{
    "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": 110573,
                "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": 0.0014304514043033123,
        "expert_target_speed": 10.0,
        "target_point": [
            50.998127369606955,
            -0.0009742708708486703
        ],
        "target_point_next": [
            101.99809829415541,
            -0.001258899016725934
        ]
    },
    "5": {
        "acceleration": [
            -0.0029412901494652033,
            -0.0013001917395740747,
            -0.1886017620563507
        ],
        "angular_velocity": [
            0.005616407375782728,
            -0.004356754943728447,
            6.81256060488522e-05
        ],
        "forward_vector": [
            -0.9869213700294495,
            -0.16046437621116638,
            0.015408024191856384
        ],
        "right_vector": [
            0.16048415005207062,
            -0.9870384335517883,
            4.739861105917953e-05
        ],
        "location": [
            1257.1597900390625,
            4099.244140625,
            364.2385559082031
        ],
        "rotation": [
            -0.0027160628233104944,
            0.8828496932983398,
            -170.76504516601562
        ],
        "velocity": [
            0.0005062348791398108,
            7.607435691170394e-05,
            0.032906003296375275
        ],
        "speed": 0.0005119189981210193,
        "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": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": -0.0014180616708472371,
        "expert_target_speed": 1.0124538187013763,
        "target_point": [
            50.99836834485558,
            -0.0010620870232429525
        ],
        "target_point_next": [
            101.9983392691094,
            -0.0013953525315280046
        ]
    },
    "10": {
        "acceleration": [
            -0.0016267952742055058,
            0.004374406766146421,
            -0.050680022686719894
        ],
        "angular_velocity": [
            -0.004923581145703793,
            -0.002675448777154088,
            0.0002875652280636132
        ],
        "forward_vector": [
            -0.9869215488433838,
            -0.16046512126922607,
            0.015391217544674873
        ],
        "right_vector": [
            0.1604844331741333,
            -0.9870383739471436,
            1.9705154045368545e-05
        ],
        "location": [
            1257.1597900390625,
            4099.244140625,
            364.2428283691406
        ],
        "rotation": [
            -0.0011291558621451259,
            0.8818866610527039,
            -170.76499938964844
        ],
        "velocity": [
            0.00014455229393206537,
            4.801718387170695e-05,
            0.00835229828953743
        ],
        "speed": 0.0001523187960430082,
        "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": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": -0.001564996549859643,
        "expert_target_speed": 0.9873815472221198,
        "target_point": [
            50.99836834381949,
            -0.0011107228573123962
        ],
        "target_point_next": [
            101.99833926773228,
            -0.0014926257280052369
        ]
    },
    "15": {
        "acceleration": [
            0.00041191576747223735,
            0.0007930293795652688,
            0.008187953382730484
        ],
        "angular_velocity": [
            0.004369113594293594,
            -0.00010084283712785691,
            0.00014445603301282972
        ],
        "forward_vector": [
            -0.986921489238739,
            -0.16046512126922607,
            0.015393124893307686
        ],
        "right_vector": [
            0.1604844480752945,
            -0.9870383739471436,
            2.023775414272677e-05
        ],
        "location": [
            1257.1597900390625,
            4099.244140625,
            364.24371337890625
        ],
        "rotation": [
            -0.001159675302915275,
            0.8819959163665771,
            -170.76499938964844
        ],
        "velocity": [
            5.941688868915662e-05,
            -4.113074282940943e-06,
            0.0020292869303375483
        ],
        "speed": 5.955908026117108e-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": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.0003876746923197061,
        "expert_target_speed": 0.9810059751792668,
        "target_point": [
            50.99836834381949,
            -0.0011107228573123962
        ],
        "target_point_next": [
            101.99833926773228,
            -0.0014926257280052369
        ]
    },
    "20": {
        "acceleration": [
            -2.644728422164917,
            -0.4400019347667694,
            0.03772526979446411
        ],
        "angular_velocity": [
            -0.13025270402431488,
            0.9175620079040527,
            0.6373474597930908
        ],
        "forward_vector": [
            -0.9869624972343445,
            -0.159779891371727,
            0.019374825060367584
        ],
        "right_vector": [
            0.15980976819992065,
            -0.9871478080749512,
            -6.212852440512506e-06
        ],
        "location": [
            1257.06201171875,
            4099.228515625,
            364.24468994140625
        ],
        "rotation": [
            0.0003560370532795787,
            1.1101652383804321,
            -170.80413818359375
        ],
        "velocity": [
            -0.8797255754470825,
            -0.14236606657505035,
            0.015057840384542942
        ],
        "speed": 0.8911706823093722,
        "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": 15.02022647857666,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.0019646615255624056,
        "expert_target_speed": 1.8463535398043833,
        "target_point": [
            50.899338496500484,
            0.03396288742436582
        ],
        "target_point_next": [
            101.89929775874862,
            0.06845397077166027
        ]
    },
    "25": {
        "acceleration": [
            -1.7624855041503906,
            -0.2970573306083679,
            0.036806873977184296
        ],
        "angular_velocity": [
            0.01928178034722805,
            -0.1612909585237503,
            -0.09848286211490631
        ],
        "forward_vector": [
            -0.9869340062141418,
            -0.15986774861812592,
            0.02008875086903572
        ],
        "right_vector": [
            0.15990033745765686,
            -0.9871331453323364,
            1.544330734759569e-05
        ],
        "location": [
            1256.7691650390625,
            4099.181640625,
            364.2491455078125
        ],
        "rotation": [
            -0.0008850149461068213,
            1.1510781049728394,
            -170.7989044189453
        ],
        "velocity": [
            -1.4176315069198608,
            -0.22878257930278778,
            0.02169872261583805
        ],
        "speed": 1.435973731655392,
        "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": 15.083589553833008,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.0009804246947169304,
        "expert_target_speed": 2.3779675049199414,
        "target_point": [
            50.60276739472447,
            0.029857192985825343
        ],
        "target_point_next": [
            101.60272960098723,
            0.05967909047162223
        ]
    },
    "30": {
        "acceleration": [
            -1.734178066253662,
            -0.2770155668258667,
            0.033139586448669434
        ],
        "angular_velocity": [
            -0.007192808203399181,
            -0.09445612877607346,
            0.03166167438030243
        ],
        "forward_vector": [
            -0.9869750738143921,
            -0.159738689661026,
            0.01907113566994667
        ],
        "right_vector": [
            0.15976788103580475,
            -0.9871546030044556,
            6.923102318978636e-06
        ],
        "location": [
            1256.3682861328125,
            4099.11669921875,
            364.2555847167969
        ],
        "rotation": [
            -0.00039673669380135834,
            1.0927618741989136,
            -170.80657958984375
        ],
        "velocity": [
            -1.8026180267333984,
            -0.2904351055622101,
            0.027279814705252647
        ],
        "speed": 1.8258653567136716,
        "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": 15.167821884155273,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.0024131983518600464,
        "expert_target_speed": 2.760466559812214,
        "target_point": [
            50.19665794606799,
            0.036553839787305975
        ],
        "target_point_next": [
            101.19661571611277,
            0.07318496656020024
        ]
    },
    "35": {
        "acceleration": [
            -1.601099967956543,
            -0.25503695011138916,
            0.025928914546966553
        ],
        "angular_velocity": [
            0.024531366303563118,
            -0.04233342409133911,
            -0.116997130215168
        ],
        "forward_vector": [
            -0.987014889717102,
            -0.15953046083450317,
            0.018751235678792
        ],
        "right_vector": [
            0.15955863893032074,
            -0.987188458442688,
            6.390618636942236e-06
        ],
        "location": [
            1255.8648681640625,
            4099.03564453125,
            364.2632751464844
        ],
        "rotation": [
            -0.0003662198723759502,
            1.0744296312332153,
            -170.8187255859375
        ],
        "velocity": [
            -2.205838680267334,
            -0.35503917932510376,
            0.03341076895594597
        ],
        "speed": 2.2342285250661753,
        "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": 15.280716896057129,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.0036314227618277073,
        "expert_target_speed": 3.1617173435689736,
        "target_point": [
            49.68674767839362,
            0.04751361680141031
        ],
        "target_point_next": [
            100.68669652743313,
            0.09496655301296109
        ]
    },
    "40": {
        "acceleration": [
            -1.3614654541015625,
            -0.21696686744689941,
            0.01642860472202301
        ],
        "angular_velocity": [
            0.02329697646200657,
            -0.08190569281578064,
            -0.005234592594206333
        ],
        "forward_vector": [
            -0.9870592951774597,
            -0.1592802256345749,
            0.018542416393756866
        ],
        "right_vector": [
            0.15930773317813873,
            -0.9872289896011353,
            6.390502221620409e-06
        ],
        "location": [
            1255.2625732421875,
            4098.9384765625,
            364.27252197265625
        ],
        "rotation": [
            -0.0003662117524072528,
            1.0624631643295288,
            -170.8332977294922
        ],
        "velocity": [
            -2.585029125213623,
            -0.4155753254890442,
            0.03852959722280502
        ],
        "speed": 2.6182204699677287,
        "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": 15.42989444732666,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.003899713745340705,
        "expert_target_speed": 3.5409573814038264,
        "target_point": [
            49.07665136285575,
            0.060188303721641745
        ],
        "target_point_next": [
            100.07658647556376,
            0.12062740839639119
        ]
    },
    "45": {
        "acceleration": [
            -1.3923025131225586,
            -0.21973371505737305,
            0.03280334174633026
        ],
        "angular_velocity": [
            0.029867587611079216,
            -0.015472454950213432,
            -0.12583516538143158
        ],
        "forward_vector": [
            -0.9871140122413635,
            -0.15897685289382935,
            0.01822787895798683
        ],
        "right_vector": [
            0.159003347158432,
            -0.9872780442237854,
            3.7278509807947557e-06
        ],
        "location": [
            1254.5731201171875,
            4098.828125,
            364.2830505371094
        ],
        "rotation": [
            -0.00021362562256399542,
            1.044438362121582,
            -170.8509521484375
        ],
        "velocity": [
            -2.92319655418396,
            -0.46887120604515076,
            0.04410963132977486
        ],
        "speed": 2.9605604709668083,
        "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": 15.657986640930176,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "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": 110573,
                "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": 0.00726063409820199,
        "expert_target_speed": 3.886174638326458,
        "target_point": [
            48.378402293852695,
            0.07598324182357885
        ],
        "target_point_next": [
            99.37831636948528,
            0.15213220040893916
        ]
    },
    "50": {
        "acceleration": [
            -0.3878211975097656,
            -0.05585432052612305,
            0.01049727201461792
        ],
        "angular_velocity": [
            -0.030481351539492607,
            -0.2943231463432312,
            -0.021208543330430984
        ],
        "forward_vector": [
            -0.9871753454208374,
            -0.15866898000240326,
            0.01757674291729927
        ],
        "right_vector": [
            0.15869374573230743,
            -0.9873278141021729,
            1.4378921150637325e-05
        ],
        "location": [
            1253.80859375,
            4098.705078125,
            364.2947998046875
        ],
        "rotation": [
            -0.0008239788003265858,
            1.0071250200271606,
            -170.86892700195312
        ],
        "velocity": [
            -3.1337807178497314,
            -0.5015544891357422,
            0.04768367484211922
        ],
        "speed": 3.173663260829509,
        "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": 16.025449752807617,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.854666233062744,
                "transform": {
