,
                        "y": 4089.25830078125,
                        "z": 365.1535339355469
                    },
                    "rotation": {
                        "roll": 0.014469031244516373,
                        "pitch": 1.2097288370132446,
                        "yaw": -170.2840118408203
                    }
                },
                "velocity": {
                    "x": -2.3680336475372314,
                    "y": -0.3934350907802582,
                    "z": 0.036805495619773865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7148611545562744,
                "transform": {
                    "location": {
                        "x": 1153.976318359375,
                        "y": 4082.36962890625,
                        "z": 365.81640625
                    },
                    "rotation": {
                        "roll": -0.004455564543604851,
                        "pitch": 0.9615881443023682,
                        "yaw": -170.9425048828125
                    }
                },
                "velocity": {
                    "x": -2.6793456077575684,
                    "y": -0.4353850483894348,
                    "z": 0.044926032423973083
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9458420276641846,
                "transform": {
                    "location": {
                        "x": 1140.85595703125,
                        "y": 4080.24169921875,
                        "z": 366.033935546875
                    },
                    "rotation": {
                        "roll": -0.002990724751725793,
                        "pitch": 1.0435435771942139,
                        "yaw": -170.83724975585938
                    }
                },
                "velocity": {
                    "x": -3.8929145336151123,
                    "y": -0.6406051516532898,
                    "z": 0.06716901808977127
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04809144511818886,
        "expert_target_speed": 4.100691809324125,
        "target_point": [
            27.457060403362146,
            0.01104610167934883
        ],
        "target_point_next": [
            64.45708135947535,
            -0.04135246303100715
        ]
    },
    "460": {
        "acceleration": [
            -0.4436206817626953,
            -0.06835103034973145,
            0.021271854639053345
        ],
        "angular_velocity": [
            0.011264198459684849,
            0.01842464692890644,
            -0.126570463180542
        ],
        "forward_vector": [
            -0.9867285490036011,
            -0.1615290343761444,
            0.01658625900745392
        ],
        "right_vector": [
            0.1615508645772934,
            -0.9868643879890442,
            -2.355954893573653e-05
        ],
        "location": [
            1182.8297119140625,
            4087.210205078125,
            365.3551940917969
        ],
        "rotation": [
            0.0013500484637916088,
            0.9503661394119263,
            -170.7030487060547
        ],
        "velocity": [
            -3.039594888687134,
            -0.4956607222557068,
            0.04690665006637573
        ],
        "speed": 3.0797429501372346,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.010297775268555,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1153.236083984375,
                4082.249267578125,
                365.8287048339844
            ],
            "velocity": [
                -3.2166852951049805,
                -0.5227217078208923,
                0.0532660186290741
            ],
            "speed_kmh": 11.733536911027667,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046294212341309,
                "transform": {
                    "location": {
                        "x": 1192.076904296875,
                        "y": 4091.8037109375,
                        "z": 365.2043151855469
                    },
                    "rotation": {
                        "roll": 0.00148965569678694,
                        "pitch": -0.8763473629951477,
                        "yaw": 9.24904727935791
                    }
                },
                "velocity": {
                    "x": 7.941071033477783,
                    "y": 1.2912144660949707,
                    "z": -0.12248960137367249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08126449584961,
                "transform": {
                    "location": {
                        "x": 1214.3541259765625,
                        "y": 4095.4267578125,
                        "z": 364.8638916015625
                    },
                    "rotation": {
                        "roll": -0.0007629470201209188,
                        "pitch": -0.8314183950424194,
                        "yaw": 9.227165222167969
                    }
                },
                "velocity": {
                    "x": 7.975615501403809,
                    "y": 1.2972114086151123,
                    "z": -0.11678434163331985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0825414657592773,
                "transform": {
                    "location": {
                        "x": 1209.236083984375,
                        "y": 4091.3515625,
                        "z": 364.95648193359375
                    },
                    "rotation": {
                        "roll": -0.0012817394454032183,
                        "pitch": 1.008798360824585,
                        "yaw": -170.8385467529297
                    }
                },
                "velocity": {
                    "x": -3.0426313877105713,
                    "y": -0.4924154579639435,
                    "z": 0.04454066976904869
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06053352355957,
                "transform": {
                    "location": {
                        "x": 1149.0726318359375,
                        "y": 4084.8125,
                        "z": 365.8961486816406
                    },
                    "rotation": {
                        "roll": 0.0012344338465481997,
                        "pitch": -0.9528181552886963,
                        "yaw": 9.251899719238281
                    }
                },
                "velocity": {
                    "x": 7.954699516296387,
                    "y": 1.294961929321289,
                    "z": -0.1342839151620865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5504326224327087,
                "transform": {
                    "location": {
                        "x": 1196.009765625,
                        "y": 4089.218017578125,
                        "z": 365.16241455078125
                    },
                    "rotation": {
                        "roll": 0.002755360910668969,
                        "pitch": 0.5843704342842102,
                        "yaw": -170.3184051513672
                    }
                },
                "velocity": {
                    "x": -0.5427752137184143,
                    "y": -0.09098748862743378,
                    "z": 0.009611386805772781
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2593157291412354,
                "transform": {
                    "location": {
                        "x": 1153.236083984375,
                        "y": 4082.249267578125,
                        "z": 365.8287048339844
                    },
                    "rotation": {
                        "roll": -0.004455569200217724,
                        "pitch": 0.9650783538818359,
                        "yaw": -170.93568420410156
                    }
                },
                "velocity": {
                    "x": -3.2166852951049805,
                    "y": -0.5227217078208923,
                    "z": 0.0532660186290741
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8544663190841675,
                "transform": {
                    "location": {
                        "x": 1140.3052978515625,
                        "y": 4080.151123046875,
                        "z": 366.0445251464844
                    },
                    "rotation": {
                        "roll": -0.000976567855104804,
                        "pitch": 0.889563798904419,
                        "yaw": -170.8376007080078
                    }
                },
                "velocity": {
                    "x": -1.8298417329788208,
                    "y": -0.29951614141464233,
                    "z": 0.031848955899477005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04528846964240074,
        "expert_target_speed": 4.20912098423465,
        "target_point": [
            26.700478445317152,
            0.0205240306351806
        ],
        "target_point_next": [
            63.700514696312084,
            -0.019647942938441076
        ]
    },
    "465": {
        "acceleration": [
            -0.46638011932373047,
            -0.06877779960632324,
            -0.004505738615989685
        ],
        "angular_velocity": [
            -0.0024945337790995836,
            0.006812917534261942,
            -0.026794344186782837
        ],
        "forward_vector": [
            -0.9867799282073975,
            -0.16120964288711548,
            0.016635125502943993
        ],
        "right_vector": [
            0.16123151779174805,
            -0.9869166016578674,
            -2.698309072002303e-05
        ],
        "location": [
            1182.054931640625,
            4087.083984375,
            365.3673095703125
        ],
        "rotation": [
            0.0015462312148883939,
            0.9531664848327637,
            -170.72158813476562
        ],
        "velocity": [
            -3.154170274734497,
            -0.5131381750106812,
            0.049105823040008545
        ],
        "speed": 3.195637793723185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.12314796447754,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1152.3497314453125,
                4082.106201171875,
                365.8434753417969
            ],
            "velocity": [
                -3.893798828125,
                -0.6333495378494263,
                0.06511270254850388
            ],
            "speed_kmh": 14.203832101614408,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022684097290039,
                "transform": {
                    "location": {
                        "x": 1194.0579833984375,
                        "y": 4092.126220703125,
                        "z": 365.17401123046875
                    },
                    "rotation": {
                        "roll": 0.0001040127535816282,
                        "pitch": -0.8867497444152832,
                        "yaw": 9.222220420837402
                    }
                },
                "velocity": {
                    "x": 7.9177470207214355,
                    "y": 1.287524938583374,
                    "z": -0.12256429344415665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029119491577148,
                "transform": {
                    "location": {
                        "x": 1216.341552734375,
                        "y": 4095.75,
                        "z": 364.8348083496094
                    },
                    "rotation": {
                        "roll": 0.00025287692551501095,
                        "pitch": -0.8305031657218933,
                        "yaw": 9.22941780090332
                    }
                },
                "velocity": {
                    "x": 7.924365520477295,
                    "y": 1.2876626253128052,
                    "z": -0.11451942473649979
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.571932315826416,
                "transform": {
                    "location": {
                        "x": 1208.27880859375,
                        "y": 4091.196044921875,
                        "z": 364.9708251953125
                    },
                    "rotation": {
                        "roll": -0.0006713888724334538,
                        "pitch": 1.0653728246688843,
                        "yaw": -170.80531311035156
                    }
                },
                "velocity": {
                    "x": -4.512446403503418,
                    "y": -0.7321317195892334,
                    "z": 0.0661577433347702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062605857849121,
                "transform": {
                    "location": {
                        "x": 1151.0615234375,
                        "y": 4085.136474609375,
                        "z": 365.86285400390625
                    },
                    "rotation": {
                        "roll": 0.0029385259840637445,
                        "pitch": -0.9504344463348389,
                        "yaw": 9.239118576049805
                    }
                },
                "velocity": {
                    "x": 7.95703649520874,
                    "y": 1.2936275005340576,
                    "z": -0.13307540118694305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.795147180557251,
                "transform": {
                    "location": {
                        "x": 1195.6982421875,
                        "y": 4089.165771484375,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": 0.009288964793086052,
                        "pitch": 1.0026922225952148,
                        "yaw": -170.34210205078125
                    }
                },
                "velocity": {
                    "x": -1.7707839012145996,
                    "y": -0.29351431131362915,
                    "z": 0.026963310316205025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9455089569091797,
                "transform": {
                    "location": {
                        "x": 1152.3497314453125,
                        "y": 4082.106201171875,
                        "z": 365.8434753417969
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": 0.9687871336936951,
                        "yaw": -170.86886596679688
                    }
                },
                "velocity": {
                    "x": -3.893798828125,
                    "y": -0.6333495378494263,
                    "z": 0.06511270254850388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1052043437957764,
                "transform": {
                    "location": {
                        "x": 1139.741455078125,
                        "y": 4080.05908203125,
                        "z": 366.05328369140625
                    },
                    "rotation": {
                        "roll": -0.0017089818138629198,
                        "pitch": 1.02605140209198,
                        "yaw": -170.8226318359375
                    }
                },
                "velocity": {
                    "x": -3.064286470413208,
                    "y": -0.49961063265800476,
                    "z": 0.053207747638225555
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04895830899477005,
        "expert_target_speed": 4.323509908514682,
        "target_point": [
            25.915476137220455,
            0.029506110063351798
        ],
        "target_point_next": [
            62.91552344201456,
            0.0012960870512124245
        ]
    },
    "470": {
        "acceleration": [
            -0.47809600830078125,
            -0.0735628604888916,
            0.0011693686246871948
        ],
        "angular_velocity": [
            -0.010050775483250618,
            0.001208432950079441,
            -0.12730522453784943
        ],
        "forward_vector": [
            -0.9868354797363281,
            -0.16086390614509583,
            0.016686497256159782
        ],
        "right_vector": [
            0.16088584065437317,
            -0.986972987651825,
            -2.7881349524250254e-05
        ],
        "location": [
            1181.251220703125,
            4086.953125,
            365.37994384765625
        ],
        "rotation": [
            0.0015977062284946442,
            0.9561102986335754,
            -170.7416534423828
        ],
        "velocity": [
            -3.271683692932129,
            -0.5312263369560242,
            0.04972812533378601
        ],
        "speed": 3.3145309785358363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.410411834716797,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1151.262451171875,
                4081.9296875,
                365.8615417480469
            ],
            "velocity": [
                -4.791687965393066,
                -0.7804978489875793,
                0.08002316951751709
            ],
            "speed_kmh": 17.479790327199034,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041172981262207,
                "transform": {
                    "location": {
                        "x": 1196.0396728515625,
                        "y": 4092.4482421875,
                        "z": 365.1435546875
                    },
                    "rotation": {
                        "roll": -0.0010986356064677238,
                        "pitch": -0.8784784078598022,
                        "yaw": 9.253680229187012
                    }
                },
                "velocity": {
                    "x": 7.935903549194336,
                    "y": 1.291005253791809,
                    "z": -0.12330345064401627
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081233978271484,
                "transform": {
                    "location": {
                        "x": 1218.329345703125,
                        "y": 4096.0732421875,
                        "z": 364.8057861328125
                    },
                    "rotation": {
                        "roll": 0.0005881639081053436,
                        "pitch": -0.8229352831840515,
                        "yaw": 9.227909088134766
                    }
                },
                "velocity": {
                    "x": 7.976078987121582,
                    "y": 1.2942636013031006,
                    "z": -0.11569665372371674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.529794454574585,
                "transform": {
                    "location": {
                        "x": 1207.177734375,
                        "y": 4091.017333984375,
                        "z": 364.98663330078125
                    },
                    "rotation": {
                        "roll": 0.00023155521193984896,
                        "pitch": 0.6696863770484924,
                        "yaw": -170.7888641357422
                    }
                },
                "velocity": {
                    "x": -2.4968512058258057,
                    "y": -0.40547624230384827,
                    "z": 0.034388426691293716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055619239807129,
                "transform": {
                    "location": {
                        "x": 1153.0496826171875,
                        "y": 4085.4599609375,
                        "z": 365.82965087890625
                    },
                    "rotation": {
                        "roll": 0.000901708728633821,
                        "pitch": -0.9493074417114258,
                        "yaw": 9.237000465393066
                    }
                },
                "velocity": {
                    "x": 7.950075626373291,
                    "y": 1.2929401397705078,
                    "z": -0.13265973329544067
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.14176344871521,
                "transform": {
                    "location": {
                        "x": 1195.091796875,
                        "y": 4089.06494140625,
                        "z": 365.1712341308594
                    },
                    "rotation": {
                        "roll": 0.010348501615226269,
                        "pitch": 1.2389484643936157,
                        "yaw": -170.4169464111328
                    }
                },
                "velocity": {
                    "x": -3.0993258953094482,
                    "y": -0.5124441981315613,
                    "z": 0.04752645269036293
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.855497360229492,
                "transform": {
                    "location": {
                        "x": 1151.262451171875,
                        "y": 4081.9296875,
                        "z": 365.8615417480469
                    },
                    "rotation": {
                        "roll": -0.0013427803060039878,
                        "pitch": 0.9755217432975769,
                        "yaw": -170.81040954589844
                    }
                },
                "velocity": {
                    "x": -4.791687965393066,
                    "y": -0.7804978489875793,
                    "z": 0.08002316951751709
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.208312034606934,
                "transform": {
                    "location": {
                        "x": 1138.8067626953125,
                        "y": 4079.905517578125,
                        "z": 366.069091796875
                    },
                    "rotation": {
                        "roll": -0.0023803715594112873,
                        "pitch": 1.0557559728622437,
                        "yaw": -170.88796997070312
                    }
                },
                "velocity": {
                    "x": -4.152898788452148,
                    "y": -0.67690509557724,
                    "z": 0.07156559079885483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04857170581817627,
        "expert_target_speed": 4.441746693197145,
        "target_point": [
            25.101169789500375,
            0.038727978624871096
        ],
        "target_point_next": [
            62.10122470152617,
            0.023467917175272746
        ]
    },
    "475": {
        "acceleration": [
            -0.40184974670410156,
            -0.0582730770111084,
            0.00023461878299713135
        ],
        "angular_velocity": [
            0.03372687101364136,
            -0.014804267324507236,
            -0.076629638671875
        ],
        "forward_vector": [
            -0.9869102835655212,
            -0.16040509939193726,
            0.016680657863616943
        ],
        "right_vector": [
            0.16042682528495789,
            -0.9870477318763733,
            -3.5928442230215296e-05
        ],
        "location": [
            1180.41845703125,
            4086.818115234375,
            365.3929138183594
        ],
        "rotation": [
            0.0020588345360010862,
            0.9557756185531616,
            -170.76829528808594
        ],
        "velocity": [
            -3.381870746612549,
            -0.5464418530464172,
            0.05286877602338791
        ],
        "speed": 3.4257332712215818,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.81711196899414,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1150.0286865234375,
                4081.727294921875,
                365.882568359375
            ],
            "velocity": [
                -4.120519161224365,
                -0.6607778072357178,
                0.06606154888868332
            ],
            "speed_kmh": 15.025275969993023,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03436279296875,
                "transform": {
                    "location": {
                        "x": 1198.0234375,
                        "y": 4092.7705078125,
                        "z": 365.11328125
                    },
                    "rotation": {
                        "roll": 0.0006765605648979545,
                        "pitch": -0.8721604943275452,
                        "yaw": 9.222097396850586
                    }
                },
                "velocity": {
                    "x": 7.929333209991455,
                    "y": 1.2893062829971313,
                    "z": -0.11976192146539688
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029269218444824,
                "transform": {
                    "location": {
                        "x": 1220.316650390625,
                        "y": 4096.396484375,
                        "z": 364.7769470214844
                    },
                    "rotation": {
                        "roll": 0.0004635401419363916,
                        "pitch": -0.8226962685585022,
                        "yaw": 9.230245590209961
                    }
                },
                "velocity": {
                    "x": 7.924478530883789,
                    "y": 1.2878763675689697,
                    "z": -0.1147957593202591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8478977680206299,
                "transform": {
                    "location": {
                        "x": 1207.022216796875,
                        "y": 4090.992431640625,
                        "z": 364.9887390136719
                    },
                    "rotation": {
                        "roll": 0.0011223439360037446,
                        "pitch": 0.602094829082489,
                        "yaw": -170.72900390625
                    }
                },
                "velocity": {
                    "x": -0.8368728160858154,
                    "y": -0.13566187024116516,
                    "z": 0.013053950853645802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066927909851074,
                "transform": {
                    "location": {
                        "x": 1155.0390625,
                        "y": 4085.782958984375,
                        "z": 365.796630859375
                    },
                    "rotation": {
                        "roll": -9.155950101558119e-05,
                        "pitch": -0.938870906829834,
                        "yaw": 9.229540824890137
                    }
                },
                "velocity": {
                    "x": 7.961577415466309,
                    "y": 1.2928417921066284,
                    "z": -0.13105806708335876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1261067390441895,
                "transform": {
                    "location": {
                        "x": 1194.064453125,
                        "y": 4088.894287109375,
                        "z": 365.186279296875
                    },
                    "rotation": {
                        "roll": 0.008695336058735847,
                        "pitch": 1.3348442316055298,
                        "yaw": -170.5104217529297
                    }
                },
                "velocity": {
                    "x": -5.057095050811768,
                    "y": -0.8344948887825012,
                    "z": 0.07983411848545074
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.17368745803833,
                "transform": {
                    "location": {
                        "x": 1150.0286865234375,
                        "y": 4081.727294921875,
                        "z": 365.882568359375
                    },
                    "rotation": {
                        "roll": -0.0027770951855927706,
                        "pitch": 0.9437476992607117,
                        "yaw": -170.97044372558594
                    }
                },
                "velocity": {
                    "x": -4.120519161224365,
                    "y": -0.6607778072357178,
                    "z": 0.06606154888868332
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7105861902236938,
                "transform": {
                    "location": {
                        "x": 1138.209228515625,
                        "y": 4079.809326171875,
                        "z": 366.0807189941406
                    },
                    "rotation": {
                        "roll": -0.0003967303200624883,
                        "pitch": 0.870248019695282,
                        "yaw": -170.79373168945312
                    }
                },
                "velocity": {
                    "x": -1.688316822052002,
                    "y": -0.2734946310520172,
                    "z": 0.029869822785258293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04902641847729683,
        "expert_target_speed": 4.548655494925867,
        "target_point": [
            24.257512362227356,
            0.05074662168679023
        ],
        "target_point_next": [
            61.25757036924575,
            0.052706130280894214
        ]
    },
    "480": {
        "acceleration": [
            -0.2725791931152344,
            -0.0543212890625,
            -0.008912459015846252
        ],
        "angular_velocity": [
            0.019183048978447914,
            -0.03147444501519203,
            -0.13502509891986847
        ],
        "forward_vector": [
            -0.9869954586029053,
            -0.15989147126674652,
            0.016575409099459648
        ],
        "right_vector": [
            0.15991289913654327,
            -0.9871311187744141,
            -3.3076965337386355e-05
        ],
        "location": [
            1179.561279296875,
            4086.679931640625,
            365.4064636230469
        ],
        "rotation": [
            0.001895430963486433,
            0.9497445821762085,
            -170.79812622070312
        ],
        "velocity": [
            -3.4670584201812744,
            -0.559194803237915,
            0.05313323065638542
        ],
        "speed": 3.5118645926228655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.388750076293945,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1149.594482421875,
                4081.65673828125,
                365.8909606933594
            ],
            "velocity": [
                3.9951351936906576e-05,
                0.0001579186791786924,
                -9.959246381185949e-05
            ],
            "speed_kmh": 0.0006873368160502293,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032730102539062,
                "transform": {
                    "location": {
                        "x": 1200.005126953125,
                        "y": 4093.0927734375,
                        "z": 365.08343505859375
                    },
                    "rotation": {
                        "roll": -0.0008850099984556437,
                        "pitch": -0.8626391887664795,
                        "yaw": 9.252389907836914
                    }
                },
                "velocity": {
                    "x": 7.9275102615356445,
                    "y": 1.2904380559921265,
                    "z": -0.11878492683172226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080731391906738,
                "transform": {
                    "location": {
                        "x": 1222.304443359375,
                        "y": 4096.7197265625,
                        "z": 364.74810791015625
                    },
                    "rotation": {
                        "roll": 0.0004411061527207494,
                        "pitch": -0.8217741847038269,
                        "yaw": 9.226800918579102
                    }
                },
                "velocity": {
                    "x": 7.975364685058594,
                    "y": 1.2955243587493896,
                    "z": -0.11574196815490723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.963487982749939,
                "transform": {
                    "location": {
                        "x": 1206.65673828125,
                        "y": 4090.93310546875,
                        "z": 364.9945983886719
                    },
                    "rotation": {
                        "roll": 0.0007179593085311353,
                        "pitch": 0.9358178377151489,
                        "yaw": -170.7310791015625
                    }
                },
                "velocity": {
                    "x": -1.937767744064331,
                    "y": -0.31548675894737244,
                    "z": 0.028445634990930557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053658485412598,
                "transform": {
                    "location": {
                        "x": 1157.027587890625,
                        "y": 4086.106201171875,
                        "z": 365.76385498046875
                    },
                    "rotation": {
                        "roll": 0.00046672290773130953,
                        "pitch": -0.9358246326446533,
                        "yaw": 9.22705078125
                    }
                },
                "velocity": {
                    "x": 7.9483771324157715,
                    "y": 1.291343331336975,
                    "z": -0.13093185424804688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.060642242431641,
                "transform": {
                    "location": {
                        "x": 1192.793212890625,
                        "y": 4088.684814453125,
                        "z": 365.2091979980469
                    },
                    "rotation": {
                        "roll": 0.005825089290738106,
                        "pitch": 0.9292061924934387,
                        "yaw": -170.60745239257812
                    }
                },
                "velocity": {
                    "x": -4.006657123565674,
                    "y": -0.6571941375732422,
                    "z": 0.06008074805140495
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019092689035460353,
                "transform": {
                    "location": {
                        "x": 1149.594482421875,
                        "y": 4081.65673828125,
                        "z": 365.8909606933594
                    },
                    "rotation": {
                        "roll": -0.005859375931322575,
                        "pitch": 0.8162553906440735,
                        "yaw": -171.17984008789062
                    }
                },
                "velocity": {
                    "x": 3.9951351936906576e-05,
                    "y": 0.0001579186791786924,
                    "z": -9.959246381185949e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4065866470336914,
                "transform": {
                    "location": {
                        "x": 1137.57666015625,
                        "y": 4079.70703125,
                        "z": 366.0904541015625
                    },
                    "rotation": {
                        "roll": 0.002959903795272112,
                        "pitch": 1.0436323881149292,
                        "yaw": -170.65577697753906
                    }
                },
                "velocity": {
                    "x": -3.362198829650879,
                    "y": -0.5450143218040466,
                    "z": 0.05839774012565613
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.050146933645009995,
        "expert_target_speed": 4.617683017658823,
        "target_point": [
            23.389238486453408,
            0.0640462442458336
        ],
        "target_point_next": [
            60.38929045713981,
            0.0852719104483235
        ]
    },
    "485": {
        "acceleration": [
            -0.21527767181396484,
            -0.029385089874267578,
            0.02055242657661438
        ],
        "angular_velocity": [
            0.03555101528763771,
            -0.029770420864224434,
            -0.04812116175889969
        ],
        "forward_vector": [
            -0.9870572686195374,
            -0.15952330827713013,
            0.01643821969628334
        ],
        "right_vector": [
            0.15954452753067017,
            -0.9871907234191895,
            -2.0877807401120663e-05
        ],
        "location": [
            1178.68701171875,
            4086.53857421875,
            365.4201354980469
        ],
        "rotation": [
            0.0011963718570768833,
            0.9418830275535583,
            -170.81951904296875
        ],
        "velocity": [
            -3.5242409706115723,
            -0.5673561096191406,
            0.055526454001665115
        ],
        "speed": 3.5696172587630963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.64375877380371,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1149.4554443359375,
                4081.635009765625,
                365.8923034667969
            ],
            "velocity": [
                -0.8494710922241211,
                -0.13726237416267395,
                0.014273223467171192
            ],
            "speed_kmh": 3.098188153983217,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037620544433594,
                "transform": {
                    "location": {
                        "x": 1201.9876708984375,
                        "y": 4093.415283203125,
                        "z": 365.0537109375
                    },
                    "rotation": {
                        "roll": 0.00037280094693414867,
                        "pitch": -0.8605969548225403,
                        "yaw": 9.225610733032227
                    }
                },
                "velocity": {
                    "x": 7.932727336883545,
                    "y": 1.2887698411941528,
                    "z": -0.11940743774175644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029651641845703,
                "transform": {
                    "location": {
                        "x": 1224.2918701171875,
                        "y": 4097.04248046875,
                        "z": 364.71929931640625
                    },
                    "rotation": {
                        "roll": 0.00011358358460711315,
                        "pitch": -0.821958601474762,
                        "yaw": 9.220112800598145
                    }
                },
                "velocity": {
                    "x": 7.925088405609131,
                    "y": 1.286543607711792,
                    "z": -0.11440339684486389
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6700880527496338,
                "transform": {
                    "location": {
                        "x": 1206.1195068359375,
                        "y": 4090.84521484375,
                        "z": 365.0025329589844
                    },
                    "rotation": {
                        "roll": 0.0004188902676105499,
                        "pitch": 0.8638685941696167,
                        "yaw": -170.73538208007812
                    }
                },
                "velocity": {
                    "x": -1.6481930017471313,
                    "y": -0.2683986723423004,
                    "z": 0.024822501465678215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066658973693848,
                "transform": {
                    "location": {
                        "x": 1159.0162353515625,
                        "y": 4086.4296875,
                        "z": 365.731201171875
                    },
                    "rotation": {
                        "roll": -0.0010070863645523787,
                        "pitch": -0.9340829849243164,
                        "yaw": 9.227224349975586
                    }
                },
                "velocity": {
                    "x": 7.961254119873047,
                    "y": 1.2932435274124146,
                    "z": -0.1301817148923874
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3679337501525879,
                "transform": {
                    "location": {
                        "x": 1192.5069580078125,
                        "y": 4088.637451171875,
                        "z": 365.2223205566406
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": -0.18029649555683136,
                        "yaw": -170.62754821777344
                    }
                },
                "velocity": {
                    "x": -0.3631328046321869,
                    "y": -0.058999355882406235,
                    "z": 0.0053753661923110485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8606078028678894,
                "transform": {
                    "location": {
                        "x": 1149.4554443359375,
                        "y": 4081.635009765625,
                        "z": 365.8923034667969
                    },
                    "rotation": {
                        "roll": -0.006744382902979851,
                        "pitch": 0.9422245621681213,
                        "yaw": -171.1376953125
                    }
                },
                "velocity": {
                    "x": -0.8494710922241211,
                    "y": -0.13726237416267395,
                    "z": 0.014273223467171192
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.3644118309021,
                "transform": {
                    "location": {
                        "x": 1136.61669921875,
                        "y": 4079.55078125,
                        "z": 366.1070556640625
                    },
                    "rotation": {
                        "roll": 0.0016245379811152816,
                        "pitch": 1.0515758991241455,
                        "yaw": -170.5850372314453
                    }
                },
                "velocity": {
                    "x": -4.306610107421875,
                    "y": -0.70402592420578,
                    "z": 0.0744786411523819
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05354265868663788,
        "expert_target_speed": 4.672030552402221,
        "target_point": [
            22.503591323808017,
            0.07270603634925621
        ],
        "target_point_next": [
            59.50363280740078,
            0.10772852647098574
        ]
    },
    "490": {
        "acceleration": [
            -0.21251201629638672,
            -0.029753446578979492,
            0.017733201384544373
        ],
        "angular_velocity": [
            -0.01783435419201851,
            -0.007925473153591156,
            -0.12700925767421722
        ],
        "forward_vector": [
            -0.987120509147644,
            -0.15913748741149902,
            0.016385415568947792
        ],
        "right_vector": [
            0.15915919840335846,
            -0.987252950668335,
            2.076988857879769e-05
        ],
        "location": [
            1177.799072265625,
            4086.396240234375,
            365.4342346191406
        ],
        "rotation": [
            -0.0011901867110282183,
            0.9388572573661804,
            -170.8419189453125
        ],
        "velocity": [
            -3.5776116847991943,
            -0.5743852257728577,
            0.057365331798791885
        ],
        "speed": 3.6234270731998826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.0308837890625,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1149.172607421875,
                4081.589599609375,