                    "location": {
                        "x": 1218.90283203125,
                        "y": 4092.951171875,
                        "z": 364.8048400878906
                    },
                    "rotation": {
                        "roll": 0.0046030692756175995,
                        "pitch": 0.8182839155197144,
                        "yaw": -170.44540405273438
                    }
                },
                "velocity": {
                    "x": -7.744874000549316,
                    "y": -1.3037880659103394,
                    "z": 0.11331102252006531
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.00871784333139658,
        "expert_target_speed": 4.116665552050231,
        "target_point": [
            47.60401112380607,
            0.09100002896165549
        ],
        "target_point_next": [
            98.60389879669589,
            0.18315065793169083
        ]
    },
    "55": {
        "acceleration": [
            -0.5683326721191406,
            -0.08704900741577148,
            0.004785507917404175
        ],
        "angular_velocity": [
            -0.02603674679994583,
            -0.09039223939180374,
            -0.1282561868429184
        ],
        "forward_vector": [
            -0.9872459173202515,
            -0.15833142399787903,
            0.016634291037917137
        ],
        "right_vector": [
            0.1583535522222519,
            -0.9873824715614319,
            1.3314187526702881e-05
        ],
        "location": [
            1253.0125732421875,
            4098.578125,
            364.30718994140625
        ],
        "rotation": [
            -0.000762952258810401,
            0.9531186819076538,
            -170.888671875
        ],
        "velocity": [
            -3.245014190673828,
            -0.5182982683181763,
            0.04919091984629631
        ],
        "speed": 3.2861451873914733,
        "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": 16.53274154663086,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.5523881912231445,
                "transform": {
                    "location": {
                        "x": 1217.00634765625,
                        "y": 4092.634521484375,
                        "z": 364.8326416015625
                    },
                    "rotation": {
                        "roll": 0.006003266200423241,
                        "pitch": 0.808175265789032,
                        "yaw": -170.5419921875
                    }
                },
                "velocity": {
                    "x": -7.450448989868164,
                    "y": -1.2318390607833862,
                    "z": 0.10930858552455902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.011557784862816334,
        "expert_target_speed": 4.247092615410893,
        "target_point": [
            46.797896744156446,
            0.10811256319481366
        ],
        "target_point_next": [
            97.7977496170256,
            0.21784556414957024
        ]
    },
    "60": {
        "acceleration": [
            -1.0940361022949219,
            -0.16860604286193848,
            0.020366311073303223
        ],
        "angular_velocity": [
            -0.029954154044389725,
            0.12567521631717682,
            -0.037858929485082626
        ],
        "forward_vector": [
            -0.9872985482215881,
            -0.15799269080162048,
            0.016731316223740578
        ],
        "right_vector": [
            0.15801507234573364,
            -0.9874367117881775,
            1.5976722352206707e-05
        ],
        "location": [
            1252.1761474609375,
            4098.4443359375,
            364.31982421875
        ],
        "rotation": [
            -0.0009155268198810518,
            0.9586784839630127,
            -170.90830993652344
        ],
        "velocity": [
            -3.460660934448242,
            -0.5516183972358704,
            0.05114371329545975
        ],
        "speed": 3.504348293104618,
        "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": 17.13849639892578,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.072072505950928,
                "transform": {
                    "location": {
                        "x": 1215.2095947265625,
                        "y": 4092.33740234375,
                        "z": 364.8589782714844
                    },
                    "rotation": {
                        "roll": 0.003034992143511772,
                        "pitch": 0.8065769672393799,
                        "yaw": -170.61151123046875
                    }
                },
                "velocity": {
                    "x": -6.976999282836914,
                    "y": -1.151160717010498,
                    "z": 0.10256185382604599
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.013667034916579723,
        "expert_target_speed": 4.485864563941903,
        "target_point": [
            45.950798785209514,
            0.12419421369501737
        ],
        "target_point_next": [
            96.95061109987859,
            0.251387980564699
        ]
    },
    "65": {
        "acceleration": [
            -1.7516756057739258,
            -0.2723515033721924,
            0.004092231392860413
        ],
        "angular_velocity": [
            -0.018736055120825768,
            0.24346701800823212,
            -0.13452652096748352
        ],
        "forward_vector": [
            -0.9873446822166443,
            -0.1576106697320938,
            0.017586397007107735
        ],
        "right_vector": [
            0.15763512253761292,
            -0.9874974489212036,
            4.260334662831156e-06
        ],
        "location": [
            1251.264404296875,
            4098.29931640625,
            364.33343505859375
        ],
        "rotation": [
            -0.00024413695791736245,
            1.0076782703399658,
            -170.9303436279297
        ],
        "velocity": [
            -3.8405752182006836,
            -0.6107222437858582,
            0.05723480135202408
        ],
        "speed": 3.888830115306152,
        "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": 17.933683395385742,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "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": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.738326549530029,
                "transform": {
                    "location": {
                        "x": 1213.5198974609375,
                        "y": 4092.05859375,
                        "z": 364.8837890625
                    },
                    "rotation": {
                        "roll": 0.002482205629348755,
                        "pitch": 0.8061740398406982,
                        "yaw": -170.6392059326172
                    }
                },
                "velocity": {
                    "x": -6.648825645446777,
                    "y": -1.0902190208435059,
                    "z": 0.09790868312120438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.020494280382990837,
        "expert_target_speed": 4.8820473179634405,
        "target_point": [
            45.02754345990733,
            0.14237108922395958
        ],
        "target_point_next": [
            96.02730312350756,
            0.28916564230905095
        ]
    },
    "70": {
        "acceleration": [
            -1.9088268280029297,
            -0.29589176177978516,
            0.04456356167793274
        ],
        "angular_velocity": [
            -0.014299971982836723,
            0.14800268411636353,
            -0.04726698622107506
        ],
        "forward_vector": [
            -0.9873942732810974,
            -0.15720170736312866,
            0.0184420607984066
        ],
        "right_vector": [
            0.1572284698486328,
            -0.9875622391700745,
            1.5975673477441887e-06
        ],
        "location": [
            1250.2440185546875,
            4098.13720703125,
            364.34869384765625
        ],
        "rotation": [
            -9.154943836620077e-05,
            1.0567121505737305,
            -170.9539337158203
        ],
        "velocity": [
            -4.306290626525879,
            -0.6829153895378113,
            0.0651116892695427
        ],
        "speed": 4.3601046305532885,
        "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": 18.85174560546875,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.564893960952759,
                "transform": {
                    "location": {
                        "x": 1265.0205078125,
                        "y": 4100.453125,
                        "z": 364.1297607421875
                    },
                    "rotation": {
                        "roll": -0.011932380497455597,
                        "pitch": 1.130341649055481,
                        "yaw": -170.99713134765625
                    }
                },
                "velocity": {
                    "x": -2.529953956604004,
                    "y": -0.42009374499320984,
                    "z": 0.03917389735579491
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.80308723449707,
                "transform": {
                    "location": {
                        "x": 1211.8580322265625,
                        "y": 4091.785888671875,
                        "z": 364.9080505371094
                    },
                    "rotation": {
                        "roll": -0.00015258807979989797,
                        "pitch": 0.8314798474311829,
                        "yaw": -170.68283081054688
                    }
                },
                "velocity": {
                    "x": -6.713028430938721,
                    "y": -1.0989711284637451,
                    "z": 0.09749242663383484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.023710351437330246,
        "expert_target_speed": 5.353340472696023,
        "target_point": [
            43.99429832960852,
            0.16126251400698255
        ],
        "target_point_next": [
            94.9939931875334,
            0.32906830756322414
        ]
    },
    "75": {
        "acceleration": [
            -1.5630912780761719,
            -0.23477673530578613,
            0.03345862030982971
        ],
        "angular_velocity": [
            0.010984204709529877,
            -0.046266280114650726,
            -0.11096465587615967
        ],
        "forward_vector": [
            -0.9874635934829712,
            -0.15673793852329254,
            0.018677815794944763
        ],
        "right_vector": [
            0.15676529705524445,
            -0.9876359105110168,
            1.064967250385962e-06
        ],
        "location": [
            1249.108642578125,
            4097.95751953125,
            364.36578369140625
        ],
        "rotation": [
            -6.1028782511129975e-05,
            1.07022225856781,
            -170.98080444335938
        ],
        "velocity": [
            -4.740851402282715,
            -0.7496024370193481,
            0.07204806804656982
        ],
        "speed": 4.799747475869052,
        "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": 19.85329818725586,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.257610321044922,
                "transform": {
                    "location": {
                        "x": 1264.1904296875,
                        "y": 4100.31640625,
                        "z": 364.1418762207031
                    },
                    "rotation": {
                        "roll": -0.009246827103197575,
                        "pitch": 1.2211216688156128,
                        "yaw": -170.83203125
                    }
                },
                "velocity": {
                    "x": -4.199256420135498,
                    "y": -0.6995078921318054,
                    "z": 0.06464019417762756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.235379695892334,
                "transform": {
                    "location": {
                        "x": 1210.1229248046875,
                        "y": 4091.502197265625,
                        "z": 364.9333190917969
                    },
                    "rotation": {
                        "roll": 0.0015146820805966854,
                        "pitch": 0.8527490496635437,
                        "yaw": -170.69979858398438
                    }
                },
                "velocity": {
                    "x": -7.139755725860596,
                    "y": -1.1677550077438354,
                    "z": 0.10466808080673218
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.0315459780395031,
        "expert_target_speed": 5.77690352728718,
        "target_point": [
            42.844710999200494,
            0.18242651946598887
        ],
        "target_point_next": [
            93.84432150740471,
            0.3741617464447131
        ]
    },
    "80": {
        "acceleration": [
            0.3040504455566406,
            0.06399393081665039,
            -0.014032423496246338
        ],
        "angular_velocity": [
            0.11596377193927765,
            -0.5783851742744446,
            -0.08342628926038742
        ],
        "forward_vector": [
            -0.9875574111938477,
            -0.15624813735485077,
            0.01780189387500286
        ],
        "right_vector": [
            0.15627261996269226,
            -0.9877139925956726,
            -1.5917932614684105e-05
        ],
        "location": [
            1247.8848876953125,
            4097.76416015625,
            364.3846130371094
        ],
        "rotation": [
            0.0009121748735196888,
            1.0200272798538208,
            -171.00936889648438
        ],
        "velocity": [
            -4.961308002471924,
            -0.7820629477500916,
            0.07589328289031982
        ],
        "speed": 5.022569018902131,
        "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": 20.668434143066406,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.4072771072387695,
                "transform": {
                    "location": {
                        "x": 1262.94384765625,
                        "y": 4100.10986328125,
                        "z": 364.1612854003906
                    },
                    "rotation": {
                        "roll": -0.005401616916060448,
                        "pitch": 1.220575213432312,
                        "yaw": -170.6664581298828
                    }
                },
                "velocity": {
                    "x": -5.332606315612793,
                    "y": -0.8915849924087524,
                    "z": 0.08384374529123306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.897653102874756,
                "transform": {
                    "location": {
                        "x": 1208.380615234375,
                        "y": 4091.217041015625,
                        "z": 364.9591369628906
                    },
                    "rotation": {
                        "roll": 0.0010696831159293652,
                        "pitch": 0.8274022340774536,
                        "yaw": -170.71334838867188
                    }
                },
                "velocity": {
                    "x": -6.806793212890625,
                    "y": -1.1112313270568848,
                    "z": 0.1017221063375473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.03479825705289841,
        "expert_target_speed": 5.988744472939601,
        "target_point": [
            41.60567821957889,
            0.20403189372454467
        ],
        "target_point_next": [
            92.60518685557085,
            0.4211799381125836
        ]
    },
    "85": {
        "acceleration": [
            -1.0345745086669922,
            -0.15494465827941895,
            0.02595663070678711
        ],
        "angular_velocity": [
            0.00343815959058702,
            0.005148774944245815,
            -1.209609031677246
        ],
        "forward_vector": [
            -0.9876834154129028,
            -0.1556275188922882,
            0.016170868650078773
        ],
        "right_vector": [
            0.15564793348312378,
            -0.9878125786781311,
            3.727851208168431e-06
        ],
        "location": [
            1246.640625,
            4097.56787109375,
            364.4036560058594
        ],
        "rotation": [
            -0.0002136180701199919,
            0.9265629053115845,
            -171.04562377929688
        ],
        "velocity": [
            -5.026401042938232,
            -0.789806604385376,
            0.07598956674337387
        ],
        "speed": 5.088074480270636,
        "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": 21.399066925048828,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1168.231689453125,
                        "y": 4087.825439453125,
                        "z": 365.8329162597656
                    },
                    "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": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.833982944488525,
                "transform": {
                    "location": {
                        "x": 1261.4293212890625,
                        "y": 4099.859375,
                        "z": 364.1853942871094
                    },
                    "rotation": {
                        "roll": 0.006526216398924589,
                        "pitch": 1.1489812135696411,
                        "yaw": -170.64944458007812
                    }
                },
                "velocity": {
                    "x": -6.741678714752197,
                    "y": -1.11455500125885,
                    "z": 0.1041959896683693
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.787071228027344,
                "transform": {
                    "location": {
                        "x": 1206.6988525390625,
                        "y": 4090.9423828125,
                        "z": 364.9841613769531
                    },
                    "rotation": {
                        "roll": 0.0007506408728659153,
                        "pitch": 0.8393824100494385,
                        "yaw": -170.72406005859375
                    }
                },
                "velocity": {
                    "x": -6.697601318359375,
                    "y": -1.0938304662704468,
                    "z": 0.10005202889442444
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.041928213089704514,
        "expert_target_speed": 6.057314909155746,
        "target_point": [
            40.34589043895923,
            0.2301285451209294
        ],
        "target_point_next": [
            91.3452514619139,
            0.4795471413224668
        ]
    },
    "90": {
        "acceleration": [
            -2.7478981018066406,
            -0.37692904472351074,
            0.12319386005401611
        ],
        "angular_velocity": [
            -0.005840491969138384,
            0.41152718663215637,
            3.17825984954834
        ],
        "forward_vector": [
            -0.9877703785896301,
            -0.15511342883110046,
            0.01579469069838524
        ],
        "right_vector": [
            0.15513257682323456,
            -0.9878937005996704,
            -1.3515352293325122e-05
        ],
        "location": [
            1245.387939453125,
            4097.37158203125,
            364.4224853515625
        ],
        "rotation": [
            0.0007744692848064005,
            0.9050068259239197,
            -171.07550048828125
        ],
        "velocity": [
            -5.110725402832031,
            -0.7970442771911621,
            0.0762442797422409
        ],
        "speed": 5.172503622324088,
        "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": 22.114091873168945,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1170.2625732421875,
                        "y": 4088.155517578125,
                        "z": 365.63580322265625
                    },
                    "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": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.518723964691162,
                "transform": {
                    "location": {
                        "x": 1260.123046875,
                        "y": 4099.6474609375,
                        "z": 364.21240234375
                    },
                    "rotation": {
                        "roll": 0.0009533525444567204,
                        "pitch": 0.2531677782535553,
                        "yaw": -170.20411682128906
                    }
                },
                "velocity": {
                    "x": -2.486565113067627,
                    "y": -0.3995252251625061,
                    "z": 0.03665817156434059
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.545066833496094,
                "transform": {
                    "location": {
                        "x": 1205.050537109375,
                        "y": 4090.673583984375,
                        "z": 365.00885009765625
                    },
                    "rotation": {
                        "roll": 1.406876981491223e-05,
                        "pitch": 0.8410148024559021,
                        "yaw": -170.73814392089844
                    }
                },
                "velocity": {
                    "x": -6.459039688110352,
                    "y": -1.0531339645385742,
                    "z": 0.09806981682777405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.05228719115257263,
        "expert_target_speed": 6.142689141786284,
        "target_point": [
            39.07779396264318,
            0.25159505843073493
        ],
        "target_point_next": [
            90.0770179347336,
            0.5276179385647364
        ]
    },
    "95": {
        "acceleration": [
            1.1107635498046875,
            0.20568609237670898,
            -0.03403887152671814
        ],
        "angular_velocity": [
            -0.028977036476135254,
            -0.20687279105186462,
            -3.4390676021575928
        ],
        "forward_vector": [
            -0.9880684614181519,
            -0.1531839221715927,
            0.015978608280420303
        ],
        "right_vector": [
            0.1532026082277298,
            -0.9881947636604309,
            -5.5906592024257407e-05
        ],
        "location": [
            1244.1187744140625,
            4097.173828125,
            364.44140625
        ],
        "rotation": [
            0.003203620668500662,
            0.9155458211898804,
            -171.1873779296875
        ],
        "velocity": [
            -5.132704734802246,
            -0.7936496734619141,
            0.07728103548288345
        ],
        "speed": 5.1937017337201405,
        "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": 22.82952308654785,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1172.3172607421875,
                        "y": 4088.489990234375,
                        "z": 365.5550231933594
                    },
                    "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": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7134931087493896,
                "transform": {
                    "location": {
                        "x": 1259.623046875,
                        "y": 4099.5654296875,
                        "z": 364.2189025878906
                    },
                    "rotation": {
                        "roll": 0.0016071221325546503,
                        "pitch": 0.38722389936447144,
                        "yaw": -170.18191528320312
                    }
                },
                "velocity": {
                    "x": -2.676058053970337,
                    "y": -0.44719818234443665,
                    "z": 0.04209079593420029
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.375869274139404,
                "transform": {
                    "location": {
                        "x": 1203.459228515625,
                        "y": 4090.414306640625,
                        "z": 365.0328369140625
                    },
                    "rotation": {
                        "roll": 0.0015707239508628845,
                        "pitch": 0.8365069031715393,
                        "yaw": -170.74594116210938
                    }
                },
                "velocity": {
                    "x": -6.292209148406982,
                    "y": -1.0251115560531616,
                    "z": 0.09467017650604248
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.06539282202720642,
        "expert_target_speed": 6.17037652538866,
        "target_point": [
            37.792749637973166,
            0.3269026685281098
        ],
        "target_point_next": [
            88.79133758815503,
            0.7024841821386154
        ]
    },
    "100": {
        "acceleration": [
            0.5384922027587891,
            0.08432269096374512,
            -0.01051977276802063
        ],
        "angular_velocity": [
            0.026413287967443466,
            -0.1714063286781311,
            3.4013383388519287
        ],
        "forward_vector": [
            -0.9880464673042297,
            -0.1534753143787384,
            0.014474838972091675
        ],
        "right_vector": [
            0.15349160134792328,
            -0.9881499409675598,
            1.4379619642568287e-05
        ],
        "location": [
            1242.8656005859375,
            4096.97998046875,
            364.4604187011719
        ],
        "rotation": [
            -0.0008239778690040112,
            0.8293761610984802,
            -171.17068481445312
        ],
        "velocity": [
            -4.935996055603027,
            -0.7625176310539246,
            0.07391912490129471
        ],
        "speed": 4.994546045297484,
        "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": 23.564260482788086,
        "front_vehicle_info": {
            "id": 110579,
            "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": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.824746608734131,
                "transform": {
                    "location": {
                        "x": 1174.328857421875,
                        "y": 4088.81689453125,
                        "z": 365.486083984375
                    },
                    "rotation": {
                        "roll": 0.000544863985851407,
                        "pitch": -0.9166250228881836,
                        "yaw": 9.236413955688477
                    }
                },
                "velocity": {
                    "x": 6.732368469238281,
                    "y": 1.0937124490737915,
                    "z": -0.23702232539653778
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7492339611053467,
                "transform": {
                    "location": {
                        "x": 1258.813232421875,
                        "y": 4099.4296875,
                        "z": 364.22467041015625
                    },
                    "rotation": {
                        "roll": 0.012211393564939499,
                        "pitch": 1.236701250076294,
                        "yaw": -170.3065643310547
                    }
                },
                "velocity": {
                    "x": -3.6978771686553955,
                    "y": -0.6157974600791931,
                    "z": 0.057034432888031006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "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": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.267739772796631,
                "transform": {
                    "location": {
                        "x": 1201.9000244140625,
                        "y": 4090.16015625,
                        "z": 365.05621337890625
                    },
                    "rotation": {
                        "roll": 0.0024947181809693575,
                        "pitch": 0.8458505868911743,
                        "yaw": -170.75148010253906
                    }
                },
                "velocity": {
                    "x": -6.185779094696045,
                    "y": -1.006116271018982,
                    "z": 0.09182000905275345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.07653988897800446,
        "expert_target_speed": 5.996661963594434,
        "target_point": [
            36.52476547962877,
            0.3167105088941309
        ],
        "target_point_next": [
            87.52346051806754,
            0.677458013557807
        ]
    },
    "105": {
        "acceleration": [
            0.7618427276611328,
            0.1274716854095459,
            -0.01864314079284668
        ],
        "angular_velocity": [