                365.8967590332031
            ],
            "velocity": [
                -1.344665765762329,
                -0.21827776730060577,
                0.022558297961950302
            ],
            "speed_kmh": 4.904833316663022,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032976150512695,
                "transform": {
                    "location": {
                        "x": 1203.97021484375,
                        "y": 4093.7373046875,
                        "z": 365.0240478515625
                    },
                    "rotation": {
                        "roll": -0.0004882871289737523,
                        "pitch": -0.8625777363777161,
                        "yaw": 9.250656127929688
                    }
                },
                "velocity": {
                    "x": 7.92797327041626,
                    "y": 1.289097547531128,
                    "z": -0.11906706541776657
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080856323242188,
                "transform": {
                    "location": {
                        "x": 1226.27978515625,
                        "y": 4097.3662109375,
                        "z": 364.6904296875
                    },
                    "rotation": {
                        "roll": 0.00033281254582107067,
                        "pitch": -0.8220473527908325,
                        "yaw": 9.220069885253906
                    }
                },
                "velocity": {
                    "x": 7.975637435913086,
                    "y": 1.2946455478668213,
                    "z": -0.11545480787754059
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8369966149330139,
                "transform": {
                    "location": {
                        "x": 1205.998291015625,
                        "y": 4090.825439453125,
                        "z": 365.00433349609375
                    },
                    "rotation": {
                        "roll": 2.646950633788947e-05,
                        "pitch": 0.7912090420722961,
                        "yaw": -170.73687744140625
                    }
                },
                "velocity": {
                    "x": -0.8262232542037964,
                    "y": -0.133300319314003,
                    "z": 0.012226847931742668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054415702819824,
                "transform": {
                    "location": {
                        "x": 1161.005126953125,
                        "y": 4086.752685546875,
                        "z": 365.69879150390625
                    },
                    "rotation": {
                        "roll": -0.0007934659370221198,
                        "pitch": -0.9253881573677063,
                        "yaw": 9.230640411376953
                    }
                },
                "velocity": {
                    "x": 7.949070453643799,
                    "y": 1.2918205261230469,
                    "z": -0.13074100017547607
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6586042642593384,
                "transform": {
                    "location": {
                        "x": 1192.3907470703125,
                        "y": 4088.61865234375,
                        "z": 365.21630859375
                    },
                    "rotation": {
                        "roll": 0.0022517030593007803,
                        "pitch": 0.7924931645393372,
                        "yaw": -170.60096740722656
                    }
                },
                "velocity": {
                    "x": -0.6498746871948242,
                    "y": -0.10643389821052551,
                    "z": 0.009712323546409607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3624536991119385,
                "transform": {
                    "location": {
                        "x": 1149.172607421875,
                        "y": 4081.589599609375,
                        "z": 365.8967590332031
                    },
                    "rotation": {
                        "roll": -0.005218493286520243,
                        "pitch": 0.970665454864502,
                        "yaw": -171.08151245117188
                    }
                },
                "velocity": {
                    "x": -1.344665765762329,
                    "y": -0.21827776730060577,
                    "z": 0.022558297961950302
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.12314772605896,
                "transform": {
                    "location": {
                        "x": 1135.623779296875,
                        "y": 4079.385009765625,
                        "z": 366.1254577636719
                    },
                    "rotation": {
                        "roll": -0.004333496559411287,
                        "pitch": 0.8951987028121948,
                        "yaw": -171.08116149902344
                    }
                },
                "velocity": {
                    "x": -2.0949084758758545,
                    "y": -0.34326744079589844,
                    "z": 0.035809021443128586
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 1119.473388671875,
                        "y": 4079.8984375,
                        "z": 366.49365234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": -4.716351043043687e-08,
                    "y": -7.668134571758856e-09,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05626269802451134,
        "expert_target_speed": 4.721948414018117,
        "target_point": [
            21.604286584420954,
            0.08230894546203738
        ],
        "target_point_next": [
            58.60431154559861,
            0.13179868813813833
        ]
    },
    "495": {
        "acceleration": [
            -0.27996063232421875,
            -0.0422060489654541,
            0.0001329183578491211
        ],
        "angular_velocity": [
            0.0637289434671402,
            0.04233274608850479,
            -0.052428197115659714
        ],
        "forward_vector": [
            -0.9871802926063538,
            -0.15876176953315735,
            0.016425227746367455
        ],
        "right_vector": [
            0.15878303349018097,
            -0.987313449382782,
            -9.186681381834205e-06
        ],
        "location": [
            1176.89697265625,
            4086.251220703125,
            365.4485168457031
        ],
        "rotation": [
            0.0005264290957711637,
            0.9411385655403137,
            -170.8637237548828
        ],
        "velocity": [
            -3.639159679412842,
            -0.5830127596855164,
            0.057232797145843506
        ],
        "speed": 3.6855646853935826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.53462791442871,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1148.760498046875,
                4081.52294921875,
                365.9037170410156
            ],
            "velocity": [
                -1.8806116580963135,
                -0.3056861460208893,
                0.030769728124141693
            ],
            "speed_kmh": 6.859951852578115,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035344123840332,
                "transform": {
                    "location": {
                        "x": 1205.9522705078125,
                        "y": 4094.059814453125,
                        "z": 364.9942626953125
                    },
                    "rotation": {
                        "roll": -0.00033569111838005483,
                        "pitch": -0.8626391887664795,
                        "yaw": 9.223442077636719
                    }
                },
                "velocity": {
                    "x": 7.930288314819336,
                    "y": 1.2896047830581665,
                    "z": -0.11920452117919922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02933406829834,
                "transform": {
                    "location": {
                        "x": 1228.266845703125,
                        "y": 4097.689453125,
                        "z": 364.66156005859375
                    },
                    "rotation": {
                        "roll": 9.952165419235826e-05,
                        "pitch": -0.8258654475212097,
                        "yaw": 9.22288703918457
                    }
                },
                "velocity": {
                    "x": 7.924539089202881,
                    "y": 1.2879546880722046,
                    "z": -0.11429861932992935
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8093324899673462,
                "transform": {
                    "location": {
                        "x": 1205.6614990234375,
                        "y": 4090.771240234375,
                        "z": 365.0096130371094
                    },
                    "rotation": {
                        "roll": -0.0005798334605060518,
                        "pitch": 0.9588833451271057,
                        "yaw": -170.8153533935547
                    }
                },
                "velocity": {
                    "x": -1.7859503030776978,
                    "y": -0.28873443603515625,
                    "z": 0.026419533416628838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065312385559082,
                "transform": {
                    "location": {
                        "x": 1162.9937744140625,
                        "y": 4087.075927734375,
                        "z": 365.66644287109375
                    },
                    "rotation": {
                        "roll": -0.00039672921411693096,
                        "pitch": -0.9218432903289795,
                        "yaw": 9.227348327636719
                    }
                },
                "velocity": {
                    "x": 7.959911823272705,
                    "y": 1.2931324243545532,
                    "z": -0.12994210422039032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.315087914466858,
                "transform": {
                    "location": {
                        "x": 1192.1656494140625,
                        "y": 4088.58203125,
                        "z": 365.2169189453125
                    },
                    "rotation": {
                        "roll": 0.003861117409542203,
                        "pitch": 1.1516722440719604,
                        "yaw": -170.5770721435547
                    }
                },
                "velocity": {
                    "x": -1.2977583408355713,
                    "y": -0.21189630031585693,
                    "z": 0.019476670771837234
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.905542254447937,
                "transform": {
                    "location": {
                        "x": 1148.760498046875,
                        "y": 4081.52294921875,
                        "z": 365.9037170410156
                    },
                    "rotation": {
                        "roll": -0.00573729770258069,
                        "pitch": 0.9724413156509399,
                        "yaw": -171.04017639160156
                    }
                },
                "velocity": {
                    "x": -1.8806116580963135,
                    "y": -0.3056861460208893,
                    "z": 0.030769728124141693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.928358793258667,
                "transform": {
                    "location": {
                        "x": 1135.0938720703125,
                        "y": 4079.298095703125,
                        "z": 366.1340026855469
                    },
                    "rotation": {
                        "roll": -0.00888061337172985,
                        "pitch": 0.9833627939224243,
                        "yaw": -171.15960693359375
                    }
                },
                "velocity": {
                    "x": -2.8898098468780518,
                    "y": -0.4708074927330017,
                    "z": 0.05123886838555336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2341834455728531,
                "transform": {
                    "location": {
                        "x": 1119.4713134765625,
                        "y": 4079.89794921875,
                        "z": 366.3515625
                    },
                    "rotation": {
                        "roll": -0.0002441501128487289,
                        "pitch": -1.0049666166305542,
                        "yaw": 9.234780311584473
                    }
                },
                "velocity": {
                    "x": 0.004106328822672367,
                    "y": 0.00048387105925939977,
                    "z": 0.23414693772792816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05816742777824402,
        "expert_target_speed": 4.7803950342429875,
        "target_point": [
            20.690571893072228,
            0.09059817922878022
        ],
        "target_point_next": [
            57.69057531363024,
            0.1541846643899767
        ]
    },
    "500": {
        "acceleration": [
            -0.3217792510986328,
            -0.046759843826293945,
            0.006493926048278809
        ],
        "angular_velocity": [
            -0.00494831707328558,
            0.016586588695645332,
            -0.12794171273708344
        ],
        "forward_vector": [
            -0.9872427582740784,
            -0.15836425125598907,
            0.01650628075003624
        ],
        "right_vector": [
            0.15838608145713806,
            -0.9873772263526917,
            1.5444236851180904e-05
        ],
        "location": [
            1175.9774169921875,
            4086.10400390625,
            365.4631042480469
        ],
        "rotation": [
            -0.0008850102312862873,
            0.9457830786705017,
            -170.88677978515625
        ],
        "velocity": [
            -3.7161190509796143,
            -0.5937312841415405,
            0.05704602971673012
        ],
        "speed": 3.7632509401874854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.12082290649414,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1148.2496337890625,
                4081.4404296875,
                365.9123229980469
            ],
            "velocity": [
                -1.9728559255599976,
                -0.32088884711265564,
                0.03344770520925522
            ],
            "speed_kmh": 7.19662322193271,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035713195800781,
                "transform": {
                    "location": {
                        "x": 1207.93505859375,
                        "y": 4094.3818359375,
                        "z": 364.96484375
                    },
                    "rotation": {
                        "roll": 0.0004660717386286706,
                        "pitch": -0.8511644601821899,
                        "yaw": 9.250960350036621
                    }
                },
                "velocity": {
                    "x": 7.930652141571045,
                    "y": 1.2897292375564575,
                    "z": -0.11847296357154846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081330299377441,
                "transform": {
                    "location": {
                        "x": 1230.2547607421875,
                        "y": 4098.01220703125,
                        "z": 364.632568359375
                    },
                    "rotation": {
                        "roll": 0.0002945624873973429,
                        "pitch": -0.8262342810630798,
                        "yaw": 9.223762512207031
                    }
                },
                "velocity": {
                    "x": 7.976016044616699,
                    "y": 1.295258641242981,
                    "z": -0.1156800165772438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2864999771118164,
                "transform": {
                    "location": {
                        "x": 1205.113525390625,
                        "y": 4090.682373046875,
                        "z": 365.0177917480469
                    },
                    "rotation": {
                        "roll": -0.001800547237507999,
                        "pitch": 0.9461997151374817,
                        "yaw": -170.91770935058594
                    }
                },
                "velocity": {
                    "x": -2.256826162338257,
                    "y": -0.3656059801578522,
                    "z": 0.03391300141811371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053930282592773,
                "transform": {
                    "location": {
                        "x": 1164.982421875,
                        "y": 4087.399169921875,
                        "z": 365.63421630859375
                    },
                    "rotation": {
                        "roll": -0.00036620948230847716,
                        "pitch": -0.9212626814842224,
                        "yaw": 9.227076530456543
                    }
                },
                "velocity": {
                    "x": 7.948690414428711,
                    "y": 1.2913216352462769,
                    "z": -0.12888382375240326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6467444896698,
                "transform": {
                    "location": {
                        "x": 1191.6910400390625,
                        "y": 4088.50439453125,
                        "z": 365.2238464355469
                    },
                    "rotation": {
                        "roll": 0.0037764094304293394,
                        "pitch": 1.186144232749939,
                        "yaw": -170.61659240722656
                    }
                },
                "velocity": {
                    "x": -2.6118156909942627,
                    "y": -0.4267030656337738,
                    "z": 0.03999972343444824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.999061942100525,
                "transform": {
                    "location": {
                        "x": 1148.2496337890625,
                        "y": 4081.4404296875,
                        "z": 365.9123229980469
                    },
                    "rotation": {
                        "roll": -0.004119875840842724,
                        "pitch": 0.9652696251869202,
                        "yaw": -170.97129821777344
                    }
                },
                "velocity": {
                    "x": -1.9728559255599976,
                    "y": -0.32088884711265564,
                    "z": 0.03344770520925522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.273097991943359,
                "transform": {
                    "location": {
                        "x": 1134.2181396484375,
                        "y": 4079.158935546875,
                        "z": 366.1486511230469
                    },
                    "rotation": {
                        "roll": -0.0014343207003548741,
                        "pitch": 1.0651133060455322,
                        "yaw": -170.77920532226562
                    }
                },
                "velocity": {
                    "x": -4.217513561248779,
                    "y": -0.682957649230957,
                    "z": 0.07427520304918289
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09506741166114807,
                "transform": {
                    "location": {
                        "x": 1119.47216796875,
                        "y": 4079.89794921875,
                        "z": 366.3994140625
                    },
                    "rotation": {
                        "roll": -0.0008239915478043258,
                        "pitch": -1.0046387910842896,
                        "yaw": 9.234713554382324
                    }
                },
                "velocity": {
                    "x": 0.001683276379480958,
                    "y": 0.00023287416843231767,
                    "z": 0.09505221992731094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06253837049007416,
        "expert_target_speed": 4.852260148782626,
        "target_point": [
            19.75926836176853,
            0.09920138533217093
        ],
        "target_point_next": [
            56.759243232947554,
            0.17766089413207453
        ]
    },
    "505": {
        "acceleration": [
            -0.3113079071044922,
            -0.04595756530761719,
            0.006702616810798645
        ],
        "angular_velocity": [
            0.017080537974834442,
            0.0068053281866014,
            -0.05872786417603493
        ],
        "forward_vector": [
            -0.9873048663139343,
            -0.15797293186187744,
            0.016541680321097374
        ],
        "right_vector": [
            0.1579948365688324,
            -0.9874399304389954,
            1.7042037143255584e-05
        ],
        "location": [
            1175.0379638671875,
            4085.954345703125,
            365.47784423828125
        ],
        "rotation": [
            -0.0009765704162418842,
            0.9478116631507874,
            -170.90948486328125
        ],
        "velocity": [
            -3.795302629470825,
            -0.6047451496124268,
            0.06038708612322807
        ],
        "speed": 3.8431808108971293,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.6325626373291,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1147.79248046875,
                4081.36669921875,
                365.9201965332031
            ],
            "velocity": [
                -1.8742595911026,
                -0.3053213357925415,
                0.030405959114432335
            ],
            "speed_kmh": 6.837152238500138,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033339500427246,
                "transform": {
                    "location": {
                        "x": 1209.9173583984375,
                        "y": 4094.704345703125,
                        "z": 364.9354553222656
                    },
                    "rotation": {
                        "roll": 0.00041140991379506886,
                        "pitch": -0.8422237634658813,
                        "yaw": 9.224502563476562
                    }
                },
                "velocity": {
                    "x": 7.928308963775635,
                    "y": 1.289562702178955,
                    "z": -0.11613743752241135
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028365135192871,
                "transform": {
                    "location": {
                        "x": 1232.2420654296875,
                        "y": 4098.33544921875,
                        "z": 364.603515625
                    },
                    "rotation": {
                        "roll": -0.0004882829380221665,
                        "pitch": -0.8294034600257874,
                        "yaw": 9.224024772644043
                    }
                },
                "velocity": {
                    "x": 7.923741340637207,
                    "y": 1.2867159843444824,
                    "z": -0.11543560773134232
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3769929111003876,
                "transform": {
                    "location": {
                        "x": 1204.8687744140625,
                        "y": 4090.642822265625,
                        "z": 365.02105712890625
                    },
                    "rotation": {
                        "roll": -0.0005493188509717584,
                        "pitch": 0.6210007667541504,
                        "yaw": -171.01852416992188
                    }
                },
                "velocity": {
                    "x": -0.3721678555011749,
                    "y": -0.05985574051737785,
                    "z": 0.005658397451043129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066311836242676,
                "transform": {
                    "location": {
                        "x": 1166.971435546875,
                        "y": 4087.722412109375,
                        "z": 365.6022033691406
                    },
                    "rotation": {
                        "roll": 0.0009431387297809124,
                        "pitch": -0.9105871319770813,
                        "yaw": 9.231633186340332
                    }
                },
                "velocity": {
                    "x": 7.960807800292969,
                    "y": 1.2940354347229004,
                    "z": -0.1280670464038849
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.477675437927246,
                "transform": {
                    "location": {
                        "x": 1190.81689453125,
                        "y": 4088.361083984375,
                        "z": 365.2364501953125
                    },
                    "rotation": {
                        "roll": 0.003355631837621331,
                        "pitch": 1.2886654138565063,
                        "yaw": -170.6598358154297
                    }
                },
                "velocity": {
                    "x": -4.418615818023682,
                    "y": -0.7216364145278931,
                    "z": 0.06819280236959457
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8992090225219727,
                "transform": {
                    "location": {
                        "x": 1147.79248046875,
                        "y": 4081.36669921875,
                        "z": 365.9201965332031
                    },
                    "rotation": {
                        "roll": -0.002471917774528265,
                        "pitch": 0.9549559950828552,
                        "yaw": -170.91683959960938
                    }
                },
                "velocity": {
                    "x": -1.8742595911026,
                    "y": -0.3053213357925415,
                    "z": 0.030405959114432335
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.12540340423584,
                "transform": {
                    "location": {
                        "x": 1133.0220947265625,
                        "y": 4078.96484375,
                        "z": 366.1695556640625
                    },
                    "rotation": {
                        "roll": -0.0005187966162338853,
                        "pitch": 1.061889410018921,
                        "yaw": -170.6842803955078
                    }
                },
                "velocity": {
                    "x": -5.057923316955566,
                    "y": -0.8243041634559631,
                    "z": 0.08770469576120377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9964895248413086,
                "transform": {
                    "location": {
                        "x": 1119.6829833984375,
                        "y": 4079.93359375,
                        "z": 366.40338134765625
                    },
                    "rotation": {
                        "roll": -0.004516602959483862,
                        "pitch": -0.9649895429611206,
                        "yaw": 9.425691604614258
                    }
                },
                "velocity": {
                    "x": 1.967200756072998,
                    "y": 0.33907920122146606,
                    "z": -0.033418964594602585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06608233600854874,
        "expert_target_speed": 4.924723925717705,
        "target_point": [
            18.80792874261399,
            0.10768110288153032
        ],
        "target_point_next": [
            55.80786961929901,
            0.20080190728401703
        ]
    },
    "510": {
        "acceleration": [
            -0.3030872344970703,
            -0.042111873626708984,
            -0.0018558651208877563
        ],
        "angular_velocity": [
            -0.03284288942813873,
            -0.014808449894189835,
            -0.1271485686302185
        ],
        "forward_vector": [
            -0.987370491027832,
            -0.15756191313266754,
            0.016546089202165604
        ],
        "right_vector": [
            0.1575835794210434,
            -0.9875056743621826,
            5.858251370227663e-06
        ],
        "location": [
            1174.079345703125,
            4085.801513671875,
            365.4931640625
        ],
        "rotation": [
            -0.00033569903462193906,
            0.9480643272399902,
            -170.93333435058594
        ],
        "velocity": [
            -3.870750904083252,
            -0.6153132319450378,
            0.060657747089862823
        ],
        "speed": 3.9193523616623143,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.19110107421875,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1147.27001953125,
                4081.281982421875,
                365.9288330078125
            ],
            "velocity": [
                -2.3154170513153076,
                -0.37729743123054504,
                0.03816493973135948
            ],
            "speed_kmh": 8.446559052267594,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03471565246582,
                "transform": {
                    "location": {
                        "x": 1211.899658203125,
                        "y": 4095.0263671875,
                        "z": 364.90643310546875
                    },
                    "rotation": {
                        "roll": 0.000524920760653913,
                        "pitch": -0.8425037860870361,
                        "yaw": 9.246798515319824
                    }
                },
                "velocity": {
                    "x": 7.929795742034912,
                    "y": 1.289065957069397,
                    "z": -0.1153462678194046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081268310546875,
                "transform": {
                    "location": {
                        "x": 1234.229736328125,
                        "y": 4098.6591796875,
                        "z": 364.57440185546875
                    },
                    "rotation": {
                        "roll": 0.0009635189198888838,
                        "pitch": -0.8342528939247131,
                        "yaw": 9.223944664001465
                    }
                },
                "velocity": {
                    "x": 7.975931167602539,
                    "y": 1.2952696084976196,
                    "z": -0.11703348159790039
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3939887285232544,
                "transform": {
                    "location": {
                        "x": 1204.64404296875,
                        "y": 4090.606689453125,
                        "z": 365.0247497558594
                    },
                    "rotation": {
                        "roll": -0.004455570597201586,
                        "pitch": 0.9189814329147339,
                        "yaw": -170.9916229248047
                    }
                },
                "velocity": {
                    "x": -1.3760099411010742,
                    "y": -0.22217634320259094,
                    "z": 0.020947474986314774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054549217224121,
                "transform": {
                    "location": {
                        "x": 1168.9600830078125,
                        "y": 4088.045654296875,
                        "z": 365.5704345703125
                    },
                    "rotation": {
                        "roll": 0.0006813767831772566,
                        "pitch": -0.9074383974075317,
                        "yaw": 9.229697227478027
                    }
                },
                "velocity": {
                    "x": 7.949470520019531,
                    "y": 1.2905619144439697,
                    "z": -0.1270689219236374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.43048095703125,
                "transform": {
                    "location": {
                        "x": 1189.5440673828125,
                        "y": 4088.153076171875,
                        "z": 365.2572326660156
                    },
                    "rotation": {
                        "roll": 0.002489028964191675,
                        "pitch": 1.1702436208724976,
                        "yaw": -170.69580078125
                    }
                },
                "velocity": {
                    "x": -5.3589043617248535,
                    "y": -0.8748047947883606,
                    "z": 0.08358032256364822
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.346266508102417,
                "transform": {
                    "location": {
                        "x": 1147.27001953125,
                        "y": 4081.281982421875,
                        "z": 365.9288330078125
                    },
                    "rotation": {
                        "roll": -0.002136222319677472,
                        "pitch": 0.972154438495636,
                        "yaw": -170.87258911132812
                    }
                },
                "velocity": {
                    "x": -2.3154170513153076,
                    "y": -0.37729743123054504,
                    "z": 0.03816493973135948
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.962306022644043,
                "transform": {
                    "location": {
                        "x": 1132.205078125,
                        "y": 4078.831787109375,
                        "z": 366.1849670410156
                    },
                    "rotation": {
                        "roll": 0.0007046522223390639,
                        "pitch": 0.9101704955101013,
                        "yaw": -170.6557159423828
                    }
                },
                "velocity": {
                    "x": -2.922851800918579,
                    "y": -0.47908273339271545,
                    "z": 0.05172349885106087
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0453615188598633,
                "transform": {
                    "location": {
                        "x": 1120.3201904296875,
                        "y": 4080.042724609375,
                        "z": 366.3914794921875
                    },
                    "rotation": {
                        "roll": -0.005615226924419403,
                        "pitch": -0.9741761684417725,
                        "yaw": 9.53772258758545
                    }
                },
                "velocity": {
                    "x": 3.000535011291504,
                    "y": 0.5175447463989258,
                    "z": -0.05625182390213013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07011038810014725,
        "expert_target_speed": 4.995774029519933,
        "target_point": [
            17.837157612659592,
            0.11565043525780094
        ],
        "target_point_next": [
            54.837056519301214,
            0.22417352358242226
        ]
    },
    "515": {
        "acceleration": [
            -0.31665802001953125,
            -0.042150020599365234,
            0.005092993378639221
        ],
        "angular_velocity": [
            -0.010743319988250732,
            0.01645774580538273,
            -0.06678120046854019
        ],
        "forward_vector": [
            -0.9874347448348999,
            -0.15715429186820984,
            0.016588879749178886
        ],
        "right_vector": [
            0.15717622637748718,
            -0.987570583820343,
            1.810712092265021e-05
        ],
        "location": [
            1173.1014404296875,
            4085.646240234375,
            365.5086975097656
        ],
        "rotation": [
            -0.001037604408338666,
            0.950516402721405,
            -170.9569854736328
        ],
        "velocity": [
            -3.950169324874878,
            -0.6261165738105774,
            0.060969848185777664
        ],
        "speed": 3.9994824239122173,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.85654067993164,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1146.6229248046875,
                4081.1767578125,
                365.9396667480469
            ],
            "velocity": [
                -2.840792417526245,
                -0.46333661675453186,
                0.04847315698862076
            ],
            "speed_kmh": 10.363456521255719,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034143447875977,
                "transform": {
                    "location": {
                        "x": 1213.882080078125,
                        "y": 4095.3486328125,
                        "z": 364.8774108886719
                    },
                    "rotation": {
                        "roll": 0.0005627377540804446,
                        "pitch": -0.843077540397644,
                        "yaw": 9.222825050354004
                    }
                },
                "velocity": {
                    "x": 7.929172039031982,
                    "y": 1.2892974615097046,
                    "z": -0.11579299718141556
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02946949005127,
                "transform": {
                    "location": {
                        "x": 1236.21728515625,
                        "y": 4098.98193359375,
                        "z": 364.5451354980469
                    },
                    "rotation": {
                        "roll": 0.0005244793719612062,
                        "pitch": -0.8344988226890564,
                        "yaw": 9.224045753479004
                    }
                },
                "velocity": {
                    "x": 7.924811363220215,
                    "y": 1.2869514226913452,
                    "z": -0.11621980369091034
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2764062881469727,
                "transform": {
                    "location": {
                        "x": 1204.184814453125,
                        "y": 4090.532470703125,
                        "z": 365.0318298339844
                    },
                    "rotation": {
                        "roll": -0.004058833234012127,
                        "pitch": 0.9797359704971313,
                        "yaw": -170.92613220214844
                    }
                },
                "velocity": {
                    "x": -2.246940851211548,
                    "y": -0.36352911591529846,
                    "z": 0.03359802067279816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06489086151123,
                "transform": {
                    "location": {
                        "x": 1170.9486083984375,
                        "y": 4088.36865234375,
                        "z": 365.5386962890625
                    },
                    "rotation": {
                        "roll": -0.0006408709450624883,
                        "pitch": -0.9082648158073425,
                        "yaw": 9.237730026245117
                    }
                },
                "velocity": {
                    "x": 7.959137439727783,
                    "y": 1.2955198287963867,
                    "z": -0.12731881439685822
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.96730375289917,
                "transform": {
                    "location": {
                        "x": 1187.9866943359375,
                        "y": 4087.89892578125,
                        "z": 365.28155517578125
                    },
                    "rotation": {
                        "roll": 0.0020601230207830667,
                        "pitch": 1.1582361459732056,
                        "yaw": -170.6747589111328
                    }
                },
                "velocity": {
                    "x": -6.875671863555908,
                    "y": -1.121179461479187,
                    "z": 0.10683160275220871
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8787379264831543,
                "transform": {
                    "location": {
                        "x": 1146.6229248046875,
                        "y": 4081.1767578125,
                        "z": 365.9396667480469
                    },
                    "rotation": {
                        "roll": -0.002655021147802472,
                        "pitch": 0.9765052795410156,
                        "yaw": -170.83082580566406
                    }
                },
                "velocity": {
                    "x": -2.840792417526245,
                    "y": -0.46333661675453186,
                    "z": 0.04847315698862076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.31684684753418,
                "transform": {
                    "location": {
                        "x": 1131.3077392578125,
                        "y": 4078.684814453125,
                        "z": 366.1997985839844
                    },
                    "rotation": {
                        "roll": 0.0025998319033533335,
                        "pitch": 1.0439056158065796,
                        "yaw": -170.663818359375
                    }
                },
                "velocity": {
                    "x": -4.260530948638916,
                    "y": -0.6909700036048889,
                    "z": 0.0748429074883461
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.849104166030884,
                "transform": {
                    "location": {
                        "x": 1121.1744384765625,
                        "y": 4080.189208984375,
                        "z": 366.3761291503906
                    },
                    "rotation": {
                        "roll": -0.006957996170967817,
                        "pitch": -0.9850429892539978,
                        "yaw": 9.640681266784668
                    }
                },
                "velocity": {
                    "x": 3.7923715114593506,
                    "y": 0.6549916863441467,
                    "z": -0.06712993234395981
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07723315060138702,
        "expert_target_speed": 5.071476259262826,
        "target_point": [
            16.84695257209427,
            0.12337567136437233
        ],
        "target_point_next": [
            53.84680351049084,
            0.24717752447963193
        ]
    },
    "520": {
        "acceleration": [
            -0.29872894287109375,
            -0.04160761833190918,
            0.03132134675979614
        ],
        "angular_velocity": [
            -0.0213344506919384,
            -0.005258155055344105,
            -0.12435416877269745
        ],
        "forward_vector": [
            -0.9875020384788513,
            -0.1567276269197464,
            0.016620466485619545
        ],
        "right_vector": [
            0.15675000846385956,
            -0.9876382946968079,
            4.420231198309921e-05
        ],
        "location": [
            1172.103759765625,
            4085.488037109375,
            365.52435302734375
        ],
        "rotation": [
            -0.002532955724745989,
            0.9523264169692993,
            -170.9817352294922
        ],
        "velocity": [
            -4.026683330535889,
            -0.6364911198616028,
            0.06484495103359222
        ],
        "speed": 4.076677518528817,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.64084815979004,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1145.8387451171875,
                4081.049560546875,
                365.9530029296875
            ],
            "velocity": [
                -3.4354348182678223,
                -0.5608619451522827,
                0.057841747999191284
            ],
            "speed_kmh": 12.533028738955487,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034088134765625,
                "transform": {
                    "location": {
                        "x": 1215.8643798828125,
                        "y": 4095.671142578125,
                        "z": 364.848388671875
                    },
                    "rotation": {
                        "roll": 0.0008194646215997636,
                        "pitch": -0.8431936502456665,
                        "yaw": 9.250798225402832
                    }
                },
                "velocity": {
                    "x": 7.929089069366455,
                    "y": 1.2895256280899048,
                    "z": -0.115075021982193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081235885620117,
                "transform": {
                    "location": {
                        "x": 1238.2049560546875,
                        "y": 4099.3056640625,
                        "z": 364.51580810546875
                    },
                    "rotation": {
                        "roll": -9.155038424069062e-05,
                        "pitch": -0.8404206037521362,
                        "yaw": 9.224040031433105
                    }
                },
                "velocity": {
                    "x": 7.975880146026611,
                    "y": 1.2952123880386353,
                    "z": -0.11886195093393326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7729763984680176,
                "transform": {
                    "location": {
                        "x": 1203.4427490234375,
                        "y": 4090.412353515625,
                        "z": 365.04302978515625
                    },
                    "rotation": {
                        "roll": -0.002471921732649207,
                        "pitch": 1.0653455257415771,
                        "yaw": -170.86407470703125
                    }
                },
                "velocity": {
                    "x": -3.723971128463745,
                    "y": -0.6035216450691223,
                    "z": 0.0561363510787487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054473876953125,
                "transform": {
                    "location": {
                        "x": 1172.9373779296875,
                        "y": 4088.6923828125,
                        "z": 365.5071105957031
                    },
                    "rotation": {
                        "roll": -0.0004577661748044193,
                        "pitch": -0.902431845664978,
                        "yaw": 9.237102508544922
                    }
                },
                "velocity": {
                    "x": 7.949046611785889,
                    "y": 1.292786717414856,
                    "z": -0.12612833082675934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.187878131866455,
                "transform": {
                    "location": {
                        "x": 1186.7197265625,
                        "y": 4087.692626953125,
                        "z": 365.30902099609375
                    },
                    "rotation": {
                        "roll": -0.0018920896109193563,
                        "pitch": 0.15960101783275604,
                        "yaw": -170.65725708007812
                    }
                },
                "velocity": {
                    "x": -2.159294605255127,
                    "y": -0.35095760226249695,
                    "z": 0.032960195094347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4813969135284424,
                "transform": {
                    "location": {
                        "x": 1145.8387451171875,
                        "y": 4081.049560546875,
                        "z": 365.9530029296875
                    },
                    "rotation": {
                        "roll": -0.0019226118456572294,
                        "pitch": 0.9789231419563293,
                        "yaw": -170.7931671142578
                    }
                },
                "velocity": {
                    "x": -3.4354348182678223,
                    "y": -0.5608619451522827,
                    "z": 0.057841747999191284
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.253354072570801,
                "transform": {
                    "location": {
                        "x": 1130.09228515625,
                        "y": 4078.48779296875,
                        "z": 366.22100830078125
                    },
                    "rotation": {
                        "roll": 0.00188754394184798,
                        "pitch": 1.0725923776626587,
                        "yaw": -170.60862731933594
                    }
                },
                "velocity": {
                    "x": -5.183962345123291,
                    "y": -0.8462127447128296,
                    "z": 0.09048935025930405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.629239082336426,
                "transform": {
                    "location": {
                        "x": 1122.222412109375,
                        "y": 4080.36962890625,
                        "z": 366.35748291015625
                    },
                    "rotation": {
                        "roll": -0.008941650390625,
                        "pitch": -0.9869964122772217,
                        "yaw": 9.720701217651367
                    }
                },
                "velocity": {
                    "x": 4.560821056365967,
                    "y": 0.7888280153274536,
                    "z": -0.08071991801261902
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08107992261648178,
        "expert_target_speed": 5.145479887027431,
        "target_point": [
            15.836751711862776,
            0.13079188145544318
        ],
        "target_point_next": [
            52.83654571330837,
            0.2705781933410325
        ]
    },
    "525": {
        "acceleration": [
            -0.27960777282714844,
            -0.03697037696838379,
            -0.00362589955329895
        ],
        "angular_velocity": [
            -0.01871715486049652,
            -0.001440135994926095,
            -0.07587841153144836
        ],
        "forward_vector": [
            -0.9875689744949341,
            -0.1563030481338501,
            0.01664096675813198
        ],
        "right_vector": [
            0.15632550418376923,
            -0.9877055883407593,
            4.899560008198023e-05
        ],
        "location": [
            1171.087646484375,
            4085.327392578125,
            365.5406188964844
        ],
        "rotation": [
            -0.0028076297603547573,
            0.9535011649131775,
            -171.00636291503906
        ],
        "velocity": [
            -4.0985517501831055,
            -0.6460839509963989,
            0.06492108851671219
        ],
        "speed": 4.149162677054747,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.584272384643555,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1144.8792724609375,
                4080.893310546875,
                365.96917724609375
            ],
            "velocity": [
                -4.236658096313477,
                -0.692308783531189,
                0.07201791554689407
            ],
            "speed_kmh": 15.456435492906053,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034462928771973,
                "transform": {
                    "location": {
                        "x": 1217.8468017578125,
                        "y": 4095.993408203125,
                        "z": 364.8194580078125
                    },
                    "rotation": {
                        "roll": 0.00015897891717031598,
                        "pitch": -0.8366708159446716,
                        "yaw": 9.218400001525879
                    }
                },
                "velocity": {
                    "x": 7.929584980010986,
                    "y": 1.288790225982666,
                    "z": -0.11526987701654434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030691146850586,
                "transform": {
                    "location": {
                        "x": 1240.1923828125,
                        "y": 4099.62841796875,
                        "z": 364.48626708984375
                    },
                    "rotation": {
                        "roll": 0.0013688807375729084,
                        "pitch": -0.8431048393249512,
                        "yaw": 9.226327896118164
                    }
                },
                "velocity": {
                    "x": 7.926155090332031,
                    "y": 1.2861071825027466,
                    "z": -0.11827361583709717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.174384117126465,
                "transform": {
                    "location": {
                        "x": 1202.3280029296875,
                        "y": 4090.2314453125,
                        "z": 365.05999755859375
                    },
                    "rotation": {
                        "roll": -0.0021362262777984142,
                        "pitch": 1.0779130458831787,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -5.106910228729248,
                    "y": -0.8290224075317383,
                    "z": 0.08024351298809052
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065747261047363,
                "transform": {
                    "location": {
                        "x": 1174.926025390625,
                        "y": 4089.015869140625,
                        "z": 365.4755859375
                    },
                    "rotation": {
                        "roll": 0.00038252450758591294,
                        "pitch": -0.9007858037948608,
                        "yaw": 9.236593246459961
                    }
                },
                "velocity": {
                    "x": 7.960183620452881,
                    "y": 1.2944751977920532,
                    "z": -0.12681944668293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.17728133499622345,
                "transform": {
                    "location": {
                        "x": 1186.6280517578125,
                        "y": 4087.677734375,
                        "z": 365.3121337890625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.04352196305990219,
                        "yaw": -170.66107177734375
                    }
                },
                "velocity": {
                    "x": -0.17490114271640778,
                    "y": -0.02873752824962139,
                    "z": 0.0035235309042036533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.293454170227051,
                "transform": {
                    "location": {
                        "x": 1144.8792724609375,
                        "y": 4080.893310546875,
                        "z": 365.96917724609375
                    },
                    "rotation": {
                        "roll": -0.00012206762039568275,
                        "pitch": 0.9843872785568237,
                        "yaw": -170.76229858398438
                    }
                },
                "velocity": {
                    "x": -4.236658096313477,
                    "y": -0.692308783531189,
                    "z": 0.07201791554689407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.7239530086517334,
                "transform": {
                    "location": {
                        "x": 1129.1195068359375,
                        "y": 4078.3271484375,
                        "z": 366.2390441894531
                    },
                    "rotation": {
                        "roll": -0.0032348656095564365,
                        "pitch": 0.9497104287147522,
                        "yaw": -170.80381774902344
                    }
                },
                "velocity": {
                    "x": -3.673961639404297,
                    "y": -0.6047198176383972,
                    "z": 0.06437783688306808
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.230763912200928,
                "transform": {
                    "location": {
                        "x": 1123.4600830078125,
                        "y": 4080.583251953125,
                        "z": 366.3358154296875
                    },
                    "rotation": {
                        "roll": -0.009735099039971828,
                        "pitch": -0.9900153875350952,
                        "yaw": 9.778666496276855
                    }
                },
                "velocity": {
                    "x": 5.153303623199463,
                    "y": 0.892135500907898,
                    "z": -0.09190460294485092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08374660462141037,
        "expert_target_speed": 5.216962944140779,
        "target_point": [
            14.807960450518252,
            0.13777000695015706
        ],
        "target_point_next": [
            51.80769098078223,
            0.29345253728549014
        ]
    },
    "530": {
        "acceleration": [
            -0.3393745422363281,
            -0.04527926445007324,
            0.0057315826416015625
        ],
        "angular_velocity": [
            -0.013330715708434582,
            0.002159161726012826,
            -0.12416517734527588
        ],
        "forward_vector": [
            -0.9876382350921631,
            -0.1558634340763092,
            0.016652170568704605
        ],
        "right_vector": [
            0.15588583052158356,
            -0.9877750873565674,
            4.7930163418641314e-05
        ],
        "location": [
            1170.053466796875,
            4085.16455078125,
            365.55712890625
        ],
        "rotation": [
            -0.0027465769089758396,
            0.954143226146698,
            -171.03187561035156
        ],
        "velocity": [
            -4.175344467163086,
            -0.656450629234314,
            0.06520628184080124
        ],
        "speed": 4.226633275799016,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.733434677124023,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1143.6988525390625,
                4080.700927734375,
                365.9894104003906
            ],
            "velocity": [
                -5.182718276977539,
                -0.8445108532905579,
                0.09152154624462128
            ],
            "speed_kmh": 18.906733719285672,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034754753112793,
                "transform": {
                    "location": {
                        "x": 1219.8292236328125,
                        "y": 4096.3154296875,
                        "z": 364.7906494140625
                    },
                    "rotation": {
                        "roll": -0.00039673320134170353,
                        "pitch": -0.8335562348365784,
                        "yaw": 9.24929428100586
                    }
                },
                "velocity": {
                    "x": 7.929762840270996,
                    "y": 1.2895389795303345,
                    "z": -0.11500558257102966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1242.2593994140625,
                        "y": 4099.8876953125,
                        "z": 364.46392822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8446006774902344,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.569700241088867,
                "transform": {
                    "location": {
                        "x": 1200.9993896484375,
                        "y": 4090.015869140625,
                        "z": 365.0798034667969
                    },
                    "rotation": {
                        "roll": 3.186081085004844e-05,
                        "pitch": 0.95033198595047,
                        "yaw": -170.81234741210938
                    }
                },
                "velocity": {
                    "x": -5.496965408325195,
                    "y": -0.8934836983680725,
                    "z": 0.0813610628247261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054121017456055,
                "transform": {
                    "location": {
                        "x": 1176.9144287109375,
                        "y": 4089.3388671875,
                        "z": 365.444091796875
                    },
                    "rotation": {
                        "roll": -0.000549311051145196,
                        "pitch": -0.9007584452629089,
                        "yaw": 9.236536979675293
                    }
                },
                "velocity": {
                    "x": 7.948713302612305,
                    "y": 1.2926112413406372,
                    "z": -0.126352921128273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4295772314071655,
                "transform": {
                    "location": {
                        "x": 1186.5538330078125,
                        "y": 4087.665771484375,
                        "z": 365.30499267578125
                    },
                    "rotation": {
                        "roll": 0.0030797419603914022,
                        "pitch": 0.9981774687767029,
                        "yaw": -170.65663146972656
                    }
                },
                "velocity": {
                    "x": -0.4239533841609955,
                    "y": -0.06889085471630096,
                    "z": 0.007361478637903929
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.251870632171631,
                "transform": {
                    "location": {
                        "x": 1143.6988525390625,
                        "y": 4080.700927734375,
                        "z": 365.9894104003906
                    },
                    "rotation": {
                        "roll": 9.51300680753775e-05,
                        "pitch": 0.9951995015144348,
                        "yaw": -170.74661254882812
                    }
                },
                "velocity": {
                    "x": -5.182718276977539,
                    "y": -0.8445108532905579,
                    "z": 0.09152154624462128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.677855014801025,
                "transform": {
                    "location": {
                        "x": 1128.0792236328125,
                        "y": 4078.15673828125,
                        "z": 366.25677490234375
                    },
                    "rotation": {
                        "roll": -0.0028991757426410913,
                        "pitch": 1.0435571670532227,
                        "yaw": -170.90414428710938
                    }
                },
                "velocity": {
                    "x": -4.616569519042969,
                    "y": -0.7502380013465881,
                    "z": 0.08220874518156052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.207061290740967,
                "transform": {
                    "location": {
                        "x": 1124.8436279296875,
                        "y": 4080.822509765625,
                        "z": 366.3111267089844
                    },
                    "rotation": {
                        "roll": -0.009735102765262127,
                        "pitch": -0.9842507243156433,
                        "yaw": 9.789593696594238
                    }
                },
                "velocity": {
                    "x": 6.117613315582275,
                    "y": 1.0442736148834229,
                    "z": -0.10913601517677307
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0912197083234787,
        "expert_target_speed": 5.2949905615659185,
        "target_point": [
            13.760975971657333,
            0.1447268559631274
        ],
        "target_point_next": [
            50.76063349676964,
            0.31688778881438306
        ]
    },
    "535": {
        "acceleration": [
            -0.3382110595703125,
            -0.030367374420166016,
            0.020194649696350098
        ],
        "angular_velocity": [
            -0.014331028796732426,
            -0.0002473661152180284,
            -0.2264874279499054
        ],
        "forward_vector": [
            -0.9877738356590271,
            -0.15499550104141235,
            0.01670735888183117
        ],
        "right_vector": [
            0.15501658618450165,
            -0.9879118204116821,
            -3.304564961581491e-05
        ],
        "location": [
            1168.9984130859375,
            4085.0,
            365.5738220214844
        ],
        "rotation": [
            0.0018936406122520566,
            0.9573056101799011,
            -171.08221435546875
        ],
        "velocity": [
            -4.261332035064697,
            -0.6624233722686768,
            0.06840354949235916
        ],
        "speed": 4.312511499949472,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.993234634399414,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1142.388671875,
                4080.4873046875,
                366.0119934082031
            ],
            "velocity": [
                -5.3955841064453125,
                -0.8799150586128235,
                0.09120309352874756
            ],
            "speed_kmh": 19.683441184970945,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034163475036621,
                "transform": {
                    "location": {
                        "x": 1221.8116455078125,
                        "y": 4096.63818359375,
                        "z": 364.7618713378906
                    },
                    "rotation": {
                        "roll": -0.0008544978336431086,
                        "pitch": -0.8340753316879272,
                        "yaw": 9.226005554199219
                    }
                },
                "velocity": {
                    "x": 7.92909049987793,
                    "y": 1.2899494171142578,
                    "z": -0.11547647416591644
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1244.318115234375,
                        "y": 4100.2041015625,
                        "z": 364.4351806640625
                    },
                    "rotation": {
                        "roll": 6.67084432137699e-09,
                        "pitch": -0.8522299528121948,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.596770286560059,
                "transform": {
                    "location": {
                        "x": 1199.4931640625,
                        "y": 4089.771240234375,
                        "z": 365.1024169921875
                    },
                    "rotation": {
                        "roll": 0.00010707229375839233,
                        "pitch": 1.0236541032791138,
                        "yaw": -170.78363037109375
                    }
                },
                "velocity": {
                    "x": -6.5104522705078125,
                    "y": -1.059043288230896,
                    "z": 0.09905601292848587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065926551818848,
                "transform": {
                    "location": {
                        "x": 1178.9033203125,
                        "y": 4089.662353515625,
                        "z": 365.4128112792969
                    },
                    "rotation": {
                        "roll": 0.0007382237236015499,
                        "pitch": -0.8933340311050415,
                        "yaw": 9.23630142211914
                    }
                },
                "velocity": {
                    "x": 7.9603729248046875,
                    "y": 1.2944409847259521,
                    "z": -0.1267186403274536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6705724000930786,
                "transform": {
                    "location": {
                        "x": 1186.4056396484375,
                        "y": 4087.641357421875,
                        "z": 365.3066711425781
                    },
                    "rotation": {
                        "roll": 0.00289568561129272,
                        "pitch": 1.0853853225708008,
                        "yaw": -170.67095947265625
                    }
                },
                "velocity": {
                    "x": -0.6617816686630249,
                    "y": -0.10776060819625854,
                    "z": 0.009999856352806091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.46762228012085,
                "transform": {
                    "location": {
                        "x": 1142.388671875,
                        "y": 4080.4873046875,
                        "z": 366.0119934082031
                    },
                    "rotation": {
                        "roll": -3.051357089134399e-05,
                        "pitch": 0.9844829440116882,
                        "yaw": -170.7321319580078
                    }
                },
                "velocity": {
                    "x": -5.3955841064453125,
                    "y": -0.8799150586128235,
                    "z": 0.09120309352874756
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.352252960205078,
                "transform": {
                    "location": {
                        "x": 1126.8057861328125,
                        "y": 4077.9501953125,
                        "z": 366.2793273925781
                    },
                    "rotation": {
                        "roll": -0.00244140625,
                        "pitch": 1.0469859838485718,
                        "yaw": -170.8543243408203
                    }
                },
                "velocity": {
                    "x": -5.282202243804932,
                    "y": -0.8580459952354431,
                    "z": 0.09332875907421112
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.938449382781982,
                "transform": {
                    "location": {
                        "x": 1126.4156494140625,
                        "y": 4081.08984375,
                        "z": 366.2831115722656
                    },
                    "rotation": {
                        "roll": -0.0056152259930968285,
                        "pitch": -0.9776937365531921,
                        "yaw": 9.626829147338867
                    }
                },
                "velocity": {
                    "x": 6.841305255889893,
                    "y": 1.1506130695343018,
                    "z": -0.12129801511764526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09854626655578613,
        "expert_target_speed": 5.378057295756075,
        "target_point": [
            12.69303528818181,
            0.15780944777008354
        ],
        "target_point_next": [
            49.692527228836916,
            0.36248601163967376
        ]
    },
    "540": {
        "acceleration": [
            -0.31907081604003906,
            -0.028586387634277344,
            0.00630989670753479
        ],
        "angular_velocity": [
            0.0032031636219471693,
            -0.008360158652067184,
            -0.26769864559173584
        ],
        "forward_vector": [
            -0.9879416823387146,
            -0.15392076969146729,
            0.01672416180372238
        ],
        "right_vector": [
            0.1539420336484909,
            -0.9880799055099487,
            -1.6303381926263683e-05
        ],
        "location": [
            1167.92236328125,
            4084.8330078125,
            365.5910949707031
        ],
        "rotation": [
            0.0009342455887235701,
            0.9582686424255371,
            -171.14454650878906
        ],
        "velocity": [
            -4.343040466308594,
            -0.6702095866203308,
            0.06889114528894424
        ],
        "speed": 4.394448928135559,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.41327667236328,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1140.8995361328125,
                4080.244384765625,
                366.0372314453125
            ],
            "velocity": [
                -6.48667573928833,
                -1.0583219528198242,
                0.11084918677806854
            ],
            "speed_kmh": 23.664159900138685,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034908294677734,
                "transform": {
                    "location": {
                        "x": 1223.7940673828125,
                        "y": 4096.9599609375,
                        "z": 364.7331237792969
                    },
                    "rotation": {
                        "roll": 0.00011337045725667849,
                        "pitch": -0.8335562348365784,
                        "yaw": 9.252843856811523
                    }
                },
                "velocity": {
                    "x": 7.929881572723389,
                    "y": 1.2898048162460327,
                    "z": -0.11457222700119019
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83204,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1246.375,
                        "y": 4100.53369140625,
                        "z": 364.40484619140625
                    },
                    "rotation": {
                        "roll": 6.67084432137699e-09,
                        "pitch": -0.8522299528121948,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9567638635635376,
                "transform": {
                    "location": {
                        "x": 1198.2935791015625,
                        "y": 4089.576171875,
                        "z": 365.1194152832031
                    },
                    "rotation": {
                        "roll": 0.0013745371252298355,
                        "pitch": 0.3452933728694916,
                        "yaw": -170.45098876953125
                    }
                },
                "velocity": {
                    "x": -1.932088017463684,
                    "y": -0.30846989154815674,
                    "z": 0.02840702049434185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053357124328613,
                "transform": {
                    "location": {
                        "x": 1180.8917236328125,
                        "y": 4089.985595703125,
                        "z": 365.3815002441406
                    },
                    "rotation": {
                        "roll": -0.0009155296138487756,
                        "pitch": -0.8920499682426453,
                        "yaw": 9.233983039855957
                    }
                },
                "velocity": {
                    "x": 7.948187828063965,
                    "y": 1.2912691831588745,
                    "z": -0.12451561540365219
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6316231489181519,
                "transform": {
                    "location": {
                        "x": 1186.25048828125,
                        "y": 4087.616455078125,
                        "z": 365.3106689453125
                    },
                    "rotation": {
                        "roll": 0.001292674569413066,
                        "pitch": 0.8863672614097595,
                        "yaw": -170.67539978027344
                    }
                },
                "velocity": {
                    "x": -0.623312771320343,
                    "y": -0.10164769738912582,
                    "z": 0.009836959652602673
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.57337760925293,
                "transform": {
                    "location": {
                        "x": 1140.8995361328125,
                        "y": 4080.244384765625,
                        "z": 366.0372314453125
                    },
                    "rotation": {
                        "roll": -0.00027465735911391675,
                        "pitch": 1.0070635080337524,
                        "yaw": -170.76119995117188
                    }
                },
                "velocity": {
                    "x": -6.48667573928833,
                    "y": -1.0583219528198242,
                    "z": 0.11084918677806854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.7352163791656494,
                "transform": {
                    "location": {
                        "x": 1125.6796875,
                        "y": 4077.768310546875,
                        "z": 366.30010986328125
                    },
                    "rotation": {
                        "roll": 0.0009061528253369033,
                        "pitch": 0.9282568097114563,
                        "yaw": -170.6919708251953
                    }
                },
                "velocity": {
                    "x": -3.6862170696258545,
                    "y": -0.5994966626167297,
                    "z": 0.06518234312534332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.933156490325928,
                "transform": {
                    "location": {
                        "x": 1128.2593994140625,
                        "y": 4081.39990234375,
                        "z": 366.25048828125
                    },
                    "rotation": {
                        "roll": -0.0058593712747097015,
                        "pitch": -0.9761295914649963,
                        "yaw": 9.53571891784668
                    }
                },
                "velocity": {
                    "x": 7.8230204582214355,
                    "y": 1.3100651502609253,
                    "z": -0.13803744316101074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11098098754882812,
        "expert_target_speed": 5.461798131792639,
        "target_point": [
            11.603925856974946,
            0.1722629439817598
        ],
        "target_point_next": [
            48.603173292524836,
            0.41718245189101655
        ]
    },
    "545": {
        "acceleration": [
            -0.29976844787597656,
            -0.02505183219909668,
            0.015035271644592285
        ],
        "angular_velocity": [
            -0.010005083866417408,
            0.02935461327433586,
            -0.2396632879972458
        ],
        "forward_vector": [
            -0.9881094098091125,
            -0.1528332531452179,
            0.016787216067314148
        ],
        "right_vector": [
            0.15285514295101166,
            -0.9882485866546631,
            2.130237226083409e-05
        ],
        "location": [
            1166.8265380859375,
            4084.664306640625,
            365.6086730957031
        ],
        "rotation": [
            -0.0012207080144435167,
            0.9618818163871765,
            -171.2075958251953
        ],
        "velocity": [
            -4.419746398925781,
            -0.6770911812782288,
            0.07048109173774719
        ],
        "speed": 4.471309729663352,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.08357048034668,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1139.1439208984375,
                4079.9580078125,
                366.0673828125
            ],
            "velocity": [
                -7.509942054748535,
                -1.2225289344787598,
                0.12935927510261536
            ],
            "speed_kmh": 27.395631123675916,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034297943115234,
                "transform": {
                    "location": {
                        "x": 1225.7764892578125,
                        "y": 4097.2822265625,
                        "z": 364.7044372558594
                    },
                    "rotation": {
                        "roll": 0.0012371157063171268,
                        "pitch": -0.8342528939247131,
                        "yaw": 9.224102020263672
                    }
                },
                "velocity": {
                    "x": 7.929445743560791,
                    "y": 1.2885831594467163,
                    "z": -0.11568282544612885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9956234097480774,
                "transform": {
                    "location": {
                        "x": 1198.138916015625,
                        "y": 4089.55078125,
                        "z": 365.1222229003906
                    },
                    "rotation": {
                        "roll": -6.103831401560456e-05,
                        "pitch": 0.6141979098320007,
                        "yaw": -170.43637084960938
                    }
                },
                "velocity": {
                    "x": -0.9820014238357544,
                    "y": -0.16344445943832397,
                    "z": 0.015003623440861702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065652847290039,
                "transform": {
                    "location": {
                        "x": 1182.8804931640625,
                        "y": 4090.30859375,
                        "z": 365.3503723144531
                    },
                    "rotation": {
                        "roll": -0.001922616851516068,
                        "pitch": -0.8906907439231873,
                        "yaw": 9.231650352478027
                    }
                },
                "velocity": {
                    "x": 7.960252285003662,
                    "y": 1.2937363386154175,
                    "z": -0.12401910871267319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4439603090286255,
                "transform": {
                    "location": {
                        "x": 1185.9952392578125,
                        "y": 4087.57470703125,
                        "z": 365.31365966796875
                    },
                    "rotation": {
                        "roll": 0.00032732661929912865,
                        "pitch": 1.0133267641067505,
                        "yaw": -170.69215393066406
                    }
                },
                "velocity": {
                    "x": -1.4248768091201782,
                    "y": -0.23297563195228577,
                    "z": 0.02167561464011669
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.609897613525391,
                "transform": {
                    "location": {
                        "x": 1139.1439208984375,
                        "y": 4079.9580078125,
                        "z": 366.0673828125
                    },
                    "rotation": {
                        "roll": -0.0001525824482087046,
                        "pitch": 1.0113869905471802,
                        "yaw": -170.7737274169922
                    }
                },
                "velocity": {
                    "x": -7.509942054748535,
                    "y": -1.2225289344787598,
                    "z": 0.12935927510261536
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.21253776550293,
                "transform": {
                    "location": {
                        "x": 1124.733642578125,
                        "y": 4077.6142578125,
                        "z": 366.3163146972656
                    },
                    "rotation": {
                        "roll": 0.001375420717522502,
                        "pitch": 1.005014419555664,
                        "yaw": -170.6746368408203
                    }
                },
                "velocity": {
                    "x": -4.157253265380859,
                    "y": -0.6761957406997681,
                    "z": 0.07401363551616669
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.282344818115234,
                "transform": {
                    "location": {
                        "x": 1130.2802734375,
                        "y": 4081.73779296875,
                        "z": 366.2149658203125
                    },
                    "rotation": {
                        "roll": -0.0037231503520160913,
                        "pitch": -0.9854118227958679,
                        "yaw": 9.476273536682129
                    }
                },
                "velocity": {
                    "x": 8.169268608093262,
                    "y": 1.3564492464065552,
                    "z": -0.14257724583148956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12239576131105423,
        "expert_target_speed": 5.541032702097485,
        "target_point": [
            10.494994684732257,
            0.18581668561803033
        ],
        "target_point_next": [
            47.493950170049914,
            0.47145519472018727
        ]
    },
    "550": {
        "acceleration": [
            -0.2830028533935547,
            -0.02094864845275879,
            -0.002954453229904175
        ],
        "angular_velocity": [
            0.029220758005976677,
            0.001907477853819728,
            -0.27210286259651184
        ],
        "forward_vector": [
            -0.9882792234420776,
            -0.15172408521175385,
            0.016854915767908096
        ],
        "right_vector": [
            0.15174588561058044,
            -0.9884195327758789,
            1.5444120435859077e-05
        ],
        "location": [
            1165.712158203125,
            4084.494384765625,
            365.6265563964844
        ],
        "rotation": [
            -0.0008850086596794426,
            0.9657613635063171,
            -171.2718963623047
        ],
        "velocity": [
            -4.492097854614258,
            -0.6830295920372009,
            0.07199502736330032
        ],
        "speed": 4.543728926666788,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.812929153442383,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1137.3116455078125,
                4079.659912109375,
                366.0995178222656
            ],
            "velocity": [
                -6.901119709014893,
                -1.122751235961914,
                0.11971263587474823
            ],
            "speed_kmh": 25.174363880700117,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034148216247559,