            0.07842099666595459,
            -0.46889251470565796,
            3.30879282951355
        ],
        "forward_vector": [
            -0.9881417155265808,
            -0.1527554988861084,
            0.015546410344541073
        ],
        "right_vector": [
            0.15277457237243652,
            -0.9882610440254211,
            3.9942558942129835e-05
        ],
        "location": [
            1241.557373046875,
            4096.77783203125,
            364.47967529296875
        ],
        "rotation": [
            -0.0022888167295604944,
            0.8907795548439026,
            -171.2122802734375
        ],
        "velocity": [
            -5.168784141540527,
            -0.7959175705909729,
            0.0769435316324234
        ],
        "speed": 5.229704989864752,
        "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": 24.23904037475586,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1217.6624755859375,
                4092.72265625,
                364.8268127441406
            ],
            "velocity": [
                -7.899114608764648,
                -1.2846914529800415,
                0.11538495868444443
            ],
            "speed_kmh": 28.8134422825359,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.507659912109375,
                "transform": {
                    "location": {
                        "x": 1175.9581298828125,
                        "y": 4089.08837890625,
                        "z": 365.4533386230469
                    },
                    "rotation": {
                        "roll": -0.006164547521620989,
                        "pitch": -0.9130186438560486,
                        "yaw": 9.500713348388672
                    }
                },
                "velocity": {
                    "x": 6.413381576538086,
                    "y": 1.0998657941818237,
                    "z": -0.09203863143920898
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.907491207122803,
                "transform": {
                    "location": {
                        "x": 1257.7435302734375,
                        "y": 4099.2509765625,
                        "z": 364.24114990234375
                    },
                    "rotation": {
                        "roll": 0.013140272349119186,
                        "pitch": 1.2236897945404053,
                        "yaw": -170.43467712402344
                    }
                },
                "velocity": {
                    "x": -4.841587543487549,
                    "y": -0.7981275916099548,
                    "z": 0.07411374896764755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00373363494873,
                "transform": {
                    "location": {
                        "x": 1217.6624755859375,
                        "y": 4092.72265625,
                        "z": 364.8268127441406
                    },
                    "rotation": {
                        "roll": 0.00018484781321603805,
                        "pitch": 0.8249980211257935,
                        "yaw": -170.7625274658203
                    }
                },
                "velocity": {
                    "x": -7.899114608764648,
                    "y": -1.2846914529800415,
                    "z": 0.11538495868444443
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.123136043548584,
                "transform": {
                    "location": {
                        "x": 1200.380859375,
                        "y": 4089.9130859375,
                        "z": 365.0789794921875
                    },
                    "rotation": {
                        "roll": 0.0001518345670774579,
                        "pitch": 0.8391023278236389,
                        "yaw": -170.7526397705078
                    }
                },
                "velocity": {
                    "x": -6.042903900146484,
                    "y": -0.9838143587112427,
                    "z": 0.09062954038381577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1242.8656005859375,
                        "y": 4096.97998046875,
                        "z": 264.4604187011719
                    },
                    "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": 0.085179403424263,
        "expert_target_speed": 6.215737557155786,
        "target_point": [
            35.20077252881889,
            0.34330592462667564
        ],
        "target_point_next": [
            86.19919232546977,
            0.7410654378602661
        ]
    },
    "110": {
        "acceleration": [
            0.9826469421386719,
            0.1638782024383545,
            -0.009354501962661743
        ],
        "angular_velocity": [
            -0.06930088251829147,
            -0.2955998480319977,
            -3.6535017490386963
        ],
        "forward_vector": [
            -0.98833829164505,
            -0.1516159325838089,
            0.01414430607110262
        ],
        "right_vector": [
            0.15163180232048035,
            -0.9884370565414429,
            5.006231367588043e-05
        ],
        "location": [
            1240.289306640625,
            4096.58251953125,
            364.4987487792969
        ],
        "rotation": [
            -0.0028686460573226213,
            0.8104360699653625,
            -171.27853393554688
        ],
        "velocity": [
            -4.972039222717285,
            -0.7618676424026489,
            0.07446303963661194
        ],
        "speed": 5.030071205935287,
        "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": 24.877214431762695,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1215.766357421875,
                4092.414306640625,
                364.85467529296875
            ],
            "velocity": [
                -6.928043842315674,
                -1.127118468284607,
                0.10203912854194641
            ],
            "speed_kmh": 25.27153833074464,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.084598064422607,
                "transform": {
                    "location": {
                        "x": 1271.4727783203125,
                        "y": 4101.57177734375,
                        "z": 364.37335205078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.882931649684906,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -4.938939571380615,
                    "y": -0.8030018210411072,
                    "z": -0.9028849601745605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.759022235870361,
                "transform": {
                    "location": {
                        "x": 1177.593994140625,
                        "y": 4089.369384765625,
                        "z": 365.42913818359375
                    },
                    "rotation": {
                        "roll": -0.009918210096657276,
                        "pitch": -0.8948913216590881,
                        "yaw": 9.77636432647705
                    }
                },
                "velocity": {
                    "x": 6.657848834991455,
                    "y": 1.1607259511947632,
                    "z": -0.10072921216487885
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.1455488204956055,
                "transform": {
                    "location": {
                        "x": 1256.50390625,
                        "y": 4099.0458984375,
                        "z": 364.2626953125
                    },
                    "rotation": {
                        "roll": 0.008115051314234734,
                        "pitch": 0.946418285369873,
                        "yaw": -170.58657836914062
                    }
                },
                "velocity": {
                    "x": -5.0770158767700195,
                    "y": -0.8334449529647827,
                    "z": 0.07714954018592834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.019871711730957,
                "transform": {
                    "location": {
                        "x": 1215.766357421875,
                        "y": 4092.414306640625,
                        "z": 364.85467529296875
                    },
                    "rotation": {
                        "roll": 0.00042560187284834683,
                        "pitch": 0.8088787794113159,
                        "yaw": -170.76158142089844
                    }
                },
                "velocity": {
                    "x": -6.928043842315674,
                    "y": -1.127118468284607,
                    "z": 0.10203912854194641
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.320630073547363,
                "transform": {
                    "location": {
                        "x": 1198.837646484375,
                        "y": 4089.661865234375,
                        "z": 365.10205078125
                    },
                    "rotation": {
                        "roll": 0.0003157587198074907,
                        "pitch": 0.8638685941696167,
                        "yaw": -170.7530059814453
                    }
                },
                "velocity": {
                    "x": -6.237791061401367,
                    "y": -1.015518069267273,
                    "z": 0.09514083713293076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1242.8656005859375,
                        "y": 4096.97998046875,
                        "z": 264.4604187011719
                    },
                    "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": 0.09934058040380478,
        "expert_target_speed": 6.033975853424098,
        "target_point": [
            33.91733262013849,
            0.38323371026244857
        ],
        "target_point_next": [
            84.9152583806183,
            0.8399639527364613
        ]
    },
    "115": {
        "acceleration": [
            1.5468883514404297,
            0.25390625,
            -0.04258379340171814
        ],
        "angular_velocity": [
            0.10319190472364426,
            -0.5046975016593933,
            3.3218681812286377
        ],
        "forward_vector": [
            -0.988434910774231,
            -0.15097039937973022,
            0.014298070222139359
        ],
        "right_vector": [
            0.15098640322685242,
            -0.9885358810424805,
            3.9943373849382624e-05
        ],
        "location": [
            1239.027099609375,
            4096.39013671875,
            364.5174560546875
        ],
        "rotation": [
            -0.0022888206876814365,
            0.8192470073699951,
            -171.31593322753906
        ],
        "velocity": [
            -4.926938533782959,
            -0.750738799571991,
            0.07328595966100693
        ],
        "speed": 4.9838069847114035,
        "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": 25.101238250732422,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1214.28515625,
                4092.173583984375,
                364.8767395019531
            ],
            "velocity": [
                -5.307294845581055,
                -0.8631835579872131,
                0.07785718888044357
            ],
            "speed_kmh": 19.359341394335733,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.850698471069336,
                "transform": {
                    "location": {
                        "x": 1270.25390625,
                        "y": 4101.37060546875,
                        "z": 364.0074768066406
                    },
                    "rotation": {
                        "roll": -0.014190674759447575,
                        "pitch": 0.8651936650276184,
                        "yaw": -170.63172912597656
                    }
                },
                "velocity": {
                    "x": -4.769948959350586,
                    "y": -0.8173348903656006,
                    "z": -0.3298875689506531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.549736499786377,
                "transform": {
                    "location": {
                        "x": 1179.231689453125,
                        "y": 4089.654541015625,
                        "z": 365.4035949707031
                    },
                    "rotation": {
                        "roll": -0.010437007062137127,
                        "pitch": -0.8876035213470459,
                        "yaw": 9.896306037902832
                    }
                },
                "velocity": {
                    "x": 6.452883720397949,
                    "y": 1.117692232131958,
                    "z": -0.10049986839294434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.222860813140869,
                "transform": {
                    "location": {
                        "x": 1255.150146484375,
                        "y": 4098.82470703125,
                        "z": 364.2826843261719
                    },
                    "rotation": {
                        "roll": 0.006768965627998114,
                        "pitch": 1.0118719339370728,
                        "yaw": -170.51681518554688
                    }
                },
                "velocity": {
                    "x": -6.140285015106201,
                    "y": -1.0060955286026,
                    "z": 0.09312719106674194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.377594947814941,
                "transform": {
                    "location": {
                        "x": 1214.28515625,
                        "y": 4092.173583984375,
                        "z": 364.8767395019531
                    },
                    "rotation": {
                        "roll": -0.00030517892446368933,
                        "pitch": 0.7794201374053955,
                        "yaw": -170.7602996826172
                    }
                },
                "velocity": {
                    "x": -5.307294845581055,
                    "y": -0.8631835579872131,
                    "z": 0.07785718888044357
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.928061008453369,
                "transform": {
                    "location": {
                        "x": 1197.3299560546875,
                        "y": 4089.416259765625,
                        "z": 365.1252136230469
                    },
                    "rotation": {
                        "roll": 0.0005018669762648642,