                "transform": {
                    "location": {
                        "x": 1227.7589111328125,
                        "y": 4097.6044921875,
                        "z": 364.6755676269531
                    },
                    "rotation": {
                        "roll": -0.0004577648069243878,
                        "pitch": -0.8363634347915649,
                        "yaw": 9.255171775817871
                    }
                },
                "velocity": {
                    "x": 7.929040908813477,
                    "y": 1.2901557683944702,
                    "z": -0.11548998206853867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.898711919784546,
                "transform": {
                    "location": {
                        "x": 1197.770263671875,
                        "y": 4089.490234375,
                        "z": 365.12823486328125
                    },
                    "rotation": {
                        "roll": 0.004193607252091169,
                        "pitch": 0.9234893321990967,
                        "yaw": -170.50247192382812
                    }
                },
                "velocity": {
                    "x": -1.8733798265457153,
                    "y": -0.3078975975513458,
                    "z": 0.02745782770216465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054012298583984,
                "transform": {
                    "location": {
                        "x": 1184.869140625,
                        "y": 4090.632080078125,
                        "z": 365.3192138671875
                    },
                    "rotation": {
                        "roll": -0.0009155361913144588,
                        "pitch": -0.8915035724639893,
                        "yaw": 9.235215187072754
                    }
                },
                "velocity": {
                    "x": 7.948680400848389,
                    "y": 1.2924174070358276,
                    "z": -0.12352895736694336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.779993772506714,
                "transform": {
                    "location": {
                        "x": 1185.4710693359375,
                        "y": 4087.489013671875,
                        "z": 365.3204345703125
                    },
                    "rotation": {
                        "roll": 0.0011702552437782288,
                        "pitch": 1.1887328624725342,
                        "yaw": -170.72625732421875
                    }
                },
                "velocity": {
                    "x": -2.743502378463745,
                    "y": -0.44692760705947876,
                    "z": 0.04260743036866188
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9928789138793945,
                "transform": {
                    "location": {
                        "x": 1137.3116455078125,
                        "y": 4079.659912109375,
                        "z": 366.0995178222656
                    },
                    "rotation": {
                        "roll": -0.0003051811072509736,
                        "pitch": 0.9700780510902405,
                        "yaw": -170.77073669433594
                    }
                },
                "velocity": {
                    "x": -6.901119709014893,
                    "y": -1.122751235961914,
                    "z": 0.11971263587474823
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.19158935546875,
                "transform": {
                    "location": {
                        "x": 1123.5850830078125,
                        "y": 4077.428466796875,
                        "z": 366.3362731933594
                    },
                    "rotation": {
                        "roll": 0.0026499966625124216,
                        "pitch": 1.0643073320388794,
                        "yaw": -170.59703063964844
                    }
                },
                "velocity": {
                    "x": -5.1233811378479,
                    "y": -0.8339000344276428,
                    "z": 0.0904112234711647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.141182899475098,
                "transform": {
                    "location": {
                        "x": 1132.3062744140625,
                        "y": 4082.0732421875,
                        "z": 366.1795349121094
                    },
                    "rotation": {
                        "roll": -0.002075198572129011,
                        "pitch": -0.9883078336715698,
                        "yaw": 9.387152671813965
                    }
                },
                "velocity": {
                    "x": 8.031519889831543,
                    "y": 1.3241623640060425,
                    "z": -0.14192645251750946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1372252106666565,
        "expert_target_speed": 5.609448536502004,
        "target_point": [
            9.36751979664106,
            0.19874021946986464
        ],
        "target_point_next": [
            46.36613150763351,
            0.5258912879570516
        ]
    },
    "555": {
        "acceleration": [
            -0.167999267578125,
            -0.004935264587402344,
            0.0005367398262023926
        ],
        "angular_velocity": [
            -0.012521151453256607,
            -0.043935127556324005,
            -0.24975916743278503
        ],
        "forward_vector": [
            -0.9884510040283203,
            -0.15060415863990784,
            0.01682261750102043
        ],
        "right_vector": [
            0.15062612295150757,
            -0.9885907769203186,
            3.940926035284065e-05
        ],
        "location": [
            1164.5816650390625,
            4084.322021484375,
            365.64483642578125
        ],
        "rotation": [
            -0.0022583038080483675,
            0.9639104008674622,
            -171.33682250976562
        ],
        "velocity": [
            -4.545541763305664,
            -0.685891330242157,
            0.07213861495256424
        ],
        "speed": 4.596998677273827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.997934341430664,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1136.00048828125,
                4079.44677734375,
                366.1229248046875
            ],
            "velocity": [
                -2.462244749069214,
                -0.40066125988960266,
                0.04153277352452278
            ],
            "speed_kmh": 8.981912431392523,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034693717956543,
                "transform": {
                    "location": {
                        "x": 1229.7413330078125,
                        "y": 4097.9267578125,
                        "z": 364.6467590332031
                    },
                    "rotation": {
                        "roll": -0.000183107316843234,
                        "pitch": -0.8376133441925049,
                        "yaw": 9.22677230834961
                    }
                },
                "velocity": {
                    "x": 7.929614543914795,
                    "y": 1.2900675535202026,
                    "z": -0.1150951087474823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0712554454803467,
                "transform": {
                    "location": {
                        "x": 1197.2232666015625,
                        "y": 4089.400634765625,
                        "z": 365.136474609375
                    },
                    "rotation": {
                        "roll": 0.003940311260521412,
                        "pitch": 0.9121990203857422,
                        "yaw": -170.5608367919922
                    }
                },
                "velocity": {
                    "x": -2.043773889541626,
                    "y": -0.33479171991348267,
                    "z": 0.03165632113814354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065007209777832,
                "transform": {
                    "location": {
                        "x": 1186.857666015625,
                        "y": 4090.95556640625,
                        "z": 365.2880859375
                    },
                    "rotation": {
                        "roll": -0.0014038067311048508,
                        "pitch": -0.8903765678405762,
                        "yaw": 9.235824584960938
                    }
                },
                "velocity": {
                    "x": 7.959518909454346,
                    "y": 1.294314980506897,
                    "z": -0.12306401133537292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.880282402038574,
                "transform": {
                    "location": {
                        "x": 1184.4925537109375,
                        "y": 4087.329833984375,
                        "z": 365.3342590332031
                    },
                    "rotation": {
                        "roll": 0.00016632041661068797,
                        "pitch": 1.3767337799072266,
                        "yaw": -170.73980712890625
                    }
                },
                "velocity": {
                    "x": -4.816311359405518,
                    "y": -0.7839692234992981,
                    "z": 0.07545576244592667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4949758052825928,
                "transform": {
                    "location": {
                        "x": 1136.00048828125,
                        "y": 4079.44677734375,
                        "z": 366.1229248046875
                    },
                    "rotation": {
                        "roll": 5.9010468248743564e-05,
                        "pitch": 0.8638617992401123,
                        "yaw": -170.7640838623047
                    }
                },
                "velocity": {
                    "x": -2.462244749069214,
                    "y": -0.40066125988960266,
                    "z": 0.04153277352452278
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.110764980316162,
                "transform": {
                    "location": {
                        "x": 1122.221435546875,
                        "y": 4077.205810546875,
                        "z": 366.36041259765625
                    },
                    "rotation": {
                        "roll": 0.0019315447425469756,
                        "pitch": 1.0784800052642822,
                        "yaw": -170.66705322265625
                    }
                },
                "velocity": {
                    "x": -6.0303850173950195,
                    "y": -0.982106626033783,
                    "z": 0.10662103444337845
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.026629447937012,
                "transform": {
                    "location": {
                        "x": 1134.2957763671875,
                        "y": 4082.401123046875,
                        "z": 366.1448059082031
                    },
                    "rotation": {
                        "roll": -0.0003051761304959655,
                        "pitch": -0.9888337254524231,
                        "yaw": 9.34394645690918
                    }
                },
                "velocity": {
                    "x": 7.91895866394043,
                    "y": 1.302947759628296,
                    "z": -0.138566792011261
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1521080583333969,
        "expert_target_speed": 5.641504099747425,
        "target_point": [
            8.223731063919317,
            0.20923783199227097
        ],
        "target_point_next": [
            45.22194837836257,
            0.5783068169135275
        ]
    },
    "560": {
        "acceleration": [
            -0.11234283447265625,
            0.004923343658447266,
            0.004369020462036133
        ],
        "angular_velocity": [
            -0.029554501175880432,
            -0.03546188771724701,
            -0.2722456157207489
        ],
        "forward_vector": [
            -0.9886254668235779,
            -0.14947254955768585,
            0.016663018614053726
        ],
        "right_vector": [
            0.14949433505535126,
            -0.9887625575065613,
            6.230931467143819e-05
        ],
        "location": [
            1163.441162109375,
            4084.14990234375,
            365.6633605957031
        ],
        "rotation": [
            -0.003570556640625,
            0.9547647833824158,
            -171.40243530273438
        ],
        "velocity": [
            -4.5767598152160645,
            -0.6852904558181763,
            0.07255908846855164
        ],
        "speed": 4.627780614399527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.978418350219727,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1135.868408203125,
                4079.42529296875,
                366.1250305175781
            ],
            "velocity": [
                -0.4674735963344574,
                -0.07537763565778732,
                0.007636594586074352
            ],
            "speed_kmh": 1.7048638736571182,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034479141235352,
                "transform": {
                    "location": {
                        "x": 1231.7237548828125,
                        "y": 4098.24951171875,
                        "z": 364.6177673339844
                    },
                    "rotation": {
                        "roll": -0.0013427766971290112,
                        "pitch": -0.8399015069007874,
                        "yaw": 9.256235122680664
                    }
                },
                "velocity": {
                    "x": 7.929190635681152,
                    "y": 1.2912821769714355,
                    "z": -0.11566232144832611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5542819499969482,
                "transform": {
                    "location": {
                        "x": 1197.1121826171875,
                        "y": 4089.38232421875,
                        "z": 365.1380310058594
                    },
                    "rotation": {
                        "roll": 0.003445784794166684,
                        "pitch": 0.7494902610778809,
                        "yaw": -170.44815063476562
                    }
                },
                "velocity": {
                    "x": -0.5469027757644653,
                    "y": -0.08982057124376297,
                    "z": 0.007623023819178343
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054586410522461,
                "transform": {
                    "location": {
                        "x": 1188.846435546875,
                        "y": 4091.278564453125,
                        "z": 365.2572326660156
                    },
                    "rotation": {
                        "roll": -9.15445780265145e-05,
                        "pitch": -0.876436173915863,
                        "yaw": 9.230253219604492
                    }
                },
                "velocity": {
                    "x": 7.94936990737915,
                    "y": 1.2917815446853638,
                    "z": -0.12321342527866364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.811277866363525,
                "transform": {
                    "location": {
                        "x": 1183.17138671875,
                        "y": 4087.114990234375,
                        "z": 365.3570861816406
                    },
                    "rotation": {
                        "roll": 0.0009575797594152391,
                        "pitch": 1.1493773460388184,
                        "yaw": -170.75259399414062
                    }
                },
                "velocity": {
                    "x": -5.7353434562683105,
                    "y": -0.9320796132087708,
                    "z": 0.08952605724334717
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4735732972621918,
                "transform": {
                    "location": {
                        "x": 1135.868408203125,
                        "y": 4079.42529296875,
                        "z": 366.1250305175781
                    },
                    "rotation": {
                        "roll": -0.0008850164012983441,
                        "pitch": 0.8897891640663147,
                        "yaw": -170.76173400878906
                    }
                },
                "velocity": {
                    "x": -0.4674735963344574,
                    "y": -0.07537763565778732,
                    "z": 0.007636594586074352
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.329729080200195,
                "transform": {
                    "location": {
                        "x": 1120.7474365234375,
                        "y": 4076.965576171875,
                        "z": 366.38720703125
                    },
                    "rotation": {
                        "roll": 0.0005915077636018395,
                        "pitch": 0.9966884851455688,
                        "yaw": -170.70555114746094
                    }
                },
                "velocity": {
                    "x": -5.259731292724609,
                    "y": -0.8559787273406982,
                    "z": 0.09238895028829575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089335441589355,
                "transform": {
                    "location": {
                        "x": 1136.2830810546875,
                        "y": 4082.727294921875,
                        "z": 366.1102600097656
                    },
                    "rotation": {
                        "roll": -0.001007086830213666,
                        "pitch": -0.9808356165885925,
                        "yaw": 9.312765121459961
                    }
                },
                "velocity": {
                    "x": 7.981919288635254,
                    "y": 1.3065024614334106,
                    "z": -0.1391637921333313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16387319564819336,
        "expert_target_speed": 5.6534828758493125,
        "target_point": [
            44.067838886581974,
            0.6304146386561671
        ],
        "target_point_next": [
            44.067838886581974,
            0.6304146386561671
        ]
    },
    "565": {
        "acceleration": [
            -0.1033782958984375,
            0.007646083831787109,
            0.0019308924674987793
        ],
        "angular_velocity": [
            0.011016097851097584,
            -0.0145094720646739,
            -0.25482943654060364
        ],
        "forward_vector": [
            -0.9887983202934265,
            -0.14833685755729675,
            0.01655479148030281
        ],
        "right_vector": [
            0.1483583152294159,
            -0.9889336824417114,
            6.92328903824091e-05
        ],
        "location": [
            1162.2935791015625,
            4083.97802734375,
            365.6819152832031
        ],
        "rotation": [
            -0.003967295866459608,
            0.9485629796981812,
            -171.46826171875
        ],
        "velocity": [
            -4.603399753570557,
            -0.6839267015457153,
            0.07294526696205139
        ],
        "speed": 4.653927913522153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.01996612548828,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1135.669189453125,
                4079.39306640625,
                366.1275634765625
            ],
            "velocity": [
                -1.0454248189926147,
                -0.17081956565380096,
                0.018419332802295685
            ],
            "speed_kmh": 3.8140154900102625,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1233.7742919921875,
                        "y": 4098.49609375,
                        "z": 364.5918273925781
                    },
                    "rotation": {
                        "roll": -6.670817676024399e-09,
                        "pitch": -0.8369713425636292,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4748657941818237,
                "transform": {
                    "location": {
                        "x": 1196.8551025390625,
                        "y": 4089.34033203125,
                        "z": 365.1421813964844
                    },
                    "rotation": {
                        "roll": 0.005267829168587923,
                        "pitch": 0.9644021391868591,
                        "yaw": -170.52976989746094
                    }
                },
                "velocity": {
                    "x": -1.4551812410354614,
                    "y": -0.23899467289447784,
                    "z": 0.023622779175639153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065370559692383,
                "transform": {
                    "location": {
                        "x": 1190.8350830078125,
                        "y": 4091.60205078125,
                        "z": 365.22662353515625
                    },
                    "rotation": {
                        "roll": -0.001312255160883069,
                        "pitch": -0.8718599677085876,
                        "yaw": 9.229735374450684
                    }
                },
                "velocity": {
                    "x": 7.960040092468262,
                    "y": 1.2934194803237915,
                    "z": -0.12260682135820389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.646839141845703,
                "transform": {
                    "location": {
                        "x": 1181.5262451171875,
                        "y": 4086.84765625,
                        "z": 365.3819885253906
                    },
                    "rotation": {
                        "roll": 0.00038497618515975773,
                        "pitch": 1.2459425926208496,
                        "yaw": -170.71560668945312
                    }
                },
                "velocity": {
                    "x": -7.546810150146484,
                    "y": -1.2271535396575928,
                    "z": 0.11789390444755554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0594487190246582,
                "transform": {
                    "location": {
                        "x": 1135.669189453125,
                        "y": 4079.39306640625,
                        "z": 366.1275634765625
                    },
                    "rotation": {
                        "roll": 0.0006139830220490694,
                        "pitch": 0.9980476498603821,
                        "yaw": -170.72012329101562
                    }
                },
                "velocity": {
                    "x": -1.0454248189926147,
                    "y": -0.17081956565380096,
                    "z": 0.018419332802295685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.941601514816284,
                "transform": {
                    "location": {
                        "x": 1119.9625244140625,
                        "y": 4076.83642578125,
                        "z": 366.40185546875
                    },
                    "rotation": {
                        "roll": -0.0019225989235565066,
                        "pitch": 0.894392728805542,
                        "yaw": -170.84030151367188
                    }
                },
                "velocity": {
                    "x": -2.903094530105591,
                    "y": -0.47159430384635925,
                    "z": 0.051572322845458984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071553230285645,
                "transform": {
                    "location": {
                        "x": 1138.2772216796875,
                        "y": 4083.0537109375,
                        "z": 366.07568359375
                    },
                    "rotation": {
                        "roll": -0.0007324295584112406,
                        "pitch": -0.971341609954834,
                        "yaw": 9.284610748291016
                    }
                },
                "velocity": {
                    "x": 7.964804649353027,
                    "y": 1.3011811971664429,
                    "z": -0.1370876580476761
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17916662991046906,
        "expert_target_speed": 5.673045042233092,
        "target_point": [
            42.90670276500985,
            0.6813349919585443
        ],
        "target_point_next": [
            42.90670276500985,
            0.6813349919585443
        ]
    },
    "570": {
        "acceleration": [
            -0.09039878845214844,
            -0.03005385398864746,
            -0.0019882619380950928
        ],
        "angular_velocity": [
            -0.021399838849902153,
            0.028420215472579002,
            -0.19484943151474
        ],
        "forward_vector": [
            -0.9889611601829529,
            -0.14724278450012207,
            0.016593169420957565
        ],
        "right_vector": [
            0.14726489782333374,
            -0.9890970587730408,
            0.00011130468192277476
        ],
        "location": [
            1161.1395263671875,
            4083.807373046875,
            365.70062255859375
        ],
        "rotation": [
            -0.00637816684320569,
            0.9507622718811035,
            -171.53164672851562
        ],
        "velocity": [
            -4.62763786315918,
            -0.6839885711669922,
            0.0761895701289177
        ],
        "speed": 4.677913269614083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.182146072387695,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1135.3448486328125,
                4079.340576171875,
                366.13323974609375
            ],
            "velocity": [
                -1.5259382724761963,
                -0.24886663258075714,
                0.02631082385778427
            ],
            "speed_kmh": 5.566762394144959,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1235.8310546875,
                        "y": 4098.8232421875,
                        "z": 364.56182861328125
                    },
                    "rotation": {
                        "roll": -6.670817676024399e-09,
                        "pitch": -0.8369713425636292,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4702274799346924,
                "transform": {
                    "location": {
                        "x": 1196.3603515625,
                        "y": 4089.25927734375,
                        "z": 365.1498718261719
                    },
                    "rotation": {
                        "roll": 0.004876986145973206,
                        "pitch": 1.0105059146881104,
                        "yaw": -170.6470489501953
                    }
                },
                "velocity": {
                    "x": -2.4376773834228516,
                    "y": -0.3979439437389374,
                    "z": 0.03732023015618324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054405212402344,
                "transform": {
                    "location": {
                        "x": 1192.8236083984375,
                        "y": 4091.92529296875,
                        "z": 365.1961669921875
                    },
                    "rotation": {
                        "roll": -0.0003356853558216244,
                        "pitch": -0.8723449110984802,
                        "yaw": 9.233644485473633
                    }
                },
                "velocity": {
                    "x": 7.949108600616455,
                    "y": 1.2922859191894531,
                    "z": -0.12290999293327332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.727228164672852,
                "transform": {
                    "location": {
                        "x": 1179.568115234375,
                        "y": 4086.529052734375,
                        "z": 365.4129943847656
                    },
                    "rotation": {
                        "roll": -0.0011596649419516325,
                        "pitch": 1.1986093521118164,
                        "yaw": -170.7064208984375
                    }
                },
                "velocity": {
                    "x": -8.612716674804688,
                    "y": -1.4025979042053223,
                    "z": 0.1354343593120575
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5463229417800903,
                "transform": {
                    "location": {
                        "x": 1135.3448486328125,
                        "y": 4079.340576171875,
                        "z": 366.13323974609375
                    },
                    "rotation": {
                        "roll": 0.001983714522793889,
                        "pitch": 1.0050486326217651,
                        "yaw": -170.6593475341797
                    }
                },
                "velocity": {
                    "x": -1.5259382724761963,
                    "y": -0.24886663258075714,
                    "z": 0.02631082385778427
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.614342451095581,
                "transform": {
                    "location": {
                        "x": 1119.1533203125,
                        "y": 4076.705810546875,
                        "z": 366.4153137207031
                    },
                    "rotation": {
                        "roll": -0.0002441445831209421,
                        "pitch": 1.0201433897018433,
                        "yaw": -170.77650451660156
                    }
                },
                "velocity": {
                    "x": -3.5671749114990234,
                    "y": -0.5786158442497253,
                    "z": 0.06275478005409241
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.100007057189941,
                "transform": {
                    "location": {
                        "x": 1140.272216796875,
                        "y": 4083.37939453125,
                        "z": 366.0414733886719
                    },
                    "rotation": {
                        "roll": -0.0008850170997902751,
                        "pitch": -0.9723456501960754,
                        "yaw": 9.265881538391113
                    }
                },
                "velocity": {
                    "x": 7.9933600425720215,
                    "y": 1.3027286529541016,
                    "z": -0.1385481208562851
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20639465749263763,
        "expert_target_speed": 5.6905928042797616,
        "target_point": [
            41.73932118597324,
            0.7299560964521898
        ],
        "target_point_next": [
            41.73932118597324,
            0.7299560964521898
        ]
    },
    "575": {
        "acceleration": [
            -0.08251190185546875,
            -0.0473177433013916,
            -0.004834681749343872
        ],
        "angular_velocity": [
            0.013944988138973713,
            0.030271749943494797,
            0.1845404952764511
        ],
        "forward_vector": [
            -0.9889034628868103,
            -0.1476210206747055,
            0.016671838238835335
        ],
        "right_vector": [
            0.14764690399169922,
            -0.9890400767326355,
            0.0003264581027906388
        ],
        "location": [
            1159.9798583984375,
            4083.63427734375,
            365.7195129394531
        ],
        "rotation": [
            -0.0187072716653347,
            0.9552702307701111,
            -171.5097198486328
        ],
        "velocity": [
            -4.648534774780273,
            -0.6979523301124573,
            0.07588443905115128
        ],
        "speed": 4.700639638118508,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.46247673034668,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1134.898193359375,
                4079.267333984375,
                366.1409606933594
            ],
            "velocity": [
                -2.0351266860961914,
                -0.3316976726055145,
                0.03485792130231857
            ],
            "speed_kmh": 7.424190762432487,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83205,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1237.8880615234375,
                        "y": 4099.1513671875,
                        "z": 364.5318603515625
                    },
                    "rotation": {
                        "roll": -6.670817676024399e-09,
                        "pitch": -0.8369713425636292,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.911099910736084,
                "transform": {
                    "location": {
                        "x": 1195.574462890625,
                        "y": 4089.131103515625,
                        "z": 365.1619873046875
                    },
                    "rotation": {
                        "roll": 0.0035311959218233824,
                        "pitch": 1.0809866189956665,
                        "yaw": -170.70166015625
                    }
                },
                "velocity": {
                    "x": -3.8596649169921875,
                    "y": -0.6294223070144653,
                    "z": 0.05930660292506218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064618110656738,
                "transform": {
                    "location": {
                        "x": 1194.8121337890625,
                        "y": 4092.248779296875,
                        "z": 365.1656494140625
                    },
                    "rotation": {
                        "roll": -0.00036621122853830457,
                        "pitch": -0.8719419240951538,
                        "yaw": 9.23530387878418
                    }
                },
                "velocity": {
                    "x": 7.95902681350708,
                    "y": 1.2949585914611816,
                    "z": -0.12262199074029922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.139772415161133,
                "transform": {
                    "location": {
                        "x": 1177.3062744140625,
                        "y": 4086.16064453125,
                        "z": 365.44964599609375
                    },
                    "rotation": {
                        "roll": 0.001670664525590837,
                        "pitch": 1.0915870666503906,
                        "yaw": -170.74586486816406
                    }
                },
                "velocity": {
                    "x": -9.020120620727539,
                    "y": -1.4671167135238647,
                    "z": 0.14291130006313324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0622751712799072,
                "transform": {
                    "location": {
                        "x": 1134.898193359375,
                        "y": 4079.267333984375,
                        "z": 366.1409606933594
                    },
                    "rotation": {
                        "roll": 0.0013355739647522569,
                        "pitch": 1.0046114921569824,
                        "yaw": -170.67564392089844
                    }
                },
                "velocity": {
                    "x": -2.0351266860961914,
                    "y": -0.3316976726055145,
                    "z": 0.03485792130231857
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.815096855163574,
                "transform": {
                    "location": {
                        "x": 1118.0858154296875,
                        "y": 4076.53271484375,
                        "z": 366.4338684082031
                    },
                    "rotation": {
                        "roll": -0.0005493117496371269,
                        "pitch": 1.0666296482086182,
                        "yaw": -170.8026123046875
                    }
                },
                "velocity": {
                    "x": -4.752127647399902,
                    "y": -0.7716686725616455,
                    "z": 0.08345771580934525
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061182975769043,
                "transform": {
                    "location": {
                        "x": 1142.2655029296875,
                        "y": 4083.703857421875,
                        "z": 366.0071716308594
                    },
                    "rotation": {
                        "roll": -0.0017394921742379665,
                        "pitch": -0.968657374382019,
                        "yaw": 9.24472713470459
                    }
                },
                "velocity": {
                    "x": 7.95542573928833,
                    "y": 1.2944542169570923,
                    "z": -0.1351059526205063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2148333340883255,
        "expert_target_speed": 5.707754598949425,
        "target_point": [
            40.567082415623624,
            0.7139905983813977
        ],
        "target_point_next": [
            40.567082415623624,
            0.7139905983813977
        ]
    },
    "580": {
        "acceleration": [
            -0.07752418518066406,
            -0.04402518272399902,
            0.0072383880615234375
        ],
        "angular_velocity": [
            0.003025804413482547,
            0.0007117103668861091,
            0.32190948724746704
        ],
        "forward_vector": [
            -0.9887163043022156,
            -0.1488630622625351,
            0.016730956733226776
        ],
        "right_vector": [
            0.14889079332351685,
            -0.9888536334037781,
            0.00041752532706595957
        ],
        "location": [
            1158.815185546875,
            4083.4580078125,
            365.7386169433594
        ],
        "rotation": [
            -0.023925786837935448,
            0.95865797996521,
            -171.437744140625
        ],
        "velocity": [
            -4.6680908203125,
            -0.711114227771759,
            0.07637109607458115
        ],
        "speed": 4.721944022500188,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.871692657470703,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1134.31884765625,
                4079.173095703125,
                366.1510009765625
            ],
            "velocity": [
                -2.5739498138427734,
                -0.41904956102371216,
                0.04474395513534546
            ],
            "speed_kmh": 9.389599337343608,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.28739595413208,
                "transform": {
                    "location": {
                        "x": 1194.43017578125,
                        "y": 4088.94482421875,
                        "z": 365.1798095703125
                    },
                    "rotation": {
                        "roll": 0.0007801172323524952,
                        "pitch": 1.0919150114059448,
                        "yaw": -170.72509765625
                    }
                },
                "velocity": {
                    "x": -5.217976093292236,
                    "y": -0.8498368859291077,
                    "z": 0.08401933312416077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054598808288574,
                "transform": {
                    "location": {
                        "x": 1196.8006591796875,
                        "y": 4092.57177734375,
                        "z": 365.1352233886719
                    },
                    "rotation": {
                        "roll": -0.0002136147813871503,
                        "pitch": -0.8701797127723694,
                        "yaw": 9.236761093139648
                    }
                },
                "velocity": {
                    "x": 7.949243068695068,
                    "y": 1.2928019762039185,
                    "z": -0.12145887315273285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.179755210876465,
                "transform": {
                    "location": {
                        "x": 1175.20556640625,
                        "y": 4085.818359375,
                        "z": 365.48687744140625
                    },
                    "rotation": {
                        "roll": 0.00018610965344123542,
                        "pitch": 0.6046971082687378,
                        "yaw": -170.76422119140625
                    }
                },
                "velocity": {
                    "x": -7.085704326629639,
                    "y": -1.1528526544570923,
                    "z": 0.11228759586811066
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.608222007751465,
                "transform": {
                    "location": {
                        "x": 1134.31884765625,
                        "y": 4079.173095703125,
                        "z": 366.1510009765625
                    },
                    "rotation": {
                        "roll": 0.001274153240956366,
                        "pitch": 1.0057862997055054,
                        "yaw": -170.6970672607422
                    }
                },
                "velocity": {
                    "x": -2.5739498138427734,
                    "y": -0.41904956102371216,
                    "z": 0.04474395513534546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.595324516296387,
                "transform": {
                    "location": {
                        "x": 1116.7679443359375,
                        "y": 4076.318603515625,
                        "z": 366.4573059082031
                    },
                    "rotation": {
                        "roll": -0.0006103587220422924,
                        "pitch": 1.0577093362808228,
                        "yaw": -170.78057861328125
                    }
                },
                "velocity": {
                    "x": -5.522192478179932,
                    "y": -0.8964647650718689,
                    "z": 0.09694381803274155
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097814559936523,
                "transform": {
                    "location": {
                        "x": 1144.259033203125,
                        "y": 4084.028564453125,
                        "z": 365.9732666015625
                    },
                    "rotation": {
                        "roll": 0.0012257698690518737,
                        "pitch": -0.9575719833374023,
                        "yaw": 9.244595527648926
                    }
                },
                "velocity": {
                    "x": 7.991459369659424,
                    "y": 1.301081657409668,