                        "pitch": 0.8473532199859619,
                        "yaw": -170.75717163085938
                    }
                },
                "velocity": {
                    "x": -5.850627899169922,
                    "y": -0.9508387446403503,
                    "z": 0.08924346417188644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1242.8656005859375,
                        "y": 4096.97998046875,
                        "z": 264.4604187011719
                    },
                    "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": 0.11550969630479813,
        "expert_target_speed": 5.9836522994889565,
        "target_point": [
            32.64029114592451,
            0.4057727120615269
        ],
        "target_point_next": [
            83.63790789146175,
            0.8957937943624188
        ]
    },
    "120": {
        "acceleration": [
            -1.1337471008300781,
            -0.17623186111450195,
            0.015206485986709595
        ],
        "angular_velocity": [
            -0.07718092948198318,
            0.3766096830368042,
            0.8262737393379211
        ],
        "forward_vector": [
            -0.9883268475532532,
            -0.1516534835100174,
            0.014539206400513649
        ],
        "right_vector": [
            0.15167076885700226,
            -0.9884310960769653,
            8.734245056984946e-05
        ],
        "location": [
            1237.7784423828125,
            4096.19970703125,
            364.5357666015625
        ],
        "rotation": [
            -0.0050048828125,
            0.8330644965171814,
            -171.27630615234375
        ],
        "velocity": [
            -5.023366451263428,
            -0.7652568817138672,
            0.07411788403987885
        ],
        "speed": 5.081321540572822,
        "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": 58.852569580078125,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.713134765625,
                4086.6533203125,
                365.49041748046875
            ],
            "velocity": [
                -5.049826145172119,
                -0.8224368691444397,
                -1.3955641984939575
            ],
            "speed_kmh": 19.091796858408557,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.781654357910156,
                "transform": {
                    "location": {
                        "x": 1269.070556640625,
                        "y": 4101.1650390625,
                        "z": 364.0426025390625
                    },
                    "rotation": {
                        "roll": -0.0037536611780524254,
                        "pitch": 0.876306414604187,
                        "yaw": -170.3203887939453
                    }
                },
                "velocity": {
                    "x": -4.706491947174072,
                    "y": -0.8202089667320251,
                    "z": 0.2010253667831421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.646466255187988,
                "transform": {
                    "location": {
                        "x": 1180.9808349609375,
                        "y": 4089.955322265625,
                        "z": 365.3760070800781
                    },
                    "rotation": {
                        "roll": -0.0069274879060685635,
                        "pitch": -0.8686224222183228,
                        "yaw": 9.738836288452148
                    }
                },
                "velocity": {
                    "x": 7.537858486175537,
                    "y": 1.2787346839904785,
                    "z": -0.1182318776845932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.670305252075195,
                "transform": {
                    "location": {
                        "x": 1253.431396484375,
                        "y": 4098.54248046875,
                        "z": 364.3069152832031
                    },
                    "rotation": {
                        "roll": 0.003926909528672695,
                        "pitch": 1.2437022924423218,
                        "yaw": -170.5124053955078
                    }
                },
                "velocity": {
                    "x": -7.568022727966309,
                    "y": -1.2430860996246338,
                    "z": 0.11556289345026016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.303277015686035,
                "transform": {
                    "location": {
                        "x": 1179.713134765625,
                        "y": 4086.6533203125,
                        "z": 365.49041748046875
                    },
                    "rotation": {
                        "roll": -0.0005187922506593168,
                        "pitch": 0.9052731990814209,
                        "yaw": -170.75848388671875
                    }
                },
                "velocity": {
                    "x": -5.049826145172119,
                    "y": -0.8224368691444397,
                    "z": -1.3955641984939575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.4588623046875,
                        "y": 4084.01025390625,
                        "z": 365.81353759765625
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "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": 110573,
                "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": 0.12064944952726364,
        "expert_target_speed": 10.0,
        "target_point": [
            31.377469685070295,
            0.3843610790291532
        ],
        "target_point_next": [
            82.3754130481728,
            0.8391215869774733
        ]
    },
    "125": {
        "acceleration": [
            1.914834976196289,
            0.266338586807251,
            -0.04449695348739624
        ],
        "angular_velocity": [
            0.04371403530240059,
            -0.3580752909183502,
            -3.806504249572754
        ],
        "forward_vector": [
            -0.9885531067848206,
            -0.1501637101173401,
            0.014614776708185673
        ],
        "right_vector": [
            0.15018115937709808,
            -0.9886584877967834,
            9.799387044040486e-05
        ],
        "location": [
            1236.531982421875,
            4096.009765625,
            364.5541687011719
        ],
        "rotation": [
            -0.005615235306322575,
            0.8373948335647583,
            -171.36265563964844
        ],
        "velocity": [
            -4.931128978729248,
            -0.74859619140625,
            0.07232867926359177
        ],
        "speed": 4.987627618683185,
        "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": 58.02559280395508,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2833251953125,
                4086.58251953125,
                365.3832702636719
            ],
            "velocity": [
                0.0012295906199142337,
                0.0002206794306403026,
                0.0709335133433342
            ],
            "speed_kmh": 0.25540024636678654,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.812827110290527,
                "transform": {
                    "location": {
                        "x": 1267.943359375,
                        "y": 4100.96728515625,
                        "z": 364.0773010253906
                    },
                    "rotation": {
                        "roll": 0.003264368511736393,
                        "pitch": 0.8954719305038452,
                        "yaw": -170.14920043945312
                    }
                },
                "velocity": {
                    "x": -4.738997459411621,
                    "y": -0.8334935307502747,
                    "z": 0.10244403779506683
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.445819854736328,
                "transform": {
                    "location": {
                        "x": 1183.0081787109375,
                        "y": 4090.299072265625,
                        "z": 365.3441467285156
                    },
                    "rotation": {
                        "roll": -0.00497435312718153,
                        "pitch": -0.866204559803009,
                        "yaw": 9.597704887390137
                    }
                },
                "velocity": {
                    "x": 8.327418327331543,
                    "y": 1.4032012224197388,
                    "z": -0.13041476905345917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.288114547729492,
                "transform": {
                    "location": {
                        "x": 1251.5716552734375,
                        "y": 4098.23779296875,
                        "z": 364.3384704589844
                    },
                    "rotation": {
                        "roll": 0.003908701241016388,
                        "pitch": 0.8327161073684692,
                        "yaw": -170.43138122558594
                    }
                },
                "velocity": {
                    "x": -6.204984664916992,
                    "y": -1.0147346258163452,
                    "z": 0.09415960311889648
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.07094451040029526,
                "transform": {
                    "location": {
                        "x": 1179.2833251953125,
                        "y": 4086.58251953125,
                        "z": 365.3832702636719
                    },
                    "rotation": {
                        "roll": 0.0004589421732816845,
                        "pitch": 0.7458907961845398,
                        "yaw": -170.7052764892578
                    }
                },
                "velocity": {
                    "x": 0.0012295906199142337,
                    "y": 0.0002206794306403026,
                    "z": 0.0709335133433342
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.4588623046875,
                        "y": 4084.01025390625,
                        "z": 365.81353759765625
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "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": 110573,
                "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": 0.13956516981124878,
        "expert_target_speed": 10.0,
        "target_point": [
            30.11600585307295,
            0.4310606598039355
        ],
        "target_point_next": [
            81.11320583289239,
            0.9626889172398077
        ]
    },
    "130": {
        "acceleration": [
            1.32843017578125,
            0.17647266387939453,
            -0.020143091678619385
        ],
        "angular_velocity": [
            -0.015223837457597256,
            -0.3050183951854706,
            -3.2111318111419678
        ],
        "forward_vector": [
            -0.9886123538017273,
            -0.14975939691066742,
            0.014758050441741943
        ],
        "right_vector": [
            0.1497771143913269,
            -0.9887197613716125,
            9.639584459364414e-05
        ],
        "location": [
            1235.283203125,
            4095.82080078125,
            364.57244873046875
        ],
        "rotation": [
            -0.00552367651835084,
            0.8456047177314758,
            -171.38607788085938
        ],
        "velocity": [
            -4.952359676361084,
            -0.7489997744560242,
            0.07328056544065475
        ],
        "speed": 5.008679169819368,
        "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": 56.7631950378418,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2830810546875,
                4086.58203125,
                365.404052734375
            ],
            "velocity": [
                0.0009567081579007208,
                4.8788766434881836e-05,
                0.052972111850976944
            ],
            "speed_kmh": 0.1907307827020855,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.370840072631836,
                "transform": {
                    "location": {
                        "x": 1266.6517333984375,
                        "y": 4100.74658203125,
                        "z": 364.10101318359375
                    },
                    "rotation": {
                        "roll": 0.01287491712719202,
                        "pitch": 0.9505710601806641,
                        "yaw": -170.33705139160156
                    }
                },
                "velocity": {
                    "x": -5.294126510620117,
                    "y": -0.9004427194595337,
                    "z": 0.08573747426271439
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.991665840148926,
                "transform": {
                    "location": {
                        "x": 1185.0325927734375,
                        "y": 4090.638916015625,
                        "z": 365.31256103515625
                    },
                    "rotation": {
                        "roll": -0.002716057002544403,
                        "pitch": -0.8930676579475403,
                        "yaw": 9.49773120880127
                    }
                },
                "velocity": {
                    "x": 7.882516384124756,
                    "y": 1.3104647397994995,
                    "z": -0.12386628985404968
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.009452327154576778,
                "transform": {
                    "location": {
                        "x": 1250.87939453125,
                        "y": 4098.12841796875,
                        "z": 364.3600769042969
                    },
                    "rotation": {
                        "roll": -0.013031005859375,
                        "pitch": -0.5674998760223389,
                        "yaw": -170.194091796875
                    }
                },
                "velocity": {
                    "x": -0.007195205427706242,
                    "y": 0.006036821287125349,
                    "z": -0.0010640937834978104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.05298077315092087,
                "transform": {
                    "location": {
                        "x": 1179.2830810546875,
                        "y": 4086.58203125,
                        "z": 365.404052734375
                    },
                    "rotation": {