                    "z": -0.13552211225032806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2223547101020813,
        "expert_target_speed": 5.724809809306319,
        "target_point": [
            39.390011283629654,
            0.6621341441213335
        ],
        "target_point_next": [
            39.390011283629654,
            0.6621341441213335
        ]
    },
    "585": {
        "acceleration": [
            -0.07170677185058594,
            -0.040814876556396484,
            0.012821555137634277
        ],
        "angular_velocity": [
            -0.0047908807173371315,
            -0.00037264340789988637,
            0.35865768790245056
        ],
        "forward_vector": [
            -0.9884966015815735,
            -0.15031665563583374,
            0.016717130318284035
        ],
        "right_vector": [
            0.15034407377243042,
            -0.9886336922645569,
            0.0003887673083227128
        ],
        "location": [
            1157.6456298828125,
            4083.279296875,
            365.7578125
        ],
        "rotation": [
            -0.022277839481830597,
            0.9578656554222107,
            -171.35350036621094
        ],
        "velocity": [
            -4.686667442321777,
            -0.7212332487106323,
            0.0765889510512352
        ],
        "speed": 4.74183815771528,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.409122467041016,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1133.60791015625,
                4079.056884765625,
                366.1634826660156
            ],
            "velocity": [
                -3.1073720455169678,
                -0.5060265064239502,
                0.05374909192323685
            ],
            "speed_kmh": 11.335549309086469,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.614443778991699,
                "transform": {
                    "location": {
                        "x": 1193.0689697265625,
                        "y": 4088.723876953125,
                        "z": 365.2005920410156
                    },
                    "rotation": {
                        "roll": 0.0022790587972849607,
                        "pitch": 0.9951448440551758,
                        "yaw": -170.98622131347656
                    }
                },
                "velocity": {
                    "x": -5.542275428771973,
                    "y": -0.893319845199585,
                    "z": 0.08450283110141754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065481185913086,
                "transform": {
                    "location": {
                        "x": 1198.789306640625,
                        "y": 4092.8955078125,
                        "z": 365.10498046875
                    },
                    "rotation": {
                        "roll": 0.0008524744189344347,
                        "pitch": -0.855105459690094,
                        "yaw": 9.234500885009766
                    }
                },
                "velocity": {
                    "x": 7.960245609283447,
                    "y": 1.2931100130081177,
                    "z": -0.11976338922977448
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.134371042251587,
                "transform": {
                    "location": {
                        "x": 1174.1693115234375,
                        "y": 4085.64990234375,
                        "z": 365.50970458984375
                    },
                    "rotation": {
                        "roll": -9.155290172202513e-05,
                        "pitch": -0.22186502814292908,
                        "yaw": -170.7682647705078
                    }
                },
                "velocity": {
                    "x": -3.0933940410614014,
                    "y": -0.5028786063194275,
                    "z": 0.04804353788495064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.148763656616211,
                "transform": {
                    "location": {
                        "x": 1133.60791015625,
                        "y": 4079.056884765625,
                        "z": 366.1634826660156
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 1.0055745840072632,
                        "yaw": -170.7166290283203
                    }
                },
                "velocity": {
                    "x": -3.1073720455169678,
                    "y": -0.5060265064239502,
                    "z": 0.05374909192323685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.278092622756958,
                "transform": {
                    "location": {
                        "x": 1115.618408203125,
                        "y": 4076.13232421875,
                        "z": 366.4789123535156
                    },
                    "rotation": {
                        "roll": 8.983023144537583e-05,
                        "pitch": 0.8794072866439819,
                        "yaw": -170.7835235595703
                    }
                },
                "velocity": {
                    "x": -3.2352752685546875,
                    "y": -0.5250790119171143,
                    "z": 0.056374434381723404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062981605529785,
                "transform": {
                    "location": {
                        "x": 1146.25244140625,
                        "y": 4084.353759765625,
                        "z": 365.93951416015625
                    },
                    "rotation": {
                        "roll": -0.0011291668051853776,
                        "pitch": -0.9586169719696045,
                        "yaw": 9.245960235595703
                    }
                },
                "velocity": {
                    "x": 7.9571380615234375,
                    "y": 1.295243501663208,
                    "z": -0.13405214250087738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2323625087738037,
        "expert_target_speed": 5.741734902673972,
        "target_point": [
            38.207812095468114,
            0.6033563983645722
        ],
        "target_point_next": [
            38.207812095468114,
            0.6033563983645722
        ]
    },
    "590": {
        "acceleration": [
            -0.06650924682617188,
            -0.04015684127807617,
            0.007392168045043945
        ],
        "angular_velocity": [
            -0.01034551952034235,
            0.018863357603549957,
            0.31030118465423584
        ],
        "forward_vector": [
            -0.9882750511169434,
            -0.15176759660243988,
            0.01670437678694725
        ],
        "right_vector": [
            0.15179447829723358,
            -0.9884120225906372,
            0.0003461627056822181
        ],
        "location": [
            1156.4715576171875,
            4083.09814453125,
            365.777099609375
        ],
        "rotation": [
            -0.0198364295065403,
            0.9571348428726196,
            -171.26939392089844
        ],
        "velocity": [
            -4.703873634338379,
            -0.7308436632156372,
            0.0766405463218689
        ],
        "speed": 4.760310875130552,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.096223831176758,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1132.744384765625,
                4078.916259765625,
                366.1784362792969
            ],
            "velocity": [
                -3.8071508407592773,
                -0.6194552779197693,
                0.06615184992551804
            ],
            "speed_kmh": 13.888022886292832,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.502267837524414,
                "transform": {
                    "location": {
                        "x": 1191.479248046875,
                        "y": 4088.467529296875,
                        "z": 365.22503662109375
                    },
                    "rotation": {
                        "roll": -0.0023803834337741137,
                        "pitch": 1.1299453973770142,
                        "yaw": -170.86492919921875
                    }
                },
                "velocity": {
                    "x": -7.405140399932861,
                    "y": -1.1979666948318481,
                    "z": 0.11308940500020981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054194450378418,
                "transform": {
                    "location": {
                        "x": 1200.77783203125,
                        "y": 4093.21875,
                        "z": 365.0751953125
                    },
                    "rotation": {
                        "roll": -0.0007019063923507929,
                        "pitch": -0.8529403209686279,
                        "yaw": 9.231411933898926
                    }
                },
                "velocity": {
                    "x": 7.949021816253662,
                    "y": 1.2919275760650635,
                    "z": -0.1184108778834343
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1981253623962402,
                "transform": {
                    "location": {
                        "x": 1173.3709716796875,
                        "y": 4085.520263671875,
                        "z": 365.51422119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.793428897857666,
                        "yaw": -170.76829528808594
                    }
                },
                "velocity": {
                    "x": -3.1563055515289307,
                    "y": -0.5129634737968445,
                    "z": 0.05109015479683876
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8577842712402344,
                "transform": {
                    "location": {
                        "x": 1132.744384765625,
                        "y": 4078.916259765625,
                        "z": 366.1784362792969
                    },
                    "rotation": {
                        "roll": 0.0008638330618850887,
                        "pitch": 1.0104035139083862,
                        "yaw": -170.73304748535156
                    }
                },
                "velocity": {
                    "x": -3.8071508407592773,
                    "y": -0.6194552779197693,
                    "z": 0.06615184992551804
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9056220054626465,
                "transform": {
                    "location": {
                        "x": 1114.7418212890625,
                        "y": 4075.989501953125,
                        "z": 366.4935607910156
                    },
                    "rotation": {
                        "roll": -0.0003051767125725746,
                        "pitch": 0.9953087568283081,
                        "yaw": -170.80007934570312
                    }
                },
                "velocity": {
                    "x": -3.8544375896453857,
                    "y": -0.6265738606452942,
                    "z": 0.0678137019276619
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097795486450195,
                "transform": {
                    "location": {
                        "x": 1148.246337890625,
                        "y": 4084.677978515625,
                        "z": 365.9059143066406
                    },
                    "rotation": {
                        "roll": 0.0005665571079589427,
                        "pitch": -0.9528181552886963,
                        "yaw": 9.2388334274292
                    }
                },
                "velocity": {
                    "x": 7.99163818359375,
                    "y": 1.299914836883545,
                    "z": -0.1350443959236145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24497954547405243,
        "expert_target_speed": 5.76012260090797,
        "target_point": [
            37.02069136282001,
            0.5464354704969523
        ],
        "target_point_next": [
            37.02069136282001,
            0.5464354704969523
        ]
    },
    "595": {
        "acceleration": [
            -0.06144523620605469,
            -0.0387418270111084,
            0.002949237823486328
        ],
        "angular_velocity": [
            -0.025695588439702988,
            0.022896699607372284,
            0.36237284541130066
        ],
        "forward_vector": [
            -0.9880480766296387,
            -0.1532314121723175,
            0.01676766760647297
        ],
        "right_vector": [
            0.15325844287872314,
            -0.9881861209869385,
            0.00033178331796079874
        ],
        "location": [
            1155.29345703125,
            4082.914306640625,
            365.7965393066406
        ],
        "rotation": [
            -0.019012456759810448,
            0.9607616662979126,
            -171.18450927734375
        ],
        "velocity": [
            -4.719707012176514,
            -0.7404237985610962,
            0.07745599746704102
        ],
        "speed": 4.777432540838625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.980918884277344,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1131.6815185546875,
                4078.742919921875,
                366.1970520019531
            ],
            "velocity": [
                -4.688229084014893,
                -0.7621757388114929,
                0.08217161148786545
            ],
            "speed_kmh": 17.101764278372723,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034348487854004,
                "transform": {
                    "location": {
                        "x": 1189.5140380859375,
                        "y": 4088.1484375,
                        "z": 365.2550048828125
                    },
                    "rotation": {
                        "roll": -0.0024414099752902985,
                        "pitch": 1.0081700086593628,
                        "yaw": -170.77308654785156
                    }
                },
                "velocity": {
                    "x": -7.929217338562012,
                    "y": -1.2896535396575928,
                    "z": 0.12276650965213776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.064697265625,
                "transform": {
                    "location": {
                        "x": 1202.766357421875,
                        "y": 4093.541748046875,
                        "z": 365.04534912109375
                    },
                    "rotation": {
                        "roll": -0.0008239828748628497,
                        "pitch": -0.8531178832054138,
                        "yaw": 9.23473834991455
                    }
                },
                "velocity": {
                    "x": 7.959303855895996,
                    "y": 1.2940309047698975,
                    "z": -0.1196335032582283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.759150743484497,
                "transform": {
                    "location": {
                        "x": 1172.520263671875,
                        "y": 4085.3818359375,
                        "z": 365.5251159667969
                    },
                    "rotation": {
                        "roll": -0.0010070783318951726,
                        "pitch": 1.1391730308532715,
                        "yaw": -170.76931762695312
                    }
                },
                "velocity": {
                    "x": -3.710163116455078,
                    "y": -0.6020509004592896,
                    "z": 0.05864505469799042
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.750490188598633,
                "transform": {
                    "location": {
                        "x": 1131.6815185546875,
                        "y": 4078.742919921875,
                        "z": 366.1970520019531
                    },
                    "rotation": {
                        "roll": 0.0003074740816373378,
                        "pitch": 1.0216938257217407,
                        "yaw": -170.7474822998047
                    }
                },
                "velocity": {
                    "x": -4.688229084014893,
                    "y": -0.7621757388114929,
                    "z": 0.08217161148786545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.128798484802246,
                "transform": {
                    "location": {
                        "x": 1113.6278076171875,
                        "y": 4075.80859375,
                        "z": 366.5127258300781
                    },
                    "rotation": {
                        "roll": -0.0007019035401754081,
                        "pitch": 1.0670188665390015,
                        "yaw": -170.79757690429688
                    }
                },
                "velocity": {
                    "x": -5.061825752258301,
                    "y": -0.8213065266609192,
                    "z": 0.08914775401353836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062843322753906,
                "transform": {
                    "location": {
                        "x": 1150.2398681640625,
                        "y": 4085.00244140625,
                        "z": 365.8724060058594
                    },
                    "rotation": {
                        "roll": 0.0011069811880588531,
                        "pitch": -0.9446151256561279,
                        "yaw": 9.234770774841309
                    }
                },
                "velocity": {
                    "x": 7.957403182983398,
                    "y": 1.2928025722503662,
                    "z": -0.13352327048778534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24589025974273682,
        "expert_target_speed": 5.780722838508557,
        "target_point": [
            35.82910292114153,
            0.4904685419078598
        ],
        "target_point_next": [
            35.82910292114153,
            0.4904685419078598
        ]
    },
    "600": {
        "acceleration": [
            -0.055828094482421875,
            -0.05263686180114746,
            0.00618472695350647
        ],
        "angular_velocity": [
            -0.06276361644268036,
            0.012890092097222805,
            0.42608192563056946
        ],
        "forward_vector": [
            -0.9877908229827881,
            -0.15486785769462585,
            0.016888529062271118
        ],
        "right_vector": [
            0.1548955887556076,
            -0.9879307746887207,
            0.00033870580955408514
        ],
        "location": [
            1154.111572265625,
            4082.72802734375,
            365.8160400390625
        ],
        "rotation": [
            -0.01940918155014515,
            0.9676874876022339,
            -171.08958435058594
        ],
        "velocity": [
            -4.73411226272583,
            -0.7531110048294067,
            0.07876928150653839
        ],
        "speed": 4.793641111064348,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.072641372680664,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1130.41015625,
                4078.5361328125,
                366.2197265625
            ],
            "velocity": [
                -5.226223468780518,
                -0.849574625492096,
                0.09217678010463715
            ],
            "speed_kmh": 19.064264006753255,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.934553146362305,
                "transform": {
                    "location": {
                        "x": 1187.6649169921875,
                        "y": 4087.847412109375,
                        "z": 365.2833557128906
                    },
                    "rotation": {
                        "roll": -0.00048827819409780204,
                        "pitch": 0.7899796366691589,
                        "yaw": -170.76148986816406
                    }
                },
                "velocity": {
                    "x": -6.843759536743164,
                    "y": -1.1133660078048706,
                    "z": 0.10678735375404358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052698135375977,
                "transform": {
                    "location": {
                        "x": 1204.7547607421875,
                        "y": 4093.864990234375,
                        "z": 365.0155334472656
                    },
                    "rotation": {
                        "roll": -0.0017700096359476447,
                        "pitch": -0.8547366857528687,
                        "yaw": 9.234634399414062
                    }
                },
                "velocity": {
                    "x": 7.947468280792236,
                    "y": 1.292096734046936,
                    "z": -0.11908593773841858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.816554546356201,
                "transform": {
                    "location": {
                        "x": 1171.4638671875,
                        "y": 4085.210205078125,
                        "z": 365.5416564941406
                    },
                    "rotation": {
                        "roll": -0.0010986325796693563,
                        "pitch": 1.1626074314117432,
                        "yaw": -170.77049255371094
                    }
                },
                "velocity": {
                    "x": -4.753446578979492,
                    "y": -0.7734662294387817,
                    "z": 0.0754610225558281
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.295629024505615,
                "transform": {
                    "location": {
                        "x": 1130.41015625,
                        "y": 4078.5361328125,
                        "z": 366.2197265625
                    },
                    "rotation": {
                        "roll": -0.0007629345636814833,
                        "pitch": 1.021256685256958,
                        "yaw": -170.76071166992188
                    }
                },
                "velocity": {
                    "x": -5.226223468780518,
                    "y": -0.849574625492096,
                    "z": 0.09217678010463715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.082840919494629,
                "transform": {
                    "location": {
                        "x": 1112.345947265625,
                        "y": 4075.6005859375,
                        "z": 366.53570556640625
                    },
                    "rotation": {
                        "roll": 0.0001508015557192266,
                        "pitch": 1.0179439783096313,
                        "yaw": -170.728271484375
                    }
                },
                "velocity": {
                    "x": -5.015791416168213,
                    "y": -0.8180292248725891,
                    "z": 0.08909759670495987
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097406387329102,
                "transform": {
                    "location": {
                        "x": 1152.233642578125,
                        "y": 4085.326416015625,
                        "z": 365.8391418457031
                    },
                    "rotation": {
                        "roll": 0.0005636473069898784,
                        "pitch": -0.9451888203620911,
                        "yaw": 9.231532096862793
                    }
                },
                "velocity": {
                    "x": 7.991427898406982,
                    "y": 1.2988455295562744,
                    "z": -0.13442924618721008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24829146265983582,
        "expert_target_speed": 5.8001929585206335,
        "target_point": [
            34.63339198652204,
            0.4301462254097661
        ],
        "target_point_next": [
            34.63339198652204,
            0.4301462254097661
        ]
    },
    "605": {
        "acceleration": [
            -0.051784515380859375,
            -0.04972577095031738,
            0.00258520245552063
        ],
        "angular_velocity": [
            -0.0456317774951458,
            0.0022634135093539953,
            0.4535905420780182
        ],
        "forward_vector": [
            -0.9874875545501709,
            -0.15678083896636963,
            0.016972558572888374
        ],
        "right_vector": [
            0.15680870413780212,
            -0.9876289367675781,
            0.0003158051404170692
        ],
        "location": [
            1152.9261474609375,
            4082.53857421875,
            365.8357849121094
        ],
        "rotation": [
            -0.018096908926963806,
            0.9725027680397034,
            -170.9785919189453
        ],
        "velocity": [
            -4.747622489929199,
            -0.7648606896400452,
            0.0799909383058548
        ],
        "speed": 4.808838859999176,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.26198959350586,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1129.0384521484375,
                4078.31298828125,
                366.2438049316406
            ],
            "velocity": [
                -5.866544723510742,
                -0.9538989663124084,
                0.1036241352558136
            ],
            "speed_kmh": 21.40017818084917,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.027788162231445,
                "transform": {
                    "location": {
                        "x": 1186.218505859375,
                        "y": 4087.6123046875,
                        "z": 365.305419921875
                    },
                    "rotation": {
                        "roll": -0.0030822802800685167,
                        "pitch": 0.5211912393569946,
                        "yaw": -170.889404296875
                    }
                },
                "velocity": {
                    "x": -3.9762065410614014,
                    "y": -0.6398378014564514,
                    "z": 0.058860260993242264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06528377532959,
                "transform": {
                    "location": {
                        "x": 1206.7432861328125,
                        "y": 4094.188232421875,
                        "z": 364.98577880859375
                    },
                    "rotation": {
                        "roll": 0.0008369368151761591,
                        "pitch": -0.8492110371589661,
                        "yaw": 9.234414100646973
                    }
                },
                "velocity": {
                    "x": 7.959868431091309,
                    "y": 1.2942118644714355,
                    "z": -0.11959760636091232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.316758155822754,
                "transform": {
                    "location": {
                        "x": 1170.1947021484375,
                        "y": 4085.003662109375,
                        "z": 365.5628967285156
                    },
                    "rotation": {
                        "roll": -0.00042723509250208735,
                        "pitch": 1.0721347332000732,
                        "yaw": -170.77049255371094
                    }
                },
                "velocity": {
                    "x": -5.247316360473633,
                    "y": -0.8523913621902466,
                    "z": 0.08377420157194138
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.944494247436523,
                "transform": {
                    "location": {
                        "x": 1129.0384521484375,
                        "y": 4078.31298828125,
                        "z": 366.2438049316406
                    },
                    "rotation": {
                        "roll": -0.0008239825256168842,
                        "pitch": 1.0217211246490479,
                        "yaw": -170.76385498046875
                    }
                },
                "velocity": {
                    "x": -5.866544723510742,
                    "y": -0.9538989663124084,
                    "z": 0.1036241352558136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.74752950668335,
                "transform": {
                    "location": {
                        "x": 1111.1422119140625,
                        "y": 4075.404296875,
                        "z": 366.55712890625
                    },
                    "rotation": {
                        "roll": 0.00018931894737761468,
                        "pitch": 0.9855074286460876,
                        "yaw": -170.7814178466797
                    }
                },
                "velocity": {
                    "x": -4.685492515563965,
                    "y": -0.7603681683540344,
                    "z": 0.0838962122797966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062156677246094,
                "transform": {
                    "location": {
                        "x": 1154.22705078125,
                        "y": 4085.65087890625,
                        "z": 365.8058776855469
                    },
                    "rotation": {
                        "roll": 0.0010131385643035173,
                        "pitch": -0.9393900036811829,
                        "yaw": 9.231173515319824
                    }
                },
                "velocity": {
                    "x": 7.9566969871521,
                    "y": 1.2931705713272095,
                    "z": -0.13057841360569
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24867582321166992,
        "expert_target_speed": 5.820179011711502,
        "target_point": [
            33.433692548987636,
            0.36181604888885577
        ],
        "target_point_next": [
            33.433692548987636,
            0.36181604888885577
        ]
    },
    "610": {
        "acceleration": [
            -0.049304962158203125,
            -0.040793418884277344,
            -0.0039637088775634766
        ],
        "angular_velocity": [
            0.04821217432618141,
            -0.0059019154869019985,
            0.3891060948371887
        ],
        "forward_vector": [
            -0.9872072339057922,
            -0.15854008495807648,
            0.016939425840973854
        ],
        "right_vector": [
            0.15856726467609406,
            -0.9873481392860413,
            0.00026521296240389347
        ],
        "location": [
            1151.7374267578125,
            4082.3466796875,
            365.8556823730469
        ],
        "rotation": [
            -0.01519776415079832,
            0.9706040024757385,
            -170.8765106201172
        ],
        "velocity": [
            -4.760551929473877,
            -0.7743995785713196,
            0.07987730205059052
        ],
        "speed": 4.823126515084265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.701780319213867,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1127.4158935546875,
                4078.04931640625,
                366.2723388671875
            ],
            "velocity": [
                -7.011411190032959,
                -1.1399524211883545,
                0.12426997721195221
            ],
            "speed_kmh": 25.576428321305027,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.331550121307373,
                "transform": {
                    "location": {
                        "x": 1185.254638671875,
                        "y": 4087.45751953125,
                        "z": 365.3208923339844
                    },
                    "rotation": {
                        "roll": -0.0064087011851370335,
                        "pitch": 0.7991252541542053,
                        "yaw": -170.9709014892578
                    }
                },
                "velocity": {
                    "x": -4.275640487670898,
                    "y": -0.6904905438423157,
                    "z": 0.06667602062225342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052433013916016,
                "transform": {
                    "location": {
                        "x": 1208.7318115234375,
                        "y": 4094.512451171875,
                        "z": 364.9562683105469
                    },
                    "rotation": {
                        "roll": -0.0002441450778860599,
                        "pitch": -0.8340138792991638,
                        "yaw": 9.24138069152832
                    }
                },
                "velocity": {
                    "x": 7.947031021118164,
                    "y": 1.2931270599365234,
                    "z": -0.11912043392658234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.088464736938477,
                "transform": {
                    "location": {
                        "x": 1168.825927734375,
                        "y": 4084.781494140625,
                        "z": 365.58526611328125
                    },
                    "rotation": {
                        "roll": -0.0007629347965121269,
                        "pitch": 0.9936285614967346,
                        "yaw": -170.7737274169922
                    }
                },
                "velocity": {
                    "x": -6.00894832611084,
                    "y": -0.9761108160018921,
                    "z": 0.0956358090043068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.104563236236572,
                "transform": {
                    "location": {
                        "x": 1127.4158935546875,
                        "y": 4078.04931640625,
                        "z": 366.2723388671875
                    },
                    "rotation": {
                        "roll": -0.00033568820799700916,
                        "pitch": 1.0383868217468262,
                        "yaw": -170.76449584960938
                    }
                },
                "velocity": {
                    "x": -7.011411190032959,
                    "y": -1.1399524211883545,
                    "z": 0.12426997721195221
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.760735511779785,
                "transform": {
                    "location": {
                        "x": 1109.9769287109375,
                        "y": 4075.21533203125,
                        "z": 366.57763671875
                    },
                    "rotation": {
                        "roll": 0.0018939427100121975,
                        "pitch": 0.9961352348327637,
                        "yaw": -170.73265075683594
                    }
                },
                "velocity": {
                    "x": -4.698227405548096,
                    "y": -0.7643225789070129,
                    "z": 0.08408473432064056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097260475158691,
                "transform": {
                    "location": {
                        "x": 1156.220947265625,
                        "y": 4085.974609375,
                        "z": 365.77294921875
                    },
                    "rotation": {
                        "roll": 0.0005855857743881643,
                        "pitch": -0.9301419258117676,
                        "yaw": 9.227153778076172
                    }
                },
                "velocity": {
                    "x": 7.991459369659424,
                    "y": 1.298054575920105,
                    "z": -0.1313641220331192
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2471708059310913,
        "expert_target_speed": 5.844144356611225,
        "target_point": [
            32.23017479630647,
            0.3012588614997185
        ],
        "target_point_next": [
            32.23017479630647,
            0.3012588614997185
        ]
    },
    "615": {
        "acceleration": [
            -0.04609107971191406,
            -0.039244890213012695,
            0.000667273998260498
        ],
        "angular_velocity": [
            0.03598514944314957,
            0.00014393088349606842,
            0.3942759037017822
        ],
        "forward_vector": [
            -0.9869337677955627,
            -0.16023574769496918,
            0.016918091103434563
        ],
        "right_vector": [
            0.16026251018047333,
            -0.9870744347572327,
            0.00022899906616657972
        ],
        "location": [
            1150.5457763671875,
            4082.15234375,
            365.8756103515625
        ],
        "rotation": [
            -0.013122557662427425,
            0.9693813920021057,
            -170.77809143066406
        ],
        "velocity": [
            -4.772337913513184,
            -0.7846410870552063,
            0.08033040910959244
        ],
        "speed": 4.836410941622987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.398815155029297,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1125.5362548828125,
                4077.743408203125,
                366.3056640625
            ],
            "velocity": [
                -7.823202133178711,
                -1.2714420557022095,
                0.13796383142471313
            ],
            "speed_kmh": 28.53737292308537,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2855730056762695,
                "transform": {
                    "location": {
                        "x": 1184.03173828125,
                        "y": 4087.25927734375,
                        "z": 365.3406677246094
                    },
                    "rotation": {
                        "roll": -0.005920407362282276,
                        "pitch": 0.9923649430274963,
                        "yaw": -170.82972717285156
                    }
                },
                "velocity": {
                    "x": -5.216569900512695,
                    "y": -0.8472834825515747,
                    "z": 0.0824246034026146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065584182739258,
                "transform": {
                    "location": {
                        "x": 1210.7203369140625,
                        "y": 4094.83544921875,
                        "z": 364.9270324707031
                    },
                    "rotation": {
                        "roll": -0.0002746640529949218,
                        "pitch": -0.8340138792991638,
                        "yaw": 9.234231948852539
                    }
                },
                "velocity": {
                    "x": 7.9602484703063965,
                    "y": 1.2941594123840332,
                    "z": -0.11508333683013916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.564408779144287,
                "transform": {
                    "location": {
                        "x": 1167.1319580078125,
                        "y": 4084.506103515625,
                        "z": 365.61029052734375
                    },
                    "rotation": {
                        "roll": -0.0014343332732096314,
                        "pitch": 1.2485653162002563,
                        "yaw": -170.75970458984375
                    }
                },
                "velocity": {
                    "x": -7.465491771697998,
                    "y": -1.2133121490478516,
                    "z": 0.12078136205673218
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.927048206329346,
                "transform": {
                    "location": {
                        "x": 1125.5362548828125,
                        "y": 4077.743408203125,
                        "z": 366.3056640625
                    },
                    "rotation": {
                        "roll": -0.0006103541818447411,
                        "pitch": 1.0343774557113647,
                        "yaw": -170.77308654785156
                    }
                },
                "velocity": {
                    "x": -7.823202133178711,
                    "y": -1.2714420557022095,
                    "z": 0.13796383142471313
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.809846878051758,
                "transform": {
                    "location": {
                        "x": 1108.786376953125,
                        "y": 4075.021240234375,
                        "z": 366.5985412597656
                    },
                    "rotation": {
                        "roll": -9.154783765552565e-05,
                        "pitch": 1.0009846687316895,
                        "yaw": -170.78466796875
                    }
                },
                "velocity": {
                    "x": -4.747018814086914,
                    "y": -0.7702624201774597,
                    "z": 0.08447934687137604
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06302547454834,
                "transform": {
                    "location": {
                        "x": 1158.21435546875,
                        "y": 4086.29833984375,
                        "z": 365.740234375
                    },
                    "rotation": {
                        "roll": 0.00037123358924873173,
                        "pitch": -0.9294657707214355,
                        "yaw": 9.233526229858398
                    }
                },
                "velocity": {
                    "x": 7.957454204559326,
                    "y": 1.2939672470092773,
                    "z": -0.13018496334552765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23152612149715424,
        "expert_target_speed": 5.866006279056803,
        "target_point": [
            31.023252298047655,
            0.24504894617798723
        ],
        "target_point_next": [
            31.023252298047655,
            0.24504894617798723
        ]
    },
    "620": {
        "acceleration": [
            -0.04139900207519531,
            -0.039664506912231445,
            0.004759877920150757
        ],
        "angular_velocity": [
            0.009321673773229122,
            0.04923154413700104,
            0.3944863975048065
        ],
        "forward_vector": [
            -0.9866552948951721,
            -0.16193419694900513,
            0.01698996126651764
        ],
        "right_vector": [
            0.16196095943450928,
            -0.9867972135543823,
            0.000201838425709866
        ],
        "location": [
            1149.3511962890625,
            4081.954833984375,
            365.8957214355469
        ],
        "rotation": [
            -0.01156616024672985,
            0.9734999537467957,
            -170.67945861816406
        ],
        "velocity": [
            -4.782979965209961,
            -0.7948598861694336,
            0.08026263862848282
        ],
        "speed": 4.84857706819652,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.069623947143555,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1123.6790771484375,
                4077.44140625,
                366.33905029296875
            ],
            "velocity": [
                -6.886899471282959,
                -1.1193873882293701,
                0.1227477416396141
            ],
            "speed_kmh": 25.122088563829337,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5804443359375,
                "transform": {
                    "location": {
                        "x": 1182.7071533203125,
                        "y": 4087.043701171875,
                        "z": 365.3612365722656
                    },
                    "rotation": {
                        "roll": -0.003204348962754011,
                        "pitch": 0.9384952783584595,
                        "yaw": -170.7537078857422
                    }
                },
                "velocity": {
                    "x": -5.507078647613525,
                    "y": -0.8977267146110535,
                    "z": 0.08677671104669571
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052905082702637,
                "transform": {
                    "location": {
                        "x": 1212.708740234375,
                        "y": 4095.15869140625,
                        "z": 364.89788818359375
                    },
                    "rotation": {
                        "roll": -6.103128180257045e-05,
                        "pitch": -0.8349359631538391,
                        "yaw": 9.234037399291992
                    }
                },
                "velocity": {
                    "x": 7.947747707366943,
                    "y": 1.2919933795928955,
                    "z": -0.11546115577220917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 1119.473388671875,
                        "y": 4079.8984375,
                        "z": 366.6945495605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": -6.862805879137568e-09,
                    "y": -1.115797343409497e-09,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.34757661819458,
                "transform": {
                    "location": {
                        "x": 1165.240234375,
                        "y": 4084.19921875,
                        "z": 365.6427917480469
                    },
                    "rotation": {
                        "roll": -0.0012207002146169543,
                        "pitch": 1.0132653713226318,
                        "yaw": -170.71807861328125
                    }
                },
                "velocity": {
                    "x": -7.251107215881348,
                    "y": -1.1809638738632202,
                    "z": 0.11684491485357285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.978358268737793,
                "transform": {
                    "location": {
                        "x": 1123.6790771484375,
                        "y": 4077.44140625,
                        "z": 366.33905029296875
                    },
                    "rotation": {
                        "roll": 0.00037833780515938997,
                        "pitch": 0.9864158630371094,
                        "yaw": -170.76683044433594
                    }
                },
                "velocity": {
                    "x": -6.886899471282959,
                    "y": -1.1193873882293701,
                    "z": 0.1227477416396141
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.418534278869629,
                "transform": {
                    "location": {
                        "x": 1107.63134765625,
                        "y": 4074.833740234375,
                        "z": 366.6190490722656
                    },
                    "rotation": {
                        "roll": 0.00019294125377200544,
                        "pitch": 0.9838067293167114,
                        "yaw": -170.76943969726562
                    }
                },
                "velocity": {
                    "x": -4.360502243041992,
                    "y": -0.7096782326698303,
                    "z": 0.07630855590105057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096578598022461,
                "transform": {
                    "location": {
                        "x": 1160.2080078125,
                        "y": 4086.622314453125,
                        "z": 365.7076110839844
                    },
                    "rotation": {
                        "roll": 0.0002490608603693545,
                        "pitch": -0.9248349070549011,
                        "yaw": 9.234421730041504
                    }
                },
                "velocity": {
                    "x": 7.990494728088379,
                    "y": 1.2998318672180176,
                    "z": -0.1304321438074112
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22624965012073517,
        "expert_target_speed": 5.87664021879436,
        "target_point": [
            29.812831055175423,
            0.19021467998532327
        ],
        "target_point_next": [
            29.812831055175423,
            0.19021467998532327
        ]
    },
    "625": {
        "acceleration": [
            -0.039005279541015625,
            -0.03787636756896973,
            -6.86943531036377e-05
        ],
        "angular_velocity": [
            -0.045484401285648346,
            0.022203903645277023,
            0.3965379297733307
        ],
        "forward_vector": [
            -0.9863725900650024,
            -0.16363582015037537,
            0.017099976539611816
        ],
        "right_vector": [
            0.16366258263587952,
            -0.9865163564682007,
            0.00016775458061601967
        ],
        "location": [
            1148.1539306640625,
            4081.755615234375,
            365.9158630371094
        ],
        "rotation": [
            -0.00961303524672985,
            0.9798042178153992,
            -170.5806121826172
        ],
        "velocity": [
            -4.79298210144043,
            -0.805016815662384,
            0.07957091927528381
        ],
        "speed": 4.86011620213216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.39080238342285,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1122.1639404296875,
                4077.19580078125,
                366.3663330078125
            ],
            "velocity": [
                -4.59641695022583,
                -0.74777752161026,
                0.07693210244178772
            ],
            "speed_kmh": 16.766935188487306,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.728456020355225,
                "transform": {
                    "location": {
                        "x": 1180.9888916015625,
                        "y": 4086.763427734375,
                        "z": 365.3883972167969
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 1.1427042484283447,
                        "yaw": -170.73199462890625
                    }
                },
                "velocity": {
                    "x": -7.626694202423096,
                    "y": -1.2443681955337524,
                    "z": 0.11882676929235458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.065313339233398,
                "transform": {
                    "location": {
                        "x": 1214.697265625,
                        "y": 4095.482177734375,
                        "z": 364.8687438964844
                    },
                    "rotation": {
                        "roll": 0.000257733539910987,
                        "pitch": -0.833884060382843,
                        "yaw": 9.230432510375977
                    }
                },
                "velocity": {
                    "x": 7.960058212280273,
                    "y": 1.2936385869979858,
                    "z": -0.11511237919330597
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.03594189137220383,
                "transform": {
                    "location": {
                        "x": 1119.4715576171875,
                        "y": 4079.89794921875,
                        "z": 366.3670959472656
                    },
                    "rotation": {
                        "roll": -0.0007934470195323229,
                        "pitch": -1.0151914358139038,
                        "yaw": 9.234858512878418
                    }
                },
                "velocity": {
                    "x": -0.0005323443911038339,
                    "y": -0.0003069216327276081,
                    "z": -0.035936638712882996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.935251235961914,
                "transform": {
                    "location": {
                        "x": 1164.1422119140625,
                        "y": 4084.010498046875,
                        "z": 365.66925048828125
                    },
                    "rotation": {
                        "roll": 0.000712624576408416,
                        "pitch": -0.08914079517126083,
                        "yaw": -171.54493713378906
                    }
                },
                "velocity": {
                    "x": -2.895707607269287,
                    "y": -0.4779994785785675,
                    "z": 0.04576799273490906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.657482147216797,
                "transform": {
                    "location": {
                        "x": 1122.1639404296875,
                        "y": 4077.19580078125,
                        "z": 366.3663330078125
                    },
                    "rotation": {
                        "roll": 0.0011922839330509305,
                        "pitch": 0.9459674954414368,
                        "yaw": -170.6949462890625
                    }
                },
                "velocity": {
                    "x": -4.59641695022583,
                    "y": -0.74777752161026,
                    "z": 0.07693210244178772
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.699787139892578,
                "transform": {
                    "location": {
                        "x": 1106.662841796875,
                        "y": 4074.677978515625,
                        "z": 366.6361389160156
                    },
                    "rotation": {
                        "roll": 0.0014563205186277628,
                        "pitch": 0.9564723372459412,
                        "yaw": -170.7310791015625
                    }
                },
                "velocity": {
                    "x": -3.6520442962646484,
                    "y": -0.5889579057693481,
                    "z": 0.06423286348581314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061872482299805,
                "transform": {
                    "location": {
                        "x": 1162.201416015625,
                        "y": 4086.946533203125,
                        "z": 365.67510986328125
                    },
                    "rotation": {
                        "roll": -0.0005493334028869867,
                        "pitch": -0.9156482815742493,
                        "yaw": 9.239913940429688
                    }
                },
                "velocity": {
                    "x": 7.95623779296875,
                    "y": 1.2943115234375,
                    "z": -0.12969405949115753
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22014226019382477,
        "expert_target_speed": 5.877064097053584,
        "target_point": [
            28.599388048555003,
            0.13819280160694003
        ],
        "target_point_next": [
            28.599388048555003,
            0.13819280160694003
        ]
    },
    "630": {
        "acceleration": [
            -0.03598213195800781,
            -0.039876699447631836,
            0.0003089010715484619
        ],
        "angular_velocity": [
            0.016848009079694748,
            0.0014799677301198244,
            0.39628303050994873
        ],
        "forward_vector": [
            -0.9860875010490417,
            -0.16533972322940826,
            0.017152896150946617
        ],
        "right_vector": [
            0.16536617279052734,
            -0.9862322211265564,
            0.0001262153818970546
        ],
        "location": [
            1146.9544677734375,
            4081.552978515625,
            365.9361572265625
        ],
        "rotation": [
            -0.00723267300054431,
            0.9828368425369263,
            -170.4816131591797
        ],
        "velocity": [
            -4.802270889282227,
            -0.8151463866233826,
            0.08034240454435349
        ],
        "speed": 4.870961848102761,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.862375259399414,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1121.4859619140625,
                4077.078369140625,
                366.37835693359375
            ],
            "velocity": [
                -2.45157790184021,
                -0.39491426944732666,
                0.043482456356287
            ],
            "speed_kmh": 8.940824653278701,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4035749435424805,
                "transform": {
                    "location": {
                        "x": 1179.08203125,
                        "y": 4086.452392578125,
                        "z": 365.4180908203125
                    },
                    "rotation": {
                        "roll": 0.0006547951488755643,
                        "pitch": 0.9186740517616272,
                        "yaw": -170.73826599121094
                    }
                },
                "velocity": {
                    "x": -7.306130886077881,
                    "y": -1.1916571855545044,
                    "z": 0.11543742567300797
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1216.7020263671875,
                        "y": 4095.786865234375,
                        "z": 364.8397216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5811319947242737,
                "transform": {
                    "location": {
                        "x": 1119.4912109375,
                        "y": 4079.9013671875,
                        "z": 366.39703369140625
                    },
                    "rotation": {
                        "roll": -0.004241946153342724,
                        "pitch": -0.941193163394928,
                        "yaw": 9.259193420410156
                    }
                },
                "velocity": {
                    "x": 0.5653336048126221,
                    "y": 0.10018511861562729,
                    "z": 0.08986234664916992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9984025955200195,
                "transform": {
                    "location": {
                        "x": 1163.4102783203125,
                        "y": 4083.89404296875,
                        "z": 365.6748352050781
                    },
                    "rotation": {
                        "roll": 0.005449682008475065,
                        "pitch": 0.6872467398643494,
                        "yaw": -171.36184692382812
                    }
                },
                "velocity": {
                    "x": -2.9601309299468994,
                    "y": -0.47500699758529663,
                    "z": 0.049100637435913086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.483562469482422,
                "transform": {
                    "location": {
                        "x": 1121.4859619140625,
                        "y": 4077.078369140625,
                        "z": 366.37835693359375
                    },
                    "rotation": {
                        "roll": -0.015441890805959702,
                        "pitch": 0.9225877523422241,
                        "yaw": -171.5380401611328
                    }
                },
                "velocity": {
                    "x": -2.45157790184021,
                    "y": -0.39491426944732666,
                    "z": 0.043482456356287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.06010620668530464,
                "transform": {
                    "location": {
                        "x": 1106.0428466796875,
                        "y": 4074.572509765625,
                        "z": 366.6481018066406
                    },
                    "rotation": {
                        "roll": -0.00976562313735485,
                        "pitch": 0.7924590110778809,
                        "yaw": -171.32391357421875
                    }
                },
                "velocity": {
                    "x": -0.05806158855557442,
                    "y": -0.015421156771481037,
                    "z": -0.0019483398646116257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097285270690918,
                "transform": {
                    "location": {
                        "x": 1164.1949462890625,
                        "y": 4087.270751953125,
                        "z": 365.6428527832031
                    },
                    "rotation": {
                        "roll": -0.0004577546496875584,
                        "pitch": -0.9168367385864258,
                        "yaw": 9.2356595993042
                    }
                },
                "velocity": {
                    "x": 7.991319179534912,
                    "y": 1.2991714477539062,
                    "z": -0.13041150569915771
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21118132770061493,
        "expert_target_speed": 5.869822146786357,
        "target_point": [
            27.383125924528596,
            0.08727243033465548
        ],
        "target_point_next": [
            27.383125924528596,
            0.08727243033465548
        ]
    },
    "635": {
        "acceleration": [
            0.0077915191650390625,
            -0.029537677764892578,
            -0.007938295602798462
        ],
        "angular_velocity": [
            0.02273551933467388,
            -0.018539205193519592,
            0.39676153659820557
        ],
        "forward_vector": [
            -0.98580002784729,
            -0.16704851388931274,
            0.017119523137807846
        ],
        "right_vector": [
            0.16707482933998108,
            -0.9859442114830017,
            0.00010864098294405267
        ],
        "location": [
            1145.7528076171875,
            4081.3486328125,
            365.9565124511719
        ],
        "rotation": [
            -0.0062255822122097015,
            0.9809243679046631,
            -170.38232421875
        ],
        "velocity": [
            -4.808140754699707,
            -0.8247029781341553,
            0.08034320920705795
        ],
        "speed": 4.878355513812786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.333677291870117,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1120.8040771484375,
                4076.970458984375,
                366.3897705078125
            ],
            "velocity": [
                -2.980938673019409,
                -0.47915560007095337,
                0.05328117311000824
            ],
            "speed_kmh": 10.870822393383081,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.515854358673096,
                "transform": {
                    "location": {
                        "x": 1177.416748046875,
                        "y": 4086.180908203125,
                        "z": 365.4440002441406
                    },
                    "rotation": {
                        "roll": 0.0008635438280180097,
                        "pitch": 0.7044520378112793,
                        "yaw": -170.7510223388672
                    }
                },
                "velocity": {
                    "x": -5.443455696105957,
                    "y": -0.886591911315918,
                    "z": 0.08598320186138153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1218.7669677734375,
                        "y": 4096.05810546875,
                        "z": 364.81048583984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.138697624206543,
                "transform": {
                    "location": {
                        "x": 1119.856201171875,
                        "y": 4079.96435546875,
                        "z": 366.4031677246094
                    },
                    "rotation": {
                        "roll": -0.007202143780887127,
                        "pitch": -0.7437119483947754,
                        "yaw": 9.364768028259277
                    }
                },
                "velocity": {
                    "x": 2.108120918273926,
                    "y": 0.3598930239677429,
                    "z": -0.01818859949707985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.651127815246582,
                "transform": {
                    "location": {
                        "x": 1162.5926513671875,
                        "y": 4083.764404296875,
                        "z": 365.684326171875
                    },
                    "rotation": {
                        "roll": -0.01049805711954832,
                        "pitch": 1.1688706874847412,
                        "yaw": -171.1806640625
                    }
                },
                "velocity": {
                    "x": -3.604363441467285,
                    "y": -0.5795944333076477,
                    "z": 0.05803552642464638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0196728706359863,
                "transform": {
                    "location": {
                        "x": 1120.8040771484375,
                        "y": 4076.970458984375,
                        "z": 366.3897705078125
                    },
                    "rotation": {
                        "roll": -0.011322014033794403,
                        "pitch": 1.013183355331421,
                        "yaw": -171.37803649902344
                    }
                },
                "velocity": {
                    "x": -2.980938673019409,
                    "y": -0.47915560007095337,
                    "z": 0.05328117311000824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008968727197498083,
                "transform": {
                    "location": {
                        "x": 1106.0418701171875,
                        "y": 4074.572021484375,
                        "z": 366.6471252441406
                    },
                    "rotation": {
                        "roll": -0.00964355282485485,
                        "pitch": 0.9141046404838562,
                        "yaw": -171.3313446044922
                    }
                },
                "velocity": {
                    "x": 0.0003064553311560303,
                    "y": 0.00020028100698255002,
                    "z": 0.0008187511120922863
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06202220916748,
                "transform": {
                    "location": {
                        "x": 1166.188232421875,
                        "y": 4087.594970703125,
                        "z": 365.6106262207031
                    },
                    "rotation": {
                        "roll": -0.00030517595587298274,
                        "pitch": -0.9114340543746948,
                        "yaw": 9.233914375305176
                    }
                },
                "velocity": {
                    "x": 7.9565606117248535,
                    "y": 1.2935465574264526,
                    "z": -0.12680672109127045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19838659465312958,
        "expert_target_speed": 5.874946997586811,
        "target_point": [
            26.164325135591074,
            0.039113383453317496
        ],
        "target_point_next": [
            26.164325135591074,
            0.039113383453317496
        ]
    },
    "640": {
        "acceleration": [
            0.0635528564453125,
            -0.02198338508605957,
            -0.00014230608940124512
        ],
        "angular_velocity": [
            0.002092792186886072,
            -0.028430728241801262,
            0.39622125029563904
        ],
        "forward_vector": [
            -0.9855109453201294,
            -0.16875460743904114,
            0.017030488699674606
        ],
        "right_vector": [
            0.16878031194210052,
            -0.9856536388397217,
            7.296004332602024e-05
        ],
        "location": [
            1144.5523681640625,
            4081.141845703125,
            365.97686767578125
        ],
        "rotation": [
            -0.004180908668786287,
            0.9758222699165344,
            -170.2831573486328
        ],
        "velocity": [
            -4.79465913772583,
            -0.8309759497642517,
            0.08049394190311432
        ],
        "speed": 4.866135764245014,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.83997917175293,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1120.0885009765625,
                4076.856689453125,
                366.4025573730469
            ],
            "velocity": [
                -2.450701951980591,
                -0.3961794972419739,
                0.043228939175605774
            ],
            "speed_kmh": 8.938421573457802,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004456633701920509,
                "transform": {
                    "location": {
                        "x": 1176.906982421875,
                        "y": 4086.09765625,
                        "z": 365.4510803222656
                    },
                    "rotation": {
                        "roll": -0.001190184848383069,
                        "pitch": 0.1566503793001175,
                        "yaw": -170.75611877441406
                    }
                },
                "velocity": {
                    "x": 0.00416522054001689,
                    "y": 0.0007124244002625346,
                    "z": 0.0014159706188365817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83206,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1220.824462890625,
                        "y": 4096.38525390625,
                        "z": 364.78076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6982600688934326,
                "transform": {
                    "location": {
                        "x": 1120.5791015625,
                        "y": 4080.088134765625,
                        "z": 366.3924560546875
                    },
                    "rotation": {
                        "roll": -0.01107788272202015,
                        "pitch": -0.7014467120170593,
                        "yaw": 9.52198600769043
                    }
                },
                "velocity": {
                    "x": 3.644742727279663,
                    "y": 0.6238313317298889,
                    "z": -0.06173728033900261
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.715444087982178,
                "transform": {
                    "location": {
                        "x": 1161.5606689453125,
                        "y": 4083.599365234375,
                        "z": 365.7008361816406
                    },
                    "rotation": {
                        "roll": -0.010833756998181343,
                        "pitch": 1.2021815776824951,
                        "yaw": -171.02684020996094
                    }
                },
                "velocity": {
                    "x": -4.654490947723389,
                    "y": -0.751879096031189,
                    "z": 0.07620096206665039
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4828948974609375,
                "transform": {
                    "location": {
                        "x": 1120.0885009765625,
                        "y": 4076.856689453125,
                        "z": 366.4025573730469
                    },
                    "rotation": {
                        "roll": -0.0075073204934597015,
                        "pitch": 0.9967499375343323,
                        "yaw": -171.1873016357422
                    }
                },
                "velocity": {
                    "x": -2.450701951980591,
                    "y": -0.3961794972419739,
                    "z": 0.043228939175605774
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001113165752030909,
                "transform": {
                    "location": {
                        "x": 1106.04150390625,
                        "y": 4074.57177734375,
                        "z": 366.6467590332031
                    },
                    "rotation": {
                        "roll": -0.009216314181685448,
                        "pitch": 0.9729672074317932,
                        "yaw": -171.33128356933594
                    }
                },
                "velocity": {
                    "x": 0.0001552210742374882,
                    "y": -0.00012209510896354914,
                    "z": 0.0010955077596008778
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096331596374512,
                "transform": {
                    "location": {
                        "x": 1168.1817626953125,
                        "y": 4087.9189453125,
                        "z": 365.57867431640625
                    },
                    "rotation": {
                        "roll": 0.0007854289142414927,
                        "pitch": -0.9017898440361023,
                        "yaw": 9.235098838806152
                    }
                },
                "velocity": {
                    "x": 7.990358829498291,
                    "y": 1.299446940422058,
                    "z": -0.12722522020339966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18453441560268402,
        "expert_target_speed": 5.855181987967011,
        "target_point": [
            24.946234472025324,
            -0.007374397301147972
        ],
        "target_point_next": [
            24.946234472025324,
            -0.007374397301147972
        ]
    },
    "645": {
        "acceleration": [
            0.10359764099121094,
            0.010355710983276367,
            -0.003667175769805908
        ],
        "angular_velocity": [
            0.023697933182120323,
            0.003070987295359373,
            0.30137699842453003
        ],
        "forward_vector": [
            -0.9852346181869507,
            -0.17036084830760956,
            0.017028341069817543
        ],
        "right_vector": [
            0.17038589715957642,
            -0.9853774309158325,
            2.0236939235473983e-05
        ],
        "location": [
            1143.356201171875,
            4080.93359375,
            365.9972839355469
        ],
        "rotation": [
            -0.0011596594704315066,
            0.9756993055343628,
            -170.18975830078125
        ],
        "velocity": [
            -4.772525310516357,
            -0.8330593109130859,
            0.08005937188863754
        ],
        "speed": 4.844686331953622,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.891258239746094,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1119.826171875,
                4076.815185546875,
                366.4078369140625
            ],
            "velocity": [
                -0.2593855857849121,
                -0.04076188802719116,
                0.0042521473951637745
            ],
            "speed_kmh": 0.9453718883288603,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3826848268508911,
                "transform": {
                    "location": {
                        "x": 1176.69384765625,
                        "y": 4086.06298828125,
                        "z": 365.4555358886719
                    },
                    "rotation": {
                        "roll": 0.0005808500573039055,
                        "pitch": 0.8499213457107544,
                        "yaw": -170.77426147460938
                    }
                },
                "velocity": {
                    "x": -1.3647253513336182,
                    "y": -0.22107955813407898,
                    "z": 0.021585511043667793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.1594743728637695,
                "transform": {
                    "location": {
                        "x": 1121.679931640625,
                        "y": 4080.27685546875,
                        "z": 366.3733215332031
                    },
                    "rotation": {
                        "roll": -0.014282222837209702,
                        "pitch": -0.7028810977935791,
                        "yaw": 9.64819622039795
                    }
                },
                "velocity": {
                    "x": 5.084222316741943,
                    "y": 0.873972475528717,
                    "z": -0.08384423702955246
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.310333728790283,
                "transform": {
                    "location": {
                        "x": 1160.3018798828125,
                        "y": 4083.396728515625,
                        "z": 365.7223815917969
                    },
                    "rotation": {
                        "roll": -0.0054321251809597015,
                        "pitch": 1.1091816425323486,
                        "yaw": -170.90138244628906
                    }
                },
                "velocity": {
                    "x": -5.24127197265625,
                    "y": -0.8491911292076111,
                    "z": 0.08711087703704834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2626033127307892,
                "transform": {
                    "location": {
                        "x": 1119.826171875,
                        "y": 4076.815185546875,
                        "z": 366.4078369140625
                    },
                    "rotation": {
                        "roll": -0.004669200628995895,
                        "pitch": 0.9287075996398926,
                        "yaw": -171.1201171875
                    }
                },
                "velocity": {
                    "x": -0.2593855857849121,
                    "y": -0.04076188802719116,
                    "z": 0.0042521473951637745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001398988300934434,
                "transform": {
                    "location": {
                        "x": 1106.04150390625,
                        "y": 4074.57177734375,
                        "z": 366.6466979980469
                    },
                    "rotation": {
                        "roll": -0.010284424759447575,
                        "pitch": 0.9901041388511658,
                        "yaw": -171.3312225341797
                    }
                },
                "velocity": {
                    "x": 0.00012813076318707317,
                    "y": -0.0003012408851645887,
                    "z": 0.0013601487735286355
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06182861328125,
                "transform": {
                    "location": {
                        "x": 1170.1749267578125,
                        "y": 4088.242919921875,
                        "z": 365.54693603515625
                    },
                    "rotation": {
                        "roll": 0.001034468412399292,
                        "pitch": -0.9027938842773438,
                        "yaw": 9.232807159423828
                    }
                },
                "velocity": {
                    "x": 7.956521034240723,
                    "y": 1.2925796508789062,
                    "z": -0.12683451175689697
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1662403643131256,
        "expert_target_speed": 5.807128007295571,
        "target_point": [
            23.732030165769928,
            -0.04944174882248875
        ],
        "target_point_next": [
            23.732030165769928,
            -0.04944174882248875
        ]
    },
    "650": {
        "acceleration": [
            0.10504722595214844,
            -0.0055468082427978516,
            -0.0005592405796051025
        ],
        "angular_velocity": [
            0.011514497920870781,
            0.014160020276904106,
            0.28742390871047974
        ],
        "forward_vector": [
            -0.9850178360939026,
            -0.17160506546497345,
            0.01707649417221546
        ],
        "right_vector": [
            0.1716293841600418,
            -0.9851616024971008,
            -4.1271090594818816e-05
        ],
        "location": [
            1142.16650390625,
            4080.724853515625,
            366.01763916015625
        ],
        "rotation": [
            0.002365004038438201,
            0.9784587025642395,
            -170.1173858642578
        ],
        "velocity": [
            -4.745806694030762,
            -0.8341691493988037,
            0.08033948391675949
        ],
        "speed": 4.818559883089128,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.820884704589844,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1119.6903076171875,
                4076.79296875,
                366.4095764160156
            ],
            "velocity": [
                -0.8215932250022888,
                -0.1328536421060562,
                0.014420556835830212
            ],
            "speed_kmh": 2.9966047740480386,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.34822154045105,
                "transform": {
                    "location": {
                        "x": 1176.2410888671875,
                        "y": 4085.989501953125,
                        "z": 365.4629211425781
                    },
                    "rotation": {
                        "roll": -0.0008544874144718051,
                        "pitch": 1.012800931930542,
                        "yaw": -170.77334594726562
                    }
                },
                "velocity": {
                    "x": -2.317492723464966,
                    "y": -0.37683042883872986,
                    "z": 0.037025947123765945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.5565996170043945,
                "transform": {
                    "location": {
                        "x": 1123.0145263671875,
                        "y": 4080.5068359375,
                        "z": 366.349609375
                    },
                    "rotation": {
                        "roll": -0.01174926944077015,
                        "pitch": -0.8752477169036865,
                        "yaw": 9.704241752624512
                    }
                },
                "velocity": {
                    "x": 5.4749860763549805,
                    "y": 0.9438959956169128,
                    "z": -0.0968857929110527
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.885118007659912,
                "transform": {
                    "location": {
                        "x": 1158.94677734375,
                        "y": 4083.177490234375,
                        "z": 365.7455139160156
                    },
                    "rotation": {
                        "roll": -0.004394527990370989,
                        "pitch": 0.9994683861732483,
                        "yaw": -170.8192901611328
                    }
                },
                "velocity": {
                    "x": -5.808199882507324,
                    "y": -0.9436838030815125,
                    "z": 0.09428416937589645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8323902487754822,
                "transform": {
                    "location": {
                        "x": 1119.6903076171875,
                        "y": 4076.79296875,
                        "z": 366.4095764160156
                    },
                    "rotation": {
                        "roll": -0.008087158203125,
                        "pitch": 1.007029414176941,
                        "yaw": -171.15191650390625
                    }
                },
                "velocity": {
                    "x": -0.8215932250022888,
                    "y": -0.1328536421060562,
                    "z": 0.014420556835830212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009586639353074133,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.010986337438225746,
                        "pitch": 0.9939427375793457,
                        "yaw": -171.33114624023438
                    }
                },
                "velocity": {
                    "x": 6.605699309147894e-05,
                    "y": 8.234306733356789e-06,
                    "z": 0.0009563499479554594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096113204956055,
                "transform": {
                    "location": {
                        "x": 1172.16845703125,
                        "y": 4088.56689453125,
                        "z": 365.51513671875
                    },
                    "rotation": {
                        "roll": 0.000690254382789135,
                        "pitch": -0.8999525308609009,
                        "yaw": 9.232081413269043
                    }
                },
                "velocity": {
                    "x": 7.990113735198975,
                    "y": 1.2995994091033936,
                    "z": -0.12719318270683289
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14090263843536377,
        "expert_target_speed": 5.771920638203245,
        "target_point": [
            22.52407873657807,
            -0.0808845136415699
        ],
        "target_point_next": [
            22.52407873657807,
            -0.0808845136415699
        ]
    },
    "655": {
        "acceleration": [
            0.009441375732421875,
            -0.0022292137145996094,
            0.007953345775604248
        ],
        "angular_velocity": [
            0.04144428297877312,
            0.025948423892259598,
            0.24416084587574005
        ],
        "forward_vector": [
            -0.9848049283027649,
            -0.17281268537044525,
            0.017176616936922073
        ],
        "right_vector": [
            0.1728367656469345,
            -0.9849504828453064,
            -8.398456702707335e-05
        ],
        "location": [
            1140.9822998046875,
            4080.51611328125,
            366.0379943847656
        ],
        "rotation": [
            0.004812671337276697,
            0.9841960668563843,
            -170.047119140625
        ],
        "velocity": [
            -4.732777118682861,
            -0.8369474411010742,
            0.0806155577301979
        ],
        "speed": 4.806210594043262,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.88918685913086,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1119.4227294921875,
                4076.75048828125,
                366.41412353515625
            ],
            "velocity": [
                -1.3011093139648438,
                -0.2109692096710205,
                0.022952385246753693
            ],