                        "roll": 0.0021699455101042986,
                        "pitch": 0.8637115359306335,
                        "yaw": -170.70516967773438
                    }
                },
                "velocity": {
                    "x": 0.0009567081579007208,
                    "y": 4.8788766434881836e-05,
                    "z": 0.052972111850976944
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.4588623046875,
                        "y": 4084.01025390625,
                        "z": 365.81353759765625
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "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": 110573,
                "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": 0.155351459980011,
        "expert_target_speed": 10.0,
        "target_point": [
            28.85283177673436,
            0.44357052564332466
        ],
        "target_point_next": [
            79.84981024884517,
            0.9960387155566011
        ]
    },
    "135": {
        "acceleration": [
            -1.3187408447265625,
            -0.1993262767791748,
            0.10612338781356812
        ],
        "angular_velocity": [
            0.012862139381468296,
            0.06374431401491165,
            -0.10755191743373871
        ],
        "forward_vector": [
            -0.9885926246643066,
            -0.14986950159072876,
            0.014958180487155914
        ],
        "right_vector": [
            0.14988777041435242,
            -0.9887030124664307,
            0.00010172125621465966
        ],
        "location": [
            1234.031982421875,
            4095.631591796875,
            364.59075927734375
        ],
        "rotation": [
            -0.005828850902616978,
            0.8570725917816162,
            -171.37966918945312
        ],
        "velocity": [
            -5.027525424957275,
            -0.7590882182121277,
            0.07367515563964844
        ],
        "speed": 5.084508513280344,
        "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": 55.498043060302734,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2828369140625,
                4086.58203125,
                365.4087829589844
            ],
            "velocity": [
                7.026374078122899e-05,
                2.3102164050214924e-05,
                0.002430838532745838
            ],
            "speed_kmh": 0.008755068755579519,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.55625581741333,
                "transform": {
                    "location": {
                        "x": 1265.2596435546875,
                        "y": 4100.509765625,
                        "z": 364.1231689453125
                    },
                    "rotation": {
                        "roll": 0.010046089068055153,
                        "pitch": 1.0506948232650757,
                        "yaw": -170.26268005371094
                    }
                },
                "velocity": {
                    "x": -6.462230682373047,
                    "y": -1.101736307144165,
                    "z": 0.10121575742959976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.008272171020508,
                "transform": {
                    "location": {
                        "x": 1186.988525390625,
                        "y": 4090.963623046875,
                        "z": 365.2818603515625
                    },
                    "rotation": {
                        "roll": -0.0016479468904435635,
                        "pitch": -0.886408269405365,
                        "yaw": 9.397485733032227
                    }
                },
                "velocity": {
                    "x": 7.900462627410889,
                    "y": 1.3039056062698364,
                    "z": -0.12222852557897568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6451968550682068,
                "transform": {
                    "location": {
                        "x": 1250.7861328125,
                        "y": 4098.11328125,
                        "z": 364.3526611328125
                    },
                    "rotation": {
                        "roll": 0.006486521568149328,
                        "pitch": 0.5161573886871338,
                        "yaw": -170.22642517089844
                    }
                },
                "velocity": {
                    "x": -0.6364384293556213,
                    "y": -0.10544618219137192,
                    "z": 0.010304383933544159
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0024319635704159737,
                "transform": {
                    "location": {
                        "x": 1179.2828369140625,
                        "y": 4086.58203125,
                        "z": 365.4087829589844
                    },
                    "rotation": {
                        "roll": 0.001946412492543459,
                        "pitch": 0.8916196823120117,
                        "yaw": -170.7051239013672
                    }
                },
                "velocity": {
                    "x": 7.026374078122899e-05,
                    "y": 2.3102164050214924e-05,
                    "z": 0.002430838532745838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.4588623046875,
                        "y": 4084.01025390625,
                        "z": 365.81353759765625
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "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": 110573,
                "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": 0.16690628230571747,
        "expert_target_speed": 10.0,
        "target_point": [
            27.587435502659375,
            0.4408064593742784
        ],
        "target_point_next": [
            78.58447556237289,
            0.9875600910723978
        ]
    },
    "140": {
        "acceleration": [
            -0.7626819610595703,
            -0.12757539749145508,
            0.011030882596969604
        ],
        "angular_velocity": [
            -0.06867389380931854,
            0.08025163412094116,
            0.010447200387716293
        ],
        "forward_vector": [
            -0.9885380864143372,
            -0.15022604167461395,
            0.014984523877501488
        ],
        "right_vector": [
            0.15024536848068237,
            -0.9886487722396851,
            0.00016616261564195156
        ],
        "location": [
            1232.7796630859375,
            4095.4423828125,
            364.6090087890625
        ],
        "rotation": [
            -0.009521485306322575,
            0.858582079410553,
            -171.35899353027344
        ],
        "velocity": [
            -5.0504279136657715,
            -0.7636024355888367,
            0.07453572750091553
        ],
        "speed": 5.107828383057872,
        "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": 54.23149871826172,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2828369140625,
                4086.58203125,
                365.40850830078125
            ],
            "velocity": [
                -3.8275120459729806e-06,
                -2.5939996703527868e-05,
                -0.0020017249044030905
            ],
            "speed_kmh": 0.007206827876074025,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.558631420135498,
                "transform": {
                    "location": {
                        "x": 1263.56494140625,
                        "y": 4100.22119140625,
                        "z": 364.1493225097656
                    },
                    "rotation": {
                        "roll": 0.00901811197400093,
                        "pitch": 0.9250329732894897,
                        "yaw": -170.32150268554688
                    }
                },
                "velocity": {
                    "x": -6.464996814727783,
                    "y": -1.0997120141983032,
                    "z": 0.10049556195735931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.181102752685547,
                "transform": {
                    "location": {
                        "x": 1188.998291015625,
                        "y": 4091.295166015625,
                        "z": 365.2506408691406
                    },
                    "rotation": {
                        "roll": -0.001190176815725863,
                        "pitch": -0.8674271702766418,
                        "yaw": 9.352354049682617
                    }
                },
                "velocity": {
                    "x": 8.071555137634277,
                    "y": 1.3285990953445435,
                    "z": -0.12353397160768509
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8144860863685608,
                "transform": {
                    "location": {
                        "x": 1250.583984375,
                        "y": 4098.080078125,
                        "z": 364.35089111328125
                    },
                    "rotation": {
                        "roll": 0.010304782539606094,
                        "pitch": 1.118149757385254,
                        "yaw": -170.281982421875
                    }
                },
                "velocity": {
                    "x": -0.8035458922386169,
                    "y": -0.13237076997756958,
                    "z": 0.013396129012107849
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.002001896733418107,
                "transform": {
                    "location": {
                        "x": 1179.2828369140625,
                        "y": 4086.58203125,
                        "z": 365.40850830078125
                    },
                    "rotation": {
                        "roll": 0.0019671590998768806,
                        "pitch": 0.8915582299232483,
                        "yaw": -170.70504760742188
                    }
                },
                "velocity": {
                    "x": -3.8275120459729806e-06,
                    "y": -2.5939996703527868e-05,
                    "z": -0.0020017249044030905
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.4588623046875,
                        "y": 4084.01025390625,
                        "z": 365.81353759765625
                    },
                    "rotation": {
                        "roll": -1.334195509627989e-08,
                        "pitch": 0.9261667728424072,
                        "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": 110573,
                "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": 0.18608558177947998,
        "expert_target_speed": 10.0,
        "target_point": [
            26.321061112849364,
            0.4319392470889576
        ],
        "target_point_next": [
            77.31829520952002,
            0.9602846598371091
        ]
    },
    "145": {
        "acceleration": [
            -1.6671180725097656,
            -0.26318907737731934,
            0.1386849582195282
        ],
        "angular_velocity": [
            0.044770579785108566,
            0.1311417520046234,
            -0.06795572489500046
        ],
        "forward_vector": [
            -0.9884635210037231,
            -0.15072759985923767,
            0.014865326695144176
        ],
        "right_vector": [
            0.15074723958969116,
            -0.9885722994804382,
            0.00020237777789589018
        ],
        "location": [
            1231.524658203125,
            4095.25244140625,
            364.6274108886719
        ],
        "rotation": [
            -0.011596674099564552,
            0.8517518639564514,
            -171.32994079589844
        ],
        "velocity": [
            -5.0569539070129395,
            -0.7676395177841187,
            0.07445743680000305
        ],
        "speed": 5.114885457849205,
        "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": 52.96219253540039,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2828369140625,
                4086.58203125,
                365.4084167480469
            ],
            "velocity": [
                2.4293809474329464e-05,
                1.6538239151486778e-06,
                -0.00019072425493504852
            ],
            "speed_kmh": 0.0006921805457376662,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0409231185913086,
                "transform": {
                    "location": {
                        "x": 1262.5321044921875,
                        "y": 4100.0458984375,
                        "z": 364.1640930175781
                    },
                    "rotation": {
                        "roll": 0.004828373435884714,
                        "pitch": 0.22171476483345032,
                        "yaw": -170.5622100830078
                    }
                },
                "velocity": {
                    "x": -1.0257341861724854,
                    "y": -0.1764078438282013,
                    "z": 0.01644963212311268
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.989416122436523,
                "transform": {
                    "location": {
                        "x": 1190.98876953125,
                        "y": 4091.621826171875,
                        "z": 365.22021484375
                    },
                    "rotation": {
                        "roll": -0.0001525762490928173,
                        "pitch": -0.869619607925415,
                        "yaw": 9.308136940002441
                    }
                },
                "velocity": {
                    "x": 7.883678913116455,
                    "y": 1.2897406816482544,
                    "z": -0.12224716693162918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.979417085647583,
                "transform": {
                    "location": {
                        "x": 1250.3902587890625,
                        "y": 4098.0478515625,
                        "z": 364.3555908203125
                    },
                    "rotation": {
                        "roll": 0.008147139102220535,
                        "pitch": 0.9116184711456299,
                        "yaw": -170.31861877441406
                    }
                },
                "velocity": {
                    "x": -0.9663872122764587,
                    "y": -0.15840189158916473,
                    "z": 0.016198158264160156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019227237498853356,