            "speed_kmh": 4.745887340771714,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9283885955810547,
                "transform": {
                    "location": {
                        "x": 1175.4627685546875,
                        "y": 4085.863037109375,
                        "z": 365.4754333496094
                    },
                    "rotation": {
                        "roll": -0.0007324179750867188,
                        "pitch": 1.1216672658920288,
                        "yaw": -170.76564025878906
                    }
                },
                "velocity": {
                    "x": -3.8770039081573486,
                    "y": -0.6303613781929016,
                    "z": 0.06100631505250931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.18780517578125,
                "transform": {
                    "location": {
                        "x": 1124.50634765625,
                        "y": 4080.764892578125,
                        "z": 366.3231506347656
                    },
                    "rotation": {
                        "roll": -0.016418451443314552,
                        "pitch": -0.6981477737426758,
                        "yaw": 9.852707862854004
                    }
                },
                "velocity": {
                    "x": 7.080981731414795,
                    "y": 1.2281919717788696,
                    "z": -0.12563295662403107
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.414413928985596,
                "transform": {
                    "location": {
                        "x": 1157.2735595703125,
                        "y": 4082.90625,
                        "z": 365.7706604003906
                    },
                    "rotation": {
                        "roll": -0.002166739199310541,
                        "pitch": 1.2739940881729126,
                        "yaw": -170.73060607910156
                    }
                },
                "velocity": {
                    "x": -7.317258358001709,
                    "y": -1.1903306245803833,
                    "z": 0.11992841213941574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.318302035331726,
                "transform": {
                    "location": {
                        "x": 1119.4227294921875,
                        "y": 4076.75048828125,
                        "z": 366.41412353515625
                    },
                    "rotation": {
                        "roll": -0.005462653003633022,
                        "pitch": 1.0225954055786133,
                        "yaw": -171.03622436523438
                    }
                },
                "velocity": {
                    "x": -1.3011093139648438,
                    "y": -0.2109692096710205,
                    "z": 0.022952385246753693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019217305816709995,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.010345462709665298,
                        "pitch": 0.99533611536026,
                        "yaw": -171.33108520507812
                    }
                },
                "velocity": {
                    "x": 7.071762956911698e-05,
                    "y": -9.167827556666452e-06,
                    "z": 0.001920407055877149
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061993598937988,
                "transform": {
                    "location": {
                        "x": 1174.1617431640625,
                        "y": 4088.89111328125,
                        "z": 365.4835205078125
                    },
                    "rotation": {
                        "roll": 0.00013928883709013462,
                        "pitch": -0.8956016898155212,
                        "yaw": 9.237525939941406
                    }
                },
                "velocity": {
                    "x": 7.956624507904053,
                    "y": 1.2929935455322266,
                    "z": -0.12660273909568787
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12580661475658417,
        "expert_target_speed": 5.748941263485724,
        "target_point": [
            21.32150220885409,
            -0.10943119107765842
        ],
        "target_point_next": [
            21.32150220885409,
            -0.10943119107765842
        ]
    },
    "660": {
        "acceleration": [
            -0.0067234039306640625,
            0.012377500534057617,
            -3.9190053939819336e-05
        ],
        "angular_velocity": [
            0.01182359829545021,
            0.017034238204360008,
            0.08786643296480179
        ],
        "forward_vector": [
            -0.9846771359443665,
            -0.17353135347366333,
            0.0172558780759573
        ],
        "right_vector": [
            0.1735542118549347,
            -0.9848242998123169,
            -0.00017546185699757189
        ],
        "location": [
            1139.799072265625,
            4080.307373046875,
            366.058349609375
        ],
        "rotation": [
            0.010054721496999264,
            0.9887381196022034,
            -170.0052947998047
        ],
        "velocity": [
            -4.733264446258545,
            -0.8366445899009705,
            0.08050329238176346
        ],
        "speed": 4.80663775294392,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.0897159576416,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1119.025634765625,
                4076.686767578125,
                366.4211730957031
            ],
            "velocity": [
                -1.8513622283935547,
                -0.30057722330093384,
                0.032259274274110794
            ],
            "speed_kmh": 6.753171506449083,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.311425685882568,
                "transform": {
                    "location": {
                        "x": 1174.31298828125,
                        "y": 4085.67578125,
                        "z": 365.4938049316406
                    },
                    "rotation": {
                        "roll": -0.0002746612299233675,
                        "pitch": 1.1252599954605103,
                        "yaw": -170.7539825439453
                    }
                },
                "velocity": {
                    "x": -5.241731643676758,
                    "y": -0.8532027006149292,
                    "z": 0.08682449162006378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.44339656829834,
                "transform": {
                    "location": {
                        "x": 1126.5008544921875,
                        "y": 4081.10498046875,
                        "z": 366.2877197265625
                    },
                    "rotation": {
                        "roll": 0.009313897229731083,
                        "pitch": -0.719423770904541,
                        "yaw": 9.656635284423828
                    }
                },
                "velocity": {
                    "x": 8.3240966796875,
                    "y": 1.4067916870117188,
                    "z": -0.1459127962589264
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.712352275848389,
                "transform": {
                    "location": {
                        "x": 1155.36181640625,
                        "y": 4082.594482421875,
                        "z": 365.8035888671875
                    },
                    "rotation": {
                        "roll": -0.0010986380511894822,
                        "pitch": 1.1066681146621704,
                        "yaw": -170.7110137939453
                    }
                },
                "velocity": {
                    "x": -7.610978603363037,
                    "y": -1.239929437637329,
                    "z": 0.12633925676345825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8758809566497803,
                "transform": {
                    "location": {
                        "x": 1119.025634765625,
                        "y": 4076.686767578125,
                        "z": 366.4211730957031
                    },
                    "rotation": {
                        "roll": -0.003997803665697575,
                        "pitch": 1.0217621326446533,
                        "yaw": -170.98178100585938
                    }
                },
                "velocity": {
                    "x": -1.8513622283935547,
                    "y": -0.30057722330093384,
                    "z": 0.032259274274110794
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015940916491672397,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 7.648214523214847e-05,
                    "y": 1.8810294477589196e-06,
                    "z": 0.0015922547318041325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096367835998535,
                "transform": {
                    "location": {
                        "x": 1176.1551513671875,
                        "y": 4089.21533203125,
                        "z": 365.4519348144531
                    },
                    "rotation": {
                        "roll": 0.0003107782395090908,
                        "pitch": -0.8959090113639832,
                        "yaw": 9.234867095947266
                    }
                },
                "velocity": {
                    "x": 7.990590572357178,
                    "y": 1.2983050346374512,
                    "z": -0.12662918865680695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10899700969457626,
        "expert_target_speed": 5.739157293091584,
        "target_point": [
            20.119917697254294,
            -0.1252013630863651
        ],
        "target_point_next": [
            20.119917697254294,
            -0.1252013630863651
        ]
    },
    "665": {
        "acceleration": [
            -0.0029659271240234375,
            -0.007566213607788086,
            0.0025959312915802
        ],
        "angular_velocity": [
            -0.023082168772816658,
            -0.002094592899084091,
            0.07759498059749603
        ],
        "forward_vector": [
            -0.9846169948577881,
            -0.1738678514957428,
            0.017301172018051147
        ],
        "right_vector": [
            0.17389042675495148,
            -0.9847649931907654,
            -0.00020319654140621424
        ],
        "location": [
            1138.615478515625,
            4080.0986328125,
            366.0787353515625
        ],
        "rotation": [
            0.011644046753644943,
            0.9913336038589478,
            -169.98570251464844
        ],
        "velocity": [
            -4.734166145324707,
            -0.8379477262496948,
            0.0799330323934555
        ],
        "speed": 4.807752643747974,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.39136505126953,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1118.5284423828125,
                4076.6064453125,
                366.4300231933594
            ],
            "velocity": [
                -1.9108619689941406,
                -0.310558021068573,
                0.034147415310144424
            ],
            "speed_kmh": 6.970445832428397,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.481124401092529,
                "transform": {
                    "location": {
                        "x": 1172.9774169921875,
                        "y": 4085.458251953125,
                        "z": 365.51495361328125
                    },
                    "rotation": {
                        "roll": -3.052693864447065e-05,
                        "pitch": 0.9872696399688721,
                        "yaw": -170.75193786621094
                    }
                },
                "velocity": {
                    "x": -5.409268856048584,
                    "y": -0.8805888295173645,
                    "z": 0.0842723622918129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.893609046936035,
                "transform": {
                    "location": {
                        "x": 1128.5093994140625,
                        "y": 4081.443115234375,
                        "z": 366.2521667480469
                    },
                    "rotation": {
                        "roll": 0.00387047347612679,
                        "pitch": -1.023681402206421,
                        "yaw": 9.55278491973877
                    }
                },
                "velocity": {
                    "x": 7.783677101135254,
                    "y": 1.3055144548416138,
                    "z": -0.138097882270813
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.640277862548828,
                "transform": {
                    "location": {
                        "x": 1153.979248046875,
                        "y": 4082.369384765625,
                        "z": 365.8351745605469
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": 0.029226377606391907,
                        "yaw": -170.72666931152344
                    }
                },
                "velocity": {
                    "x": -2.6055734157562256,
                    "y": -0.4246116280555725,
                    "z": 0.04194682836532593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.936234951019287,
                "transform": {
                    "location": {
                        "x": 1118.5284423828125,
                        "y": 4076.6064453125,
                        "z": 366.4300231933594
                    },
                    "rotation": {
                        "roll": -0.003051761770620942,
                        "pitch": 1.010758638381958,
                        "yaw": -170.93443298339844
                    }
                },
                "velocity": {
                    "x": -1.9108619689941406,
                    "y": -0.310558021068573,
                    "z": 0.034147415310144424
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008580328430980444,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 5.7523546274751425e-05,
                    "y": -1.1259689358666947e-07,
                    "z": 0.0008561024442315102
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06171989440918,
                "transform": {
                    "location": {
                        "x": 1178.1484375,
                        "y": 4089.539306640625,
                        "z": 365.4205017089844
                    },
                    "rotation": {
                        "roll": 0.0004148374137002975,
                        "pitch": -0.8912986516952515,
                        "yaw": 9.233259201049805
                    }
                },
                "velocity": {
                    "x": 7.956174373626709,
                    "y": 1.2941536903381348,
                    "z": -0.12566791474819183
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09242907911539078,
        "expert_target_speed": 5.7251665188882805,
        "target_point": [
            18.918014143468355,
            -0.13181158281071825
        ],
        "target_point_next": [
            18.918014143468355,
            -0.13181158281071825
        ]
    },
    "670": {
        "acceleration": [
            -0.001926422119140625,
            -0.0059986114501953125,
            0.00396728515625
        ],
        "angular_velocity": [
            -0.02021618001163006,
            0.018681703135371208,
            0.07751507312059402
        ],
        "forward_vector": [
            -0.9845566749572754,
            -0.17419925332069397,
            0.017401888966560364
        ],
        "right_vector": [
            0.1742221564054489,
            -0.9847063422203064,
            -0.0002029641909757629
        ],
        "location": [
            1137.431884765625,
            4079.8896484375,
            366.0992126464844
        ],
        "rotation": [
            0.011630752123892307,
            0.9971051216125488,
            -169.96640014648438
        ],
        "velocity": [
            -4.734598159790039,
            -0.8396987915039062,
            0.08232928812503815
        ],
        "speed": 4.808483523434425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.338102340698242,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1118.381591796875,
                4076.58251953125,
                366.4330749511719
            ],
            "velocity": [
                -0.6038835644721985,
                -0.09787353128194809,
                0.010795192793011665
            ],
            "speed_kmh": 2.2026914817637975,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.485966682434082,
                "transform": {
                    "location": {
                        "x": 1171.3939208984375,
                        "y": 4085.200439453125,
                        "z": 365.54022216796875
                    },
                    "rotation": {
                        "roll": -0.0014343269867822528,
                        "pitch": 1.1734811067581177,
                        "yaw": -170.7432861328125
                    }
                },
                "velocity": {
                    "x": -7.3877692222595215,
                    "y": -1.202894687652588,
                    "z": 0.11665075272321701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020139694213867,
                "transform": {
                    "location": {
                        "x": 1130.4527587890625,
                        "y": 4081.76708984375,
                        "z": 366.21783447265625
                    },
                    "rotation": {
                        "roll": 0.007413366809487343,
                        "pitch": -0.9891957640647888,
                        "yaw": 9.453473091125488
                    }
                },
                "velocity": {
                    "x": 7.910927772521973,
                    "y": 1.3116904497146606,
                    "z": -0.1390562206506729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5196504592895508,
                "transform": {
                    "location": {
                        "x": 1153.601806640625,
                        "y": 4082.3076171875,
                        "z": 365.8398742675781
                    },
                    "rotation": {
                        "roll": -0.0008239736198447645,
                        "pitch": 0.20665419101715088,
                        "yaw": -170.72889709472656
                    }
                },
                "velocity": {
                    "x": -1.4997162818908691,
                    "y": -0.24398665130138397,
                    "z": 0.02567022293806076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6118587851524353,
                "transform": {
                    "location": {
                        "x": 1118.381591796875,
                        "y": 4076.58251953125,
                        "z": 366.4330749511719
                    },
                    "rotation": {
                        "roll": -0.0029602108988910913,
                        "pitch": 0.9704810380935669,
                        "yaw": -170.92868041992188
                    }
                },
                "velocity": {
                    "x": -0.6038835644721985,
                    "y": -0.09787353128194809,
                    "z": 0.010795192793011665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017340518534183502,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 6.78180149407126e-05,
                    "y": -1.593012348166667e-05,
                    "z": 0.0017326519591733813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09570598602295,
                "transform": {
                    "location": {
                        "x": 1180.141845703125,
                        "y": 4089.86376953125,
                        "z": 365.3891296386719
                    },
                    "rotation": {
                        "roll": -0.0007324119214899838,
                        "pitch": -0.8859847784042358,
                        "yaw": 9.2340669631958
                    }
                },
                "velocity": {
                    "x": 7.989701271057129,
                    "y": 1.2996294498443604,
                    "z": -0.12684465944766998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07426469773054123,
        "expert_target_speed": 5.679567078645182,
        "target_point": [
            17.71606661627683,
            -0.13776549780179792
        ],
        "target_point_next": [
            17.71606661627683,
            -0.13776549780179792
        ]
    },
    "675": {
        "acceleration": [
            -0.0021076202392578125,
            -0.0066030025482177734,
            0.01297682523727417
        ],
        "angular_velocity": [
            -0.002208641031756997,
            0.009628660045564175,
            0.07725106179714203
        ],
        "forward_vector": [
            -0.9844962358474731,
            -0.17453061044216156,
            0.017498789355158806
        ],
        "right_vector": [
            0.17455355823040009,
            -0.9846476912498474,
            -0.00021937883866485208
        ],
        "location": [
            1136.248046875,
            4079.6787109375,
            366.1197204589844
        ],
        "rotation": [
            0.012571406550705433,
            1.0026580095291138,
            -169.9470977783203
        ],
        "velocity": [
            -4.735105991363525,
            -0.8415359854698181,
            0.0837845578789711
        ],
        "speed": 4.8093046861565565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.370193481445312,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1118.14990234375,
                4076.544921875,
                366.43670654296875
            ],
            "velocity": [
                -1.1954381465911865,
                -0.19370844960212708,
                0.020443372428417206
            ],
            "speed_kmh": 4.360331617428365,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.939589023590088,
                "transform": {
                    "location": {
                        "x": 1169.4515380859375,
                        "y": 4084.88427734375,
                        "z": 365.5709533691406
                    },
                    "rotation": {
                        "roll": -0.0014038070803508162,
                        "pitch": 1.0371026992797852,
                        "yaw": -170.7593994140625
                    }
                },
                "velocity": {
                    "x": -7.835324764251709,
                    "y": -1.2763093709945679,
                    "z": 0.1256672590970993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.151135444641113,
                "transform": {
                    "location": {
                        "x": 1132.462890625,
                        "y": 4082.099365234375,
                        "z": 366.1826171875
                    },
                    "rotation": {
                        "roll": 0.0040664575062692165,
                        "pitch": -0.9683499932289124,
                        "yaw": 9.39073657989502
                    }
                },
                "velocity": {
                    "x": 8.041332244873047,
                    "y": 1.3258928060531616,
                    "z": -0.1413482278585434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.0451059341430664,
                "transform": {
                    "location": {
                        "x": 1153.153076171875,
                        "y": 4082.234619140625,
                        "z": 365.83984375
                    },
                    "rotation": {
                        "roll": 0.000531582219991833,
                        "pitch": 1.1558114290237427,
                        "yaw": -170.75221252441406
                    }
                },
                "velocity": {
                    "x": -2.018221616744995,
                    "y": -0.32878002524375916,
                    "z": 0.033817585557699203
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2112032175064087,
                "transform": {
                    "location": {
                        "x": 1118.14990234375,
                        "y": 4076.544921875,
                        "z": 366.43670654296875
                    },
                    "rotation": {
                        "roll": -0.002319333842024207,
                        "pitch": 1.016270637512207,
                        "yaw": -170.93666076660156
                    }
                },
                "velocity": {
                    "x": -1.1954381465911865,
                    "y": -0.19370844960212708,
                    "z": 0.020443372428417206
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011414772598072886,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 5.2898227295372635e-05,
                    "y": 1.4784875929763075e-05,
                    "z": 0.0011401550145819783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061361312866211,
                "transform": {
                    "location": {
                        "x": 1182.135009765625,
                        "y": 4090.187744140625,
                        "z": 365.35791015625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.887084424495697,
                        "yaw": 9.235811233520508
                    }
                },
                "velocity": {
                    "x": 7.955883502960205,
                    "y": 1.2936766147613525,
                    "z": -0.12595973908901215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05549028888344765,
        "expert_target_speed": 5.6552539127112205,
        "target_point": [
            16.5135360369521,
            -0.1447895396603882
        ],
        "target_point_next": [
            16.5135360369521,
            -0.1447895396603882
        ]
    },
    "680": {
        "acceleration": [
            1.4932632446289062,
            0.2622568607330322,
            -0.035010576248168945
        ],
        "angular_velocity": [
            0.042242202907800674,
            -0.4196872413158417,
            0.07527554035186768
        ],
        "forward_vector": [
            -0.9844446182250977,
            -0.1748611330986023,
            0.017098190262913704
        ],
        "right_vector": [
            0.17488303780555725,
            -0.9845892190933228,
            -0.0002179418079322204
        ],
        "location": [
            1135.0718994140625,
            4079.46923828125,
            366.140380859375
        ],
        "rotation": [
            0.012488971464335918,
            0.979701817035675,
            -169.9279327392578
        ],
        "velocity": [
            -4.606022357940674,
            -0.8200344443321228,
            0.08160945773124695
        ],
        "speed": 4.678450432754467,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.545310974121094,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.7847900390625,
                4076.485595703125,
                366.4431457519531
            ],
            "velocity": [
                -1.7202658653259277,
                -0.2795371115207672,
                0.030210522934794426
            ],
            "speed_kmh": 6.27512975362688,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.886068820953369,
                "transform": {
                    "location": {
                        "x": 1167.620361328125,
                        "y": 4084.58642578125,
                        "z": 365.59991455078125
                    },
                    "rotation": {
                        "roll": 0.00015055287803988904,
                        "pitch": 0.8157157897949219,
                        "yaw": -170.73239135742188
                    }
                },
                "velocity": {
                    "x": -6.79570198059082,
                    "y": -1.1064434051513672,
                    "z": 0.11028194427490234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9631500244140625,
                "transform": {
                    "location": {
                        "x": 1134.4442138671875,
                        "y": 4082.425537109375,
                        "z": 366.1480712890625
                    },
                    "rotation": {
                        "roll": 0.0025022574700415134,
                        "pitch": -1.0169057846069336,
                        "yaw": 9.334104537963867
                    }
                },
                "velocity": {
                    "x": 7.856518268585205,
                    "y": 1.2914469242095947,
                    "z": -0.13798996806144714
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5411736965179443,
                "transform": {
                    "location": {
                        "x": 1152.581787109375,
                        "y": 4082.14111328125,
                        "z": 365.8492126464844
                    },
                    "rotation": {
                        "roll": 0.0012594388099387288,
                        "pitch": 1.1852426528930664,
                        "yaw": -170.78482055664062
                    }
                },
                "velocity": {
                    "x": -2.508024215698242,
                    "y": -0.40699779987335205,
                    "z": 0.04161203280091286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7430915832519531,
                "transform": {
                    "location": {
                        "x": 1117.7847900390625,
                        "y": 4076.485595703125,
                        "z": 366.4431457519531
                    },
                    "rotation": {
                        "roll": -0.003479006001725793,
                        "pitch": 1.0208673477172852,
                        "yaw": -170.9420928955078
                    }
                },
                "velocity": {
                    "x": -1.7202658653259277,
                    "y": -0.2795371115207672,
                    "z": 0.030210522934794426
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001577472547069192,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 6.745517021045089e-05,
                    "y": 7.735192411928438e-06,
                    "z": 0.0015760107198730111
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096137046813965,
                "transform": {
                    "location": {
                        "x": 1184.12841796875,
                        "y": 4090.51171875,
                        "z": 365.32666015625
                    },
                    "rotation": {
                        "roll": -0.0006408606423065066,
                        "pitch": -0.8873576521873474,
                        "yaw": 9.233376502990723
                    }
                },
                "velocity": {
                    "x": 7.99027156829834,
                    "y": 1.2988812923431396,
                    "z": -0.1261308789253235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.036022353917360306,
        "expert_target_speed": 5.513998123959348,
        "target_point": [
            15.318831394566308,
            -0.15086167096779013
        ],
        "target_point_next": [
            15.318831394566308,
            -0.15086167096779013
        ]
    },
    "685": {
        "acceleration": [
            3.5600662231445312,
            0.633314847946167,
            -0.0554107129573822
        ],
        "angular_velocity": [
            0.11921120434999466,
            -0.7548984289169312,
            0.33293280005455017
        ],
        "forward_vector": [
            -0.984441339969635,
            -0.17518669366836548,
            0.013598737306892872
        ],
        "right_vector": [
            0.17519989609718323,
            -0.98453289270401,
            -0.00022357417037710547
        ],
        "location": [
            1134.0228271484375,
            4079.282470703125,
            366.15948486328125
        ],
        "rotation": [
            0.012811040505766869,
            0.779174268245697,
            -169.90953063964844
        ],
        "velocity": [
            -3.783503293991089,
            -0.6748536825180054,
            0.06591875106096268
        ],
        "speed": 3.843218009487561,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.966901779174805,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.3038330078125,
                4076.407470703125,
                366.45166015625
            ],
            "velocity": [
                -2.0141825675964355,
                -0.3277752995491028,
                0.03618192672729492
            ],
            "speed_kmh": 7.347596643784648,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3285467624664307,
                "transform": {
                    "location": {
                        "x": 1166.3519287109375,
                        "y": 4084.379638671875,
                        "z": 365.61944580078125
                    },
                    "rotation": {
                        "roll": -0.00036621035542339087,
                        "pitch": 0.3414957821369171,
                        "yaw": -170.7190704345703
                    }
                },
                "velocity": {
                    "x": -2.29801344871521,
                    "y": -0.3741464614868164,
                    "z": 0.03576227277517319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.078852653503418,
                "transform": {
                    "location": {
                        "x": 1136.4207763671875,
                        "y": 4082.749267578125,
                        "z": 366.11370849609375
                    },
                    "rotation": {
                        "roll": 0.00314058898948133,
                        "pitch": -0.9768945574760437,
                        "yaw": 9.314064979553223
                    }
                },
                "velocity": {
                    "x": 7.971768856048584,
                    "y": 1.303627848625183,
                    "z": -0.1389816254377365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1841518878936768,
                "transform": {
                    "location": {
                        "x": 1151.8756103515625,
                        "y": 4082.025634765625,
                        "z": 365.86181640625
                    },
                    "rotation": {
                        "roll": -9.155675070360303e-05,
                        "pitch": 1.0782067775726318,
                        "yaw": -170.91822814941406
                    }
                },
                "velocity": {
                    "x": -3.142690420150757,
                    "y": -0.5094334483146667,
                    "z": 0.0528927706182003
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.040998935699463,
                "transform": {
                    "location": {
                        "x": 1117.3038330078125,
                        "y": 4076.407470703125,
                        "z": 366.45166015625
                    },
                    "rotation": {
                        "roll": -0.0020752025302499533,
                        "pitch": 1.0154646635055542,
                        "yaw": -170.89938354492188
                    }
                },
                "velocity": {
                    "x": -2.0141825675964355,
                    "y": -0.3277752995491028,
                    "z": 0.03618192672729492
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014576680259779096,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 5.989089549984783e-05,
                    "y": 1.9457190774119226e-06,
                    "z": 0.0014564358862116933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061872482299805,
                "transform": {
                    "location": {
                        "x": 1186.12158203125,
                        "y": 4090.836181640625,
                        "z": 365.29541015625
                    },
                    "rotation": {
                        "roll": 0.00023862502712290734,
                        "pitch": -0.8879382014274597,
                        "yaw": 9.235275268554688
                    }
                },
                "velocity": {
                    "x": 7.956396102905273,
                    "y": 1.2937629222869873,
                    "z": -0.12539739906787872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02284875325858593,
        "expert_target_speed": 4.738533223361762,
        "target_point": [
            14.253214316282968,
            -0.1558633256718842
        ],
        "target_point_next": [
            14.253214316282968,
            -0.1558633256718842
        ]
    },
    "690": {
        "acceleration": [
            3.048224449157715,
            0.540008544921875,
            -0.053672417998313904
        ],
        "angular_velocity": [
            -0.017476284876465797,
            -0.14484776556491852,
            -0.6494562029838562
        ],
        "forward_vector": [
            -0.9844346642494202,
            -0.17534920573234558,
            0.01187403779476881
        ],
        "right_vector": [
            0.17535875737667084,
            -0.9845045804977417,
            -0.00024125426716636866
        ],
        "location": [
            1133.1846923828125,
            4079.133056640625,
            366.1744384765625
        ],
        "rotation": [
            0.013823825865983963,
            0.68034827709198,
            -169.90029907226562
        ],
        "velocity": [
            -2.9786064624786377,
            -0.5321776270866394,
            0.052439477294683456
        ],
        "speed": 3.025774195985396,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.33341407775879,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.088623046875,
                4076.373046875,
                366.4560546875
            ],
            "velocity": [
                -0.5350149273872375,
                -0.08667945861816406,
                0.009970683604478836
            ],
            "speed_kmh": 1.9514979257589395,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6920840740203857,
                "transform": {
                    "location": {
                        "x": 1166.2210693359375,
                        "y": 4084.3583984375,
                        "z": 365.6219177246094
                    },
                    "rotation": {
                        "roll": 0.0022674850188195705,
                        "pitch": 0.5711199045181274,
                        "yaw": -170.67892456054688
                    }
                },
                "velocity": {
                    "x": -0.682798445224762,
                    "y": -0.11227454245090485,
                    "z": 0.012690648436546326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060051918029785,
                "transform": {
                    "location": {
                        "x": 1138.416015625,
                        "y": 4083.0751953125,
                        "z": 366.0792236328125
                    },
                    "rotation": {
                        "roll": 0.00021178006136324257,
                        "pitch": -0.9784245491027832,
                        "yaw": 9.271903038024902
                    }
                },
                "velocity": {
                    "x": 7.953302383422852,
                    "y": 1.3001692295074463,
                    "z": -0.13775871694087982
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9961395263671875,
                "transform": {
                    "location": {
                        "x": 1150.99267578125,
                        "y": 4081.88232421875,
                        "z": 365.8762512207031
                    },
                    "rotation": {
                        "roll": -0.0034484961070120335,
                        "pitch": 1.1192903518676758,
                        "yaw": -170.93528747558594
                    }
                },
                "velocity": {
                    "x": -3.9441938400268555,
                    "y": -0.638875424861908,
                    "z": 0.06560458987951279
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5420827269554138,
                "transform": {
                    "location": {
                        "x": 1117.088623046875,
                        "y": 4076.373046875,
                        "z": 366.4560546875
                    },
                    "rotation": {
                        "roll": -0.001159673323854804,
                        "pitch": 0.9580500721931458,
                        "yaw": -170.85850524902344
                    }
                },
                "velocity": {
                    "x": -0.5350149273872375,
                    "y": -0.08667945861816406,
                    "z": 0.009970683604478836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00046623070375062525,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 1.693755439191591e-05,
                    "y": 1.4556609130522702e-05,
                    "z": -0.0004656955134123564
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095523834228516,
                "transform": {
                    "location": {
                        "x": 1188.1151123046875,
                        "y": 4091.16015625,
                        "z": 365.2643737792969
                    },
                    "rotation": {
                        "roll": -6.670886065762716e-09,
                        "pitch": -0.8763132095336914,
                        "yaw": 9.23466968536377
                    }
                },
                "velocity": {
                    "x": 7.989820957183838,
                    "y": 1.2981345653533936,
                    "z": -0.12289693206548691
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.008749268017709255,
        "expert_target_speed": 3.931862965994005,
        "target_point": [
            13.401840414186934,
            -0.15828277230766785
        ],
        "target_point_next": [
            13.401840414186934,
            -0.15828277230766785
        ]
    },
    "695": {
        "acceleration": [
            2.5723981857299805,
            0.4619652032852173,
            -0.03442689776420593
        ],
        "angular_velocity": [
            0.04978511109948158,
            0.10622429847717285,
            0.9559372067451477
        ],
        "forward_vector": [
            -0.984374463558197,
            -0.17568549513816833,
            0.011896448209881783
        ],
        "right_vector": [