                "transform": {
                    "location": {
                        "x": 1179.2828369140625,
                        "y": 4086.58203125,
                        "z": 365.4084167480469
                    },
                    "rotation": {
                        "roll": 0.0023705954663455486,
                        "pitch": 0.8909912705421448,
                        "yaw": -170.70501708984375
                    }
                },
                "velocity": {
                    "x": 2.4293809474329464e-05,
                    "y": 1.6538239151486778e-06,
                    "z": -0.00019072425493504852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9192650318145752,
                "transform": {
                    "location": {
                        "x": 1163.4586181640625,
                        "y": 4084.01025390625,
                        "z": 365.7053527832031
                    },
                    "rotation": {
                        "roll": -0.00018310477025806904,
                        "pitch": 0.9218432903289795,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -0.014555479399859905,
                    "y": -0.002150079933926463,
                    "z": -0.9191473126411438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.19635498523712158,
        "expert_target_speed": 10.0,
        "target_point": [
            25.05198041221421,
            0.42001131778456724
        ],
        "target_point_next": [
            76.04947576424898,
            0.922507292884589
        ]
    },
    "150": {
        "acceleration": [
            0.7828044891357422,
            0.13161420822143555,
            -0.02495110034942627
        ],
        "angular_velocity": [
            0.045920971781015396,
            -0.31947454810142517,
            -0.12314049899578094
        ],
        "forward_vector": [
            -0.9885371327400208,
            -0.1502741277217865,
            0.014557800255715847
        ],
        "right_vector": [
            0.1502922773361206,
            -0.9886415600776672,
            0.0001539144286653027
        ],
        "location": [
            1230.268310546875,
            4095.061767578125,
            364.6457824707031
        ],
        "rotation": [
            -0.00881958194077015,
            0.8341299891471863,
            -171.35626220703125
        ],
        "velocity": [
            -4.971240043640137,
            -0.7530782222747803,
            0.07218971103429794
        ],
        "speed": 5.027957277101281,
        "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": 51.69145202636719,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2828369140625,
                4086.58203125,
                365.4084167480469
            ],
            "velocity": [
                1.4798044503550045e-05,
                1.4060362900636392e-06,
                -0.0007458659820258617
            ],
            "speed_kmh": 0.002685650723334189,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1152.8570556640625,
                        "y": 4085.326171875,
                        "z": 366.0705871582031
                    },
                    "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8023452758789062,
                "transform": {
                    "location": {
                        "x": 1262.4375,
                        "y": 4100.02978515625,
                        "z": 364.1662292480469
                    },
                    "rotation": {
                        "roll": 0.005688321776688099,
                        "pitch": 0.6577267050743103,
                        "yaw": -170.54635620117188
                    }
                },
                "velocity": {
                    "x": -0.7913320064544678,
                    "y": -0.13177846372127533,
                    "z": 0.013638476841151714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.110337257385254,
                "transform": {
                    "location": {
                        "x": 1192.972412109375,
                        "y": 4091.946044921875,
                        "z": 365.1896667480469
                    },
                    "rotation": {
                        "roll": -0.0005493127973750234,
                        "pitch": -0.8669422268867493,
                        "yaw": 9.280502319335938
                    }
                },
                "velocity": {
                    "x": 8.00340747833252,
                    "y": 1.3069016933441162,
                    "z": -0.1226736307144165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.051443099975586,
                "transform": {
                    "location": {
                        "x": 1250.0277099609375,
                        "y": 4097.98779296875,
                        "z": 364.360107421875
                    },
                    "rotation": {
                        "roll": 0.009803646244108677,
                        "pitch": 1.0366723537445068,
                        "yaw": -170.3715362548828
                    }
                },
                "velocity": {
                    "x": -2.024250030517578,
                    "y": -0.3315607011318207,
                    "z": 0.02996528521180153
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007460141205228865,
                "transform": {
                    "location": {
                        "x": 1179.2828369140625,
                        "y": 4086.58203125,
                        "z": 365.4084167480469
                    },
                    "rotation": {
                        "roll": 0.0023705954663455486,
                        "pitch": 0.8909912705421448,
                        "yaw": -170.70501708984375
                    }
                },
                "velocity": {
                    "x": 1.4798044503550045e-05,
                    "y": 1.4060362900636392e-06,
                    "z": -0.0007458659820258617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.006187895312905312,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6517028808594
                    },
                    "rotation": {
                        "roll": -9.154561848845333e-05,
                        "pitch": 0.9180935025215149,
                        "yaw": -170.7652587890625
                    }
                },
                "velocity": {
                    "x": 0.0001341637980658561,
                    "y": 1.7586275134817697e-05,
                    "z": 0.006186415906995535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.20904037356376648,
        "expert_target_speed": 10.0,
        "target_point": [
            23.7810505311759,
            0.4318235356172999
        ],
        "target_point_next": [
            74.77830976334192,
            0.9577372101474264
        ]
    },
    "155": {
        "acceleration": [
            1.0915756225585938,
            0.17049789428710938,
            -0.030697286128997803
        ],
        "angular_velocity": [
            0.07076048105955124,
            -0.4065709114074707,
            -0.10581441223621368
        ],
        "forward_vector": [
            -0.9886140823364258,
            -0.149763286113739,
            0.014600114896893501
        ],
        "right_vector": [
            0.14978130161762238,
            -0.9887191653251648,
            0.00014219759032130241
        ],
        "location": [
            1228.994873046875,
            4094.869384765625,
            364.6643371582031
        ],
        "rotation": [
            -0.008148190565407276,
            0.8365547060966492,
            -171.3858642578125
        ],
        "velocity": [
            -5.011700630187988,
            -0.756672203540802,
            0.07257690280675888
        ],
        "speed": 5.0685003729148495,
        "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": 50.41987228393555,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.2667236328125,
                4086.57958984375,
                365.4085998535156
            ],
            "velocity": [
                -0.19516898691654205,
                -0.032829366624355316,
                0.0037413500249385834
            ],
            "speed_kmh": 0.7126063233877824,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1154.8896484375,
                        "y": 4085.656494140625,
                        "z": 365.8121643066406
                    },
                    "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9256558418273926,
                "transform": {
                    "location": {
                        "x": 1262.0870361328125,
                        "y": 4099.9716796875,
                        "z": 364.1720886230469
                    },
                    "rotation": {
                        "roll": 0.003978617023676634,
                        "pitch": 0.960563600063324,
                        "yaw": -170.5650177001953
                    }
                },
                "velocity": {
                    "x": -1.899441123008728,
                    "y": -0.31526055932044983,
                    "z": 0.029740963131189346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.06779956817627,
                "transform": {
                    "location": {
                        "x": 1194.9715576171875,
                        "y": 4092.27294921875,
                        "z": 365.1590576171875
                    },
                    "rotation": {
                        "roll": -0.00036621742765419185,
                        "pitch": -0.8670651316642761,
                        "yaw": 9.272886276245117
                    }
                },
                "velocity": {
                    "x": 7.961589336395264,
                    "y": 1.2990086078643799,
                    "z": -0.12273387610912323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.615485429763794,
                "transform": {
                    "location": {
                        "x": 1249.3577880859375,
                        "y": 4097.876953125,
                        "z": 364.36871337890625
                    },
                    "rotation": {
                        "roll": 0.009908226318657398,
                        "pitch": 1.2139089107513428,
                        "yaw": -170.48658752441406
                    }
                },
                "velocity": {
                    "x": -3.567652463912964,
                    "y": -0.5836948752403259,
                    "z": 0.053770482540130615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1979461908340454,
                "transform": {
                    "location": {
                        "x": 1179.2667236328125,
                        "y": 4086.57958984375,
                        "z": 365.4085998535156
                    },
                    "rotation": {
                        "roll": 0.0014791765715926886,
                        "pitch": 0.8954582214355469,
                        "yaw": -170.6991729736328
                    }
                },
                "velocity": {
                    "x": -0.19516898691654205,
                    "y": -0.032829366624355316,
                    "z": 0.0037413500249385834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.010181997902691364,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.65478515625
                    },
                    "rotation": {
                        "roll": 0.0002152719971491024,
                        "pitch": 0.9185169339179993,
                        "yaw": -170.76516723632812
                    }
                },
                "velocity": {
                    "x": 0.00020036175556015223,
                    "y": -3.889554864144884e-05,
                    "z": 0.010179951786994934
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.22395305335521698,
        "expert_target_speed": 10.0,
        "target_point": [
            22.492936965976245,
            0.44462667682533663
        ],
        "target_point_next": [
            73.48991780855371,
            0.9968760114449022
        ]
    },
    "160": {
        "acceleration": [
            -0.54718017578125,
            -0.07048487663269043,
            0.007931441068649292
        ],
        "angular_velocity": [
            -0.009213864803314209,
            0.18462985754013062,
            -0.12792259454727173
        ],
        "forward_vector": [
            -0.9886974692344666,
            -0.1492445021867752,
            0.014259807765483856
        ],
        "right_vector": [
            0.14926116168498993,
            -0.9887977838516235,
            0.00010491790453670546
        ],
        "location": [
            1227.7493896484375,
            4094.681396484375,
            364.6824035644531
        ],
        "rotation": [
            -0.006011964287608862,
            0.8170545101165771,
            -171.4159698486328
        ],
        "velocity": [
            -4.98888635635376,
            -0.7504873275756836,
            0.07220504432916641
        ],
        "speed": 5.045019158086952,
        "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": 49.27751541137695,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1179.151123046875,
                4086.560302734375,
                365.4103088378906
            ],
            "velocity": [
                -0.7056561708450317,
                -0.12132159620523453,
                0.010870094411075115
            ],
            "speed_kmh": 2.577931118673487,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1156.945556640625,
                        "y": 4085.990966796875,
                        "z": 365.7725830078125
                    },
                    "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2966973781585693,
                "transform": {
                    "location": {
                        "x": 1261.5814208984375,
                        "y": 4099.88720703125,
                        "z": 364.17974853515625
                    },
                    "rotation": {
                        "roll": 0.003481123596429825,
                        "pitch": 0.8562666177749634,
                        "yaw": -170.56724548339844
                    }
                },