            0.17569473385810852,
            -0.9844446778297424,
            -0.00027116999262943864
        ],
        "location": [
            1132.5323486328125,
            4079.01611328125,
            366.1858825683594
        ],
        "rotation": [
            0.015537995845079422,
            0.6816323399543762,
            -169.88072204589844
        ],
        "velocity": [
            -2.287381887435913,
            -0.40920454263687134,
            0.04063290357589722
        ],
        "speed": 2.3236962487994277,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.878077507019043,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.8839111328125,
                4076.33935546875,
                366.4591979980469
            ],
            "velocity": [
                -1.1026839017868042,
                -0.17968948185443878,
                0.018893251195549965
            ],
            "speed_kmh": 4.022598587366324,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6729445457458496,
                "transform": {
                    "location": {
                        "x": 1165.916748046875,
                        "y": 4084.30859375,
                        "z": 365.62738037109375
                    },
                    "rotation": {
                        "roll": 0.002798713743686676,
                        "pitch": 0.9653788805007935,
                        "yaw": -170.67828369140625
                    }
                },
                "velocity": {
                    "x": -1.6509944200515747,
                    "y": -0.2686840891838074,
                    "z": 0.02774050645530224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.021321296691895,
                "transform": {
                    "location": {
                        "x": 1140.3961181640625,
                        "y": 4083.3984375,
                        "z": 366.0451354980469
                    },
                    "rotation": {
                        "roll": 0.0016217895317822695,
                        "pitch": -0.9856850504875183,
                        "yaw": 9.284741401672363
                    }
                },
                "velocity": {
                    "x": 7.915652275085449,
                    "y": 1.2906951904296875,
                    "z": -0.13473431766033173
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.075080394744873,
                "transform": {
                    "location": {
                        "x": 1149.871826171875,
                        "y": 4081.701171875,
                        "z": 365.8944091796875
                    },
                    "rotation": {
                        "roll": -0.0053405663929879665,
                        "pitch": 1.1974140405654907,
                        "yaw": -170.86569213867188
                    }
                },
                "velocity": {
                    "x": -5.008689880371094,
                    "y": -0.813565731048584,
                    "z": 0.08702877163887024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1173884868621826,
                "transform": {
                    "location": {
                        "x": 1116.8839111328125,
                        "y": 4076.33935546875,
                        "z": 366.4591979980469
                    },
                    "rotation": {
                        "roll": -0.0029602069407701492,
                        "pitch": 1.0107791423797607,
                        "yaw": -170.91033935546875
                    }
                },
                "velocity": {
                    "x": -1.1026839017868042,
                    "y": -0.17968948185443878,
                    "z": 0.018893251195549965
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010704086162149906,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 5.3154526540311053e-05,
                    "y": -4.638731354589254e-07,
                    "z": 0.001069087884388864
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061208724975586,
                "transform": {
                    "location": {
                        "x": 1190.108154296875,
                        "y": 4091.484375,
                        "z": 365.2336120605469
                    },
                    "rotation": {
                        "roll": -0.0004882809007540345,
                        "pitch": -0.8664845824241638,
                        "yaw": 9.232437133789062
                    }
                },
                "velocity": {
                    "x": 7.9558610916137695,
                    "y": 1.293161153793335,
                    "z": -0.12284461408853531
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0023738050367683172,
        "expert_target_speed": 3.257792287491542,
        "target_point": [
            12.739042836168252,
            -0.163373444341679
        ],
        "target_point_next": [
            12.739042836168252,
            -0.163373444341679
        ]
    },
    "700": {
        "acceleration": [
            2.2133302688598633,
            0.39800524711608887,
            -0.04628639668226242
        ],
        "angular_velocity": [
            -0.05825340002775192,
            0.14417323470115662,
            -1.0351399183273315
        ],
        "forward_vector": [
            -0.9843690395355225,
            -0.17567241191864014,
            0.01252034306526184
        ],
        "right_vector": [
            0.17568284273147583,
            -0.9844467639923096,
            -0.00026976867229677737
        ],
        "location": [
            1132.0386962890625,
            4078.927978515625,
            366.1944885253906
        ],
        "rotation": [
            0.01545781921595335,
            0.7173815369606018,
            -169.88140869140625
        ],
        "velocity": [
            -1.6988438367843628,
            -0.30408400297164917,
            0.029260864481329918
        ],
        "speed": 1.7258439856034138,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.717925071716309,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.547119140625,
                4076.283935546875,
                366.4651184082031
            ],
            "velocity": [
                -1.5788869857788086,
                -0.25678637623786926,
                0.026794489473104477
            ],
            "speed_kmh": 5.759483941125067,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7601397037506104,
                "transform": {
                    "location": {
                        "x": 1165.37548828125,
                        "y": 4084.22119140625,
                        "z": 365.63623046875
                    },
                    "rotation": {
                        "roll": 0.0020442029926925898,
                        "pitch": 1.0686650276184082,
                        "yaw": -170.7947540283203
                    }
                },
                "velocity": {
                    "x": -2.7241439819335938,
                    "y": -0.442222535610199,
                    "z": 0.04300795495510101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066021919250488,
                "transform": {
                    "location": {
                        "x": 1142.3817138671875,
                        "y": 4083.72216796875,
                        "z": 366.0111999511719
                    },
                    "rotation": {
                        "roll": -0.0010681101121008396,
                        "pitch": -0.9687188267707825,
                        "yaw": 9.251749038696289
                    }
                },
                "velocity": {
                    "x": 7.959670066833496,
                    "y": 1.2985737323760986,
                    "z": -0.1344520002603531
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.366436004638672,
                "transform": {
                    "location": {
                        "x": 1148.5863037109375,
                        "y": 4081.492919921875,
                        "z": 365.91741943359375
                    },
                    "rotation": {
                        "roll": -0.001983643975108862,
                        "pitch": 1.0831245183944702,
                        "yaw": -170.81015014648438
                    }
                },
                "velocity": {
                    "x": -5.296186923980713,
                    "y": -0.8609306216239929,
                    "z": 0.08853141218423843
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5998566150665283,
                "transform": {
                    "location": {
                        "x": 1116.547119140625,
                        "y": 4076.283935546875,
                        "z": 366.4651184082031
                    },
                    "rotation": {
                        "roll": -0.003051763866096735,
                        "pitch": 1.0202116966247559,
                        "yaw": -170.9635009765625
                    }
                },
                "velocity": {
                    "x": -1.5788869857788086,
                    "y": -0.25678637623786926,
                    "z": 0.026794489473104477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00013979749928694218,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 2.382025013503153e-05,
                    "y": 1.4532636669173371e-05,
                    "z": -0.00013698443945031613
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095882415771484,
                "transform": {
                    "location": {
                        "x": 1192.1015625,
                        "y": 4091.808349609375,
                        "z": 365.20306396484375
                    },
                    "rotation": {
                        "roll": -0.00012206358223920688,
                        "pitch": -0.8671880960464478,
                        "yaw": 9.230230331420898
                    }
                },
                "velocity": {
                    "x": 7.9901580810546875,
                    "y": 1.2982966899871826,
                    "z": -0.12290822714567184
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00890469178557396,
        "expert_target_speed": 2.68560740252585,
        "target_point": [
            12.237586615046096,
            -0.1632517371552753
        ],
        "target_point_next": [
            12.237586615046096,
            -0.1632517371552753
        ]
    },
    "705": {
        "acceleration": [
            1.6019177436828613,
            0.2785313129425049,
            -0.05034424364566803
        ],
        "angular_velocity": [
            0.03380463272333145,
            0.2448527216911316,
            1.1974812746047974
        ],
        "forward_vector": [
            -0.984308123588562,
            -0.17595286667346954,
            0.013347108848392963
        ],
        "right_vector": [
            0.17596475780010223,
            -0.9843963980674744,
            -0.00028641970129683614
        ],
        "location": [
            1131.6773681640625,
            4078.86328125,
            366.20068359375
        ],
        "rotation": [
            0.016412101686000824,
            0.7647557258605957,
            -169.86497497558594
        ],
        "velocity": [
            -1.231013536453247,
            -0.22087562084197998,
            0.02096150442957878
        ],
        "speed": 1.2506719661100028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.521100044250488,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.3790283203125,
                4076.2568359375,
                366.4685974121094
            ],
            "velocity": [
                1.6783027604105882e-05,
                0.0001976876810658723,
                0.00013404003402683884
            ],
            "speed_kmh": 0.0008619637503836871,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.27842903137207,
                "transform": {
                    "location": {
                        "x": 1164.4962158203125,
                        "y": 4084.078125,
                        "z": 365.65057373046875
                    },
                    "rotation": {
                        "roll": -3.052846295759082e-05,
                        "pitch": 1.1416250467300415,
                        "yaw": -170.78121948242188
                    }
                },
                "velocity": {
                    "x": -4.222482681274414,
                    "y": -0.6862276196479797,
                    "z": 0.06846480816602707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042961120605469,
                "transform": {
                    "location": {
                        "x": 1144.369384765625,
                        "y": 4084.046142578125,
                        "z": 365.9773254394531
                    },
                    "rotation": {
                        "roll": -0.0003051807580050081,
                        "pitch": -0.9662121534347534,
                        "yaw": 9.271676063537598
                    }
                },
                "velocity": {
                    "x": 7.937055587768555,
                    "y": 1.293929100036621,
                    "z": -0.13457778096199036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.448635578155518,
                "transform": {
                    "location": {
                        "x": 1147.1759033203125,
                        "y": 4081.263916015625,
                        "z": 365.94061279296875
                    },
                    "rotation": {
                        "roll": -0.0005188013310544193,
                        "pitch": 1.1277120113372803,
                        "yaw": -170.77947998046875
                    }
                },
                "velocity": {
                    "x": -6.3640875816345215,
                    "y": -1.0353419780731201,
                    "z": 0.10658649355173111
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023943437554407865,
                "transform": {
                    "location": {
                        "x": 1116.3790283203125,
                        "y": 4076.2568359375,
                        "z": 366.4685974121094
                    },
                    "rotation": {
                        "roll": -0.0032043387182056904,
                        "pitch": 0.9565679430961609,
                        "yaw": -170.9514617919922
                    }
                },
                "velocity": {
                    "x": 1.6783027604105882e-05,
                    "y": 0.0001976876810658723,
                    "z": 0.00013404003402683884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011945434380322695,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 6.104677595430985e-05,
                    "y": 1.096384585252963e-05,
                    "z": 0.0011929321335628629
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061214447021484,
                "transform": {
                    "location": {
                        "x": 1194.094482421875,
                        "y": 4092.13232421875,
                        "z": 365.1724853515625
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": -0.8671880960464478,
                        "yaw": 9.234695434570312
                    }
                },
                "velocity": {
                    "x": 7.955804347991943,
                    "y": 1.2936168909072876,
                    "z": -0.12210448086261749
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.015482474118471146,
        "expert_target_speed": 2.208128211146632,
        "target_point": [
            11.870464679761692,
            -0.16686998857442847
        ],
        "target_point_next": [
            11.870464679761692,
            -0.16686998857442847
        ]
    },
    "710": {
        "acceleration": [
            -0.7884502410888672,
            -0.13381272554397583,
            0.01943834125995636
        ],
        "angular_velocity": [
            -0.16997990012168884,
            0.7076572179794312,
            -0.9111678600311279
        ],
        "forward_vector": [
            -0.9842922687530518,
            -0.1758860945701599,
            0.01525676529854536
        ],
        "right_vector": [
            0.17590223252773285,
            -0.9844076037406921,
            -0.0002878584200516343
        ],
        "location": [
            1131.39501953125,
            4078.812744140625,
            366.2052001953125
        ],
        "rotation": [
            0.01649499125778675,
            0.8741822242736816,
            -169.8685760498047
        ],
        "velocity": [
            -1.1291557550430298,
            -0.20212842524051666,
            0.021189088001847267
        ],
        "speed": 1.1471044500990335,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.23447322845459,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.3787841796875,
                4076.2568359375,
                366.46826171875
            ],
            "velocity": [
                8.476629591314122e-05,
                4.61049385194201e-05,
                0.0015320384409278631
            ],
            "speed_kmh": 0.005526267090982999,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.397180080413818,
                "transform": {
                    "location": {
                        "x": 1163.2725830078125,
                        "y": 4083.87939453125,
                        "z": 365.6706848144531
                    },
                    "rotation": {
                        "roll": 0.0006663769017904997,
                        "pitch": 1.117391586303711,
                        "yaw": -170.76539611816406
                    }
                },
                "velocity": {
                    "x": -5.327168941497803,
                    "y": -0.8621688485145569,
                    "z": 0.08652524650096893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04429817199707,
                "transform": {
                    "location": {
                        "x": 1146.3529052734375,
                        "y": 4084.369384765625,
                        "z": 365.9437561035156
                    },
                    "rotation": {
                        "roll": -0.0008239751332439482,
                        "pitch": -0.9652696251869202,
                        "yaw": 9.239072799682617
                    }
                },
                "velocity": {
                    "x": 7.9384965896606445,
                    "y": 1.29338800907135,
                    "z": -0.13472801446914673
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.740097999572754,
                "transform": {
                    "location": {
                        "x": 1145.4140625,
                        "y": 4080.97705078125,
                        "z": 365.96881103515625
                    },
                    "rotation": {
                        "roll": -0.0012512176763266325,
                        "pitch": 1.321122407913208,
                        "yaw": -170.77365112304688
                    }
                },
                "velocity": {
                    "x": -7.638445854187012,
                    "y": -1.2436349391937256,
                    "z": 0.12896068394184113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001535074203275144,
                "transform": {
                    "location": {
                        "x": 1116.3787841796875,
                        "y": 4076.2568359375,
                        "z": 366.46826171875
                    },
                    "rotation": {
                        "roll": -0.0030212372075766325,
                        "pitch": 0.9918732047080994,
                        "yaw": -170.9513702392578
                    }
                },
                "velocity": {
                    "x": 8.476629591314122e-05,
                    "y": 4.61049385194201e-05,
                    "z": 0.0015320384409278631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006800612318329513,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 4.441424971446395e-05,
                    "y": 1.1001136044797022e-05,
                    "z": 0.0006785201840102673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095817565917969,
                "transform": {
                    "location": {
                        "x": 1196.087890625,
                        "y": 4092.45654296875,
                        "z": 365.14190673828125
                    },
                    "rotation": {
                        "roll": 0.0002870742464438081,
                        "pitch": -0.8675774335861206,
                        "yaw": 9.234689712524414
                    }
                },
                "velocity": {
                    "x": 7.990099906921387,
                    "y": 1.2981762886047363,
                    "z": -0.12371122092008591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023262444883584976,
        "expert_target_speed": 2.095180383783832,
        "target_point": [
            11.583639417044427,
            -0.16620496776027482
        ],
        "target_point_next": [
            11.583639417044427,
            -0.16620496776027482
        ]
    },
    "715": {
        "acceleration": [
            -1.1322307586669922,
            -0.20735621452331543,
            0.03337249159812927
        ],
        "angular_velocity": [
            -0.09348656982183456,
            0.45313575863838196,
            0.9677376747131348
        ],
        "forward_vector": [
            -0.9841740727424622,
            -0.17626258730888367,
            0.018247423693537712
        ],
        "right_vector": [
            0.1762864887714386,
            -0.9843388199806213,
            -0.0003030149673577398
        ],
        "location": [
            1131.072998046875,
            4078.755126953125,
            366.2102966308594
        ],
        "rotation": [
            0.017364369705319405,
            1.0455584526062012,
            -169.8461456298828
        ],
        "velocity": [
            -1.4238779544830322,
            -0.2546943724155426,
            0.025055302307009697
        ],
        "speed": 1.4464776709658989,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.907309532165527,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.3787841796875,
                4076.2568359375,
                366.46820068359375
            ],
            "velocity": [
                4.6929715608712286e-05,
                2.675222094694618e-05,
                0.0006576614687219262
            ],
            "speed_kmh": 0.002375554559084153,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4575018882751465,
                "transform": {
                    "location": {
                        "x": 1161.9364013671875,
                        "y": 4083.6630859375,
                        "z": 365.6920166015625
                    },
                    "rotation": {
                        "roll": -0.0013427815865725279,
                        "pitch": 0.9788616895675659,
                        "yaw": -170.8256378173828
                    }
                },
                "velocity": {
                    "x": -5.386312007904053,
                    "y": -0.8741143345832825,
                    "z": 0.0888349711894989
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.053351402282715,
                "transform": {
                    "location": {
                        "x": 1148.3392333984375,
                        "y": 4084.693115234375,
                        "z": 365.9102783203125
                    },
                    "rotation": {
                        "roll": 0.0002939993573818356,
                        "pitch": -0.9582140445709229,
                        "yaw": 9.256767272949219
                    }
                },
                "velocity": {
                    "x": 7.947669506072998,
                    "y": 1.2933956384658813,
                    "z": -0.13470178842544556
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.184807300567627,
                "transform": {
                    "location": {
                        "x": 1143.7652587890625,
                        "y": 4080.712158203125,
                        "z": 366.00347900390625
                    },
                    "rotation": {
                        "roll": 0.002646513283252716,
                        "pitch": 0.5027018785476685,
                        "yaw": -170.46585083007812
                    }
                },
                "velocity": {
                    "x": -4.131502628326416,
                    "y": -0.6622200012207031,
                    "z": 0.06901809573173523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006598762702196836,
                "transform": {
                    "location": {
                        "x": 1116.3787841796875,
                        "y": 4076.2568359375,
                        "z": 366.46820068359375
                    },
                    "rotation": {
                        "roll": -0.00308228493668139,
                        "pitch": 0.9995912909507751,
                        "yaw": -170.95132446289062
                    }
                },
                "velocity": {
                    "x": 4.6929715608712286e-05,
                    "y": 2.675222094694618e-05,
                    "z": 0.0006576614687219262
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000868731178343296,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 5.112394501338713e-05,
                    "y": 7.157791060308227e-06,
                    "z": 0.0008671960677020252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.060195922851562,
                "transform": {
                    "location": {
                        "x": 1198.0809326171875,
                        "y": 4092.780029296875,
                        "z": 365.1116027832031
                    },
                    "rotation": {
                        "roll": -0.0002441331889713183,
                        "pitch": -0.8570793867111206,
                        "yaw": 9.2323637008667
                    }
                },
                "velocity": {
                    "x": 7.954763412475586,
                    "y": 1.2939687967300415,
                    "z": -0.11889629065990448
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02679854817688465,
        "expert_target_speed": 2.3629933004798813,
        "target_point": [
            11.25643797581932,
            -0.17069015977672475
        ],
        "target_point_next": [
            11.25643797581932,
            -0.17069015977672475
        ]
    },
    "720": {
        "acceleration": [
            -1.3011884689331055,
            -0.23957252502441406,
            0.03548566251993179
        ],
        "angular_velocity": [
            -0.05755782872438431,
            0.1933577060699463,
            -0.8978381156921387
        ],
        "forward_vector": [
            -0.984155535697937,
            -0.17624014616012573,
            0.01942548155784607
        ],
        "right_vector": [
            0.1762678474187851,
            -0.9843422174453735,
            -0.0002900570398196578
        ],
        "location": [
            1130.681884765625,
            4078.684814453125,
            366.2169494628906
        ],
        "rotation": [
            0.016622180119156837,
            1.1130681037902832,
            -169.84722900390625
        ],
        "velocity": [
            -1.7070503234863281,
            -0.3069590628147125,
            0.029909295961260796
        ],
        "speed": 1.7344292067302327,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.509889602661133,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.3787841796875,
                4076.2568359375,
                366.46820068359375
            ],
            "velocity": [
                1.1280029866611585e-05,
                9.775102080311626e-05,
                -0.0001978355721803382
            ],
            "speed_kmh": 0.0007954404662276561,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.720828056335449,
                "transform": {
                    "location": {
                        "x": 1160.2293701171875,
                        "y": 4083.386474609375,
                        "z": 365.72015380859375
                    },
                    "rotation": {
                        "roll": -0.0010986471315845847,
                        "pitch": 1.1827701330184937,
                        "yaw": -170.81146240234375
                    }
                },
                "velocity": {
                    "x": -7.620229244232178,
                    "y": -1.2360520362854004,
                    "z": 0.12435691803693771
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044198989868164,
                "transform": {
                    "location": {
                        "x": 1150.3250732421875,
                        "y": 4085.015625,
                        "z": 365.8768615722656
                    },
                    "rotation": {
                        "roll": 0.0012228996492922306,
                        "pitch": -0.9528181552886963,
                        "yaw": 9.224825859069824
                    }
                },
                "velocity": {
                    "x": 7.938776016235352,
                    "y": 1.2911617755889893,
                    "z": -0.13373737037181854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.12227437645196915,
                "transform": {
                    "location": {
                        "x": 1143.4615478515625,
                        "y": 4080.665283203125,
                        "z": 366.0155334472656
                    },
                    "rotation": {
                        "roll": -0.01864623837172985,
                        "pitch": -0.3706675171852112,
                        "yaw": -170.3433380126953
                    }
                },
                "velocity": {
                    "x": -0.12059835344552994,
                    "y": -0.020109670236706734,
                    "z": 0.0016314506065100431
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022095568419899791,
                "transform": {
                    "location": {
                        "x": 1116.3787841796875,
                        "y": 4076.2568359375,
                        "z": 366.46820068359375
                    },
                    "rotation": {
                        "roll": -0.0033264162484556437,
                        "pitch": 1.0010392665863037,
                        "yaw": -170.95132446289062
                    }
                },
                "velocity": {
                    "x": 1.1280029866611585e-05,
                    "y": 9.775102080311626e-05,
                    "z": -0.0001978355721803382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001540966797620058,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 6.669357389910147e-05,
                    "y": 1.9655003598018084e-06,
                    "z": 0.0015395216178148985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1200.0882568359375,
                        "y": 4093.09521484375,
                        "z": 365.0819091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8467385172843933,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03518255427479744,
        "expert_target_speed": 2.6100800319019064,
        "target_point": [
            10.85905807139583,
            -0.1707440465293908
        ],
        "target_point_next": [
            10.85905807139583,
            -0.1707440465293908
        ]
    },
    "725": {
        "acceleration": [
            -1.468043327331543,
            -0.259823203086853,
            0.035348162055015564
        ],
        "angular_velocity": [
            -0.06663504242897034,
            0.13427110016345978,
            0.8897078633308411
        ],
        "forward_vector": [
            -0.9840985536575317,
            -0.17647306621074677,
            0.02018040232360363
        ],
        "right_vector": [
            0.17650309205055237,
            -0.9843000173568726,
            -0.0002977208641823381
        ],
        "location": [
            1130.2100830078125,
            4078.600341796875,
            366.22503662109375
        ],
        "rotation": [
            0.01706162467598915,
            1.1563304662704468,
            -169.83351135253906
        ],
        "velocity": [
            -2.0578935146331787,
            -0.36916255950927734,
            0.03637463599443436
        ],
        "speed": 2.090743100649321,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.030536651611328,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.3787841796875,
                4076.2568359375,
                366.4681701660156
            ],
            "velocity": [
                3.554269642336294e-05,
                2.650981696206145e-05,
                0.0006474019610323012
            ],
            "speed_kmh": 0.002336106969394778,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.357823848724365,
                "transform": {
                    "location": {
                        "x": 1158.321533203125,
                        "y": 4083.077392578125,
                        "z": 365.7510986328125
                    },
                    "rotation": {
                        "roll": -0.0033874560613185167,
                        "pitch": 0.9606728553771973,
                        "yaw": -170.97824096679688
                    }
                },
                "velocity": {
                    "x": -7.261967658996582,
                    "y": -1.177686095237732,
                    "z": 0.12021812051534653
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047922134399414,
                "transform": {
                    "location": {
                        "x": 1152.3099365234375,
                        "y": 4085.337646484375,
                        "z": 365.8436584472656
                    },
                    "rotation": {
                        "roll": -0.0007934587192721665,
                        "pitch": -0.9523947238922119,
                        "yaw": 9.248229026794434
                    }
                },
                "velocity": {
                    "x": 7.942387104034424,
                    "y": 1.2923033237457275,
                    "z": -0.13224753737449646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7960862517356873,
                "transform": {
                    "location": {
                        "x": 1143.311767578125,
                        "y": 4080.640625,
                        "z": 366.00732421875
                    },
                    "rotation": {
                        "roll": 0.006118315272033215,
                        "pitch": 0.9723730087280273,
                        "yaw": -170.35800170898438
                    }
                },
                "velocity": {
                    "x": -0.785340428352356,
                    "y": -0.12956438958644867,
                    "z": 0.01438087411224842
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006489185616374016,
                "transform": {
                    "location": {
                        "x": 1116.3787841796875,
                        "y": 4076.2568359375,
                        "z": 366.4681701660156
                    },
                    "rotation": {
                        "roll": -0.0042724693194031715,
                        "pitch": 1.0018247365951538,
                        "yaw": -170.95123291015625
                    }
                },
                "velocity": {
                    "x": 3.554269642336294e-05,
                    "y": 2.650981696206145e-05,
                    "z": 0.0006474019610323012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007930599967949092,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 4.924595123156905e-05,
                    "y": -6.6792031248041894e-06,
                    "z": 0.0007915013120509684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1202.1524658203125,
                        "y": 4093.375732421875,
                        "z": 365.05377197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8467385172843933,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04561851546168327,
        "expert_target_speed": 2.906126816274241,
        "target_point": [
            10.379712776668473,
            -0.17320748911266648
        ],
        "target_point_next": [
            10.379712776668473,
            -0.17320748911266648
        ]
    },
    "730": {
        "acceleration": [
            -1.5498781204223633,
            -0.28033673763275146,
            0.02579420804977417
        ],
        "angular_velocity": [
            -0.01688251830637455,
            0.07721184939146042,
            -0.796491801738739
        ],
        "forward_vector": [
            -0.9841040968894958,
            -0.17638736963272095,
            0.020654994994401932
        ],
        "right_vector": [
            0.17641879618167877,
            -0.9843151569366455,
            -0.0003048166981898248
        ],
        "location": [
            1129.6453857421875,
            4078.4990234375,
            366.2349548339844
        ],
        "rotation": [
            0.017468437552452087,
            1.1835283041000366,
            -169.83840942382812
        ],
        "velocity": [
            -2.443141222000122,
            -0.43846380710601807,
            0.043101176619529724
        ],
        "speed": 2.4821743574491606,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.456764221191406,
        "front_vehicle_info": {
            "id": 82945,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1116.3787841796875,
                4076.2568359375,
                366.4681701660156
            ],
            "velocity": [
                3.966450458392501e-05,
                1.409867763868533e-05,
                0.0007073440938256681
            ],
            "speed_kmh": 0.002550944130446243,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 83194,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.797767639160156,
                "transform": {
                    "location": {
                        "x": 1156.7166748046875,
                        "y": 4082.81689453125,
                        "z": 365.7770690917969
                    },
                    "rotation": {
                        "roll": -0.004028327763080597,
                        "pitch": 0.6434515714645386,
                        "yaw": -171.0621795654297
                    }
                },
                "velocity": {
                    "x": -4.734625816345215,
                    "y": -0.7718250751495361,
                    "z": 0.07859458774328232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 83212,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049300193786621,
                "transform": {
                    "location": {
                        "x": 1154.2960205078125,
                        "y": 4085.66064453125,
                        "z": 365.8106994628906
                    },
                    "rotation": {
                        "roll": 0.00033906090538948774,
                        "pitch": -0.9448541402816772,
                        "yaw": 9.228878021240234
                    }
                },
                "velocity": {
                    "x": 7.9437408447265625,
                    "y": 1.2927099466323853,
                    "z": -0.1308046281337738
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 82946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7855117917060852,
                "transform": {
                    "location": {
                        "x": 1143.103759765625,
                        "y": 4080.606201171875,
                        "z": 366.0092468261719
                    },
                    "rotation": {
                        "roll": 0.007428412325680256,
                        "pitch": 1.177428960800171,
                        "yaw": -170.38531494140625
                    }
                },
                "velocity": {
                    "x": -0.7749469876289368,
                    "y": -0.12771674990653992,
                    "z": 0.013202971778810024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 82945,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007085955585353076,
                "transform": {
                    "location": {
                        "x": 1116.3787841796875,
                        "y": 4076.2568359375,
                        "z": 366.4681701660156
                    },
                    "rotation": {
                        "roll": -0.0042724693194031715,
                        "pitch": 1.0018247365951538,
                        "yaw": -170.95123291015625
                    }
                },
                "velocity": {
                    "x": 3.966450458392501e-05,
                    "y": 1.409867763868533e-05,
                    "z": 0.0007073440938256681
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 82944,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015898729907348752,
                "transform": {
                    "location": {
                        "x": 1106.0413818359375,
                        "y": 4074.57177734375,
                        "z": 366.64666748046875
                    },
                    "rotation": {
                        "roll": -0.011138909496366978,
                        "pitch": 0.9951311945915222,
                        "yaw": -171.33102416992188
                    }
                },
                "velocity": {
                    "x": 6.741985271219164e-05,
                    "y": 6.884159665787593e-05,
                    "z": 0.00158695038408041
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 83208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1204.21337890625,
                        "y": 4093.677978515625,
                        "z": 365.02459716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8371557593345642,
                        "yaw": 9.23470687866211
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.051459845155477524,
        "expert_target_speed": 3.2094891267738928,
        "target_point": [
            9.806012958540249,
            -0.17242412681884067
        ],
        "target_point_next": [
            9.806012958540249,
            -0.17242412681884067
        ]
    }
}