                "velocity": {
                    "x": -1.2790672779083252,
                    "y": -0.2121400088071823,
                    "z": 0.020188521593809128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.068763732910156,
                "transform": {
                    "location": {
                        "x": 1196.959716796875,
                        "y": 4092.59716796875,
                        "z": 365.1286315917969
                    },
                    "rotation": {
                        "roll": -0.0009155233856290579,
                        "pitch": -0.8662660121917725,
                        "yaw": 9.261390686035156
                    }
                },
                "velocity": {
                    "x": 7.962687969207764,
                    "y": 1.2984505891799927,
                    "z": -0.12073174118995667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.442873001098633,
                "transform": {
                    "location": {
                        "x": 1248.226318359375,
                        "y": 4097.69091796875,
                        "z": 364.3849182128906
                    },
                    "rotation": {
                        "roll": 0.00856059417128563,
                        "pitch": 1.328567385673523,
                        "yaw": -170.60830688476562
                    }
                },
                "velocity": {
                    "x": -5.37113618850708,
                    "y": -0.8769056797027588,
                    "z": 0.08244457095861435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7160919904708862,
                "transform": {
                    "location": {
                        "x": 1179.151123046875,
                        "y": 4086.560302734375,
                        "z": 365.4103088378906
                    },
                    "rotation": {
                        "roll": 0.0016934456070885062,
                        "pitch": 0.9074656963348389,
                        "yaw": -170.62103271484375
                    }
                },
                "velocity": {
                    "x": -0.7056561708450317,
                    "y": -0.12132159620523453,
                    "z": 0.010870094411075115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0041323015466332436,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.65643310546875
                    },
                    "rotation": {
                        "roll": -0.0004577615181915462,
                        "pitch": 0.9185784459114075,
                        "yaw": -170.76512145996094
                    }
                },
                "velocity": {
                    "x": 0.00010419412865303457,
                    "y": -2.6445555704412982e-05,
                    "z": 0.004130903165787458
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.24678844213485718,
        "expert_target_speed": 6.101831606146857,
        "target_point": [
            21.233109399049617,
            0.45647464405814375
        ],
        "target_point_next": [
            72.2297927318216,
            1.0355458337885288
        ]
    },
    "165": {
        "acceleration": [
            0.6144428253173828,
            0.09687542915344238,
            -0.0337451696395874
        ],
        "angular_velocity": [
            0.06643442064523697,
            -0.09782972931861877,
            -0.14569246768951416
        ],
        "forward_vector": [
            -0.9887654781341553,
            -0.14873448014259338,
            0.01486270409077406
        ],
        "right_vector": [
            0.14875240623950958,
            -0.9888744354248047,
            0.00010118901263922453
        ],
        "location": [
            1226.4918212890625,
            4094.492431640625,
            364.7005920410156
        ],
        "rotation": [
            -0.0057983435690402985,
            0.8516016006469727,
            -171.44544982910156
        ],
        "velocity": [
            -5.045085430145264,
            -0.7563583850860596,
            0.07161262631416321
        ],
        "speed": 5.101466946296331,
        "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": 48.25314712524414,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1178.907470703125,
                4086.518310546875,
                365.41412353515625
            ],
            "velocity": [
                -1.238865613937378,
                -0.21265876293182373,
                0.01919357292354107
            ],
            "speed_kmh": 4.525674178626045,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.222061157226562,
                "transform": {
                    "location": {
                        "x": 1158.9794921875,
                        "y": 4086.326904296875,
                        "z": 365.7335205078125
                    },
                    "rotation": {
                        "roll": -0.0816345140337944,
                        "pitch": -0.9873037934303284,
                        "yaw": 9.451414108276367
                    }
                },
                "velocity": {
                    "x": 8.099735260009766,
                    "y": 1.4045522212982178,
                    "z": -0.15432113409042358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8027231097221375,
                "transform": {
                    "location": {
                        "x": 1261.4876708984375,
                        "y": 4099.8720703125,
                        "z": 364.18121337890625
                    },
                    "rotation": {
                        "roll": 0.00410435302183032,
                        "pitch": 0.829396665096283,
                        "yaw": -170.55938720703125
                    }
                },
                "velocity": {
                    "x": -0.7918217778205872,
                    "y": -0.13128924369812012,
                    "z": 0.012072772718966007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07024097442627,
                "transform": {
                    "location": {
                        "x": 1198.951171875,
                        "y": 4092.921875,
                        "z": 365.0983581542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8494774103164673,
                        "yaw": 9.250962257385254
                    }
                },
                "velocity": {
                    "x": 7.964466571807861,
                    "y": 1.2968510389328003,
                    "z": -0.11934345215559006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.474656581878662,
                "transform": {
                    "location": {
                        "x": 1246.8299560546875,
                        "y": 4097.4638671875,
                        "z": 364.4078369140625
                    },
                    "rotation": {
                        "roll": 0.003768656635656953,
                        "pitch": 1.1097007989883423,
                        "yaw": -170.57525634765625
                    }
                },
                "velocity": {
                    "x": -6.389294147491455,
                    "y": -1.0434937477111816,
                    "z": 0.09604883193969727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2571316957473755,
                "transform": {
                    "location": {
                        "x": 1178.907470703125,
                        "y": 4086.518310546875,
                        "z": 365.41412353515625
                    },
                    "rotation": {
                        "roll": 0.0021288867574185133,
                        "pitch": 0.9111130237579346,
                        "yaw": -170.63902282714844
                    }
                },
                "velocity": {
                    "x": -1.238865613937378,
                    "y": -0.21265876293182373,
                    "z": 0.01919357292354107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001681767636910081,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.65673828125
                    },
                    "rotation": {
                        "roll": -0.0008239840972237289,
                        "pitch": 0.918824315071106,
                        "yaw": -170.76504516601562
                    }
                },
                "velocity": {
                    "x": 6.00227685936261e-05,
                    "y": 9.454488463234156e-06,
                    "z": 0.0016806696075946093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.25713345408439636,
        "expert_target_speed": 6.153068020106374,
        "target_point": [
            19.961185506050786,
            0.4676008916068808
        ],
        "target_point_next": [
            70.95756415262161,
            1.072910169063718
        ]
    },
    "170": {
        "acceleration": [
            -3.2877063751220703,
            -0.47388195991516113,
            0.06138801574707031
        ],
        "angular_velocity": [
            -0.1061212345957756,
            0.5513618588447571,
            -0.05896711349487305
        ],
        "forward_vector": [
            -0.9887688755989075,
            -0.14817552268505096,
            0.0194978266954422
        ],
        "right_vector": [
            0.14820607006549835,
            -0.9889565110206604,
            0.00012354692444205284
        ],
        "location": [
            1225.0926513671875,
            4094.282958984375,
            364.71978759765625
        ],
        "rotation": [
            -0.007080062758177519,
            1.1172139644622803,
            -171.47715759277344
        ],
        "velocity": [
            -6.090151309967041,
            -0.9094545245170593,
            0.08834581077098846
        ],
        "speed": 6.157682235261723,
        "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": 47.21223449707031,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1178.5391845703125,
                4086.454833984375,
                365.41998291015625
            ],
            "velocity": [
                -1.695481538772583,
                -0.29210901260375977,
                0.02660568244755268
            ],
            "speed_kmh": 6.194399380834538,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.052852630615234,
                "transform": {
                    "location": {
                        "x": 1160.9833984375,
                        "y": 4086.671875,
                        "z": 365.69744873046875
                    },
                    "rotation": {
                        "roll": -0.0408325269818306,
                        "pitch": -0.9577291011810303,
                        "yaw": 9.774685859680176
                    }
                },
                "velocity": {
                    "x": 7.934866905212402,
                    "y": 1.3666490316390991,
                    "z": -0.13638243079185486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6501749753952026,
                "transform": {
                    "location": {
                        "x": 1261.175537109375,
                        "y": 4099.8203125,
                        "z": 364.1861572265625
                    },
                    "rotation": {
                        "roll": 0.00239945063367486,
                        "pitch": 0.9742376208305359,
                        "yaw": -170.61105346679688
                    }
                },
                "velocity": {
                    "x": -1.6278458833694458,
                    "y": -0.26931291818618774,
                    "z": 0.02580144815146923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08542537689209,
                "transform": {
                    "location": {
                        "x": 1200.9449462890625,
                        "y": 4093.24609375,
                        "z": 365.0685119628906
                    },
                    "rotation": {
                        "roll": -0.00018311447638552636,
                        "pitch": -0.8481113910675049,
                        "yaw": 9.23906135559082
                    }
                },
                "velocity": {
                    "x": 7.979830265045166,
                    "y": 1.2970218658447266,
                    "z": -0.1189475730061531
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.533270359039307,
                "transform": {
                    "location": {
                        "x": 1245.047119140625,
                        "y": 4097.17138671875,
                        "z": 364.43408203125
                    },
                    "rotation": {
                        "roll": 0.0045878952369093895,
                        "pitch": 1.1577785015106201,
                        "yaw": -170.79086303710938
                    }
                },
                "velocity": {
                    "x": -7.434903621673584,
                    "y": -1.208275318145752,
                    "z": 0.11152967065572739
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.720666527748108,
                "transform": {
                    "location": {
                        "x": 1178.5391845703125,
                        "y": 4086.454833984375,
                        "z": 365.41998291015625
                    },
                    "rotation": {
                        "roll": 0.0002955563541036099,
                        "pitch": 0.9102728962898254,
                        "yaw": -170.62872314453125
                    }
                },
                "velocity": {
                    "x": -1.695481538772583,
                    "y": -0.29210901260375977,
                    "z": 0.02660568244755268
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000807003874797374,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6568298339844
                    },
                    "rotation": {
                        "roll": -0.0006713858456350863,
                        "pitch": 0.919008731842041,
                        "yaw": -170.76502990722656
                    }
                },
                "velocity": {
                    "x": 4.409685789141804e-05,
                    "y": 6.87634565110784e-06,
                    "z": 0.0008057688246481121
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.27876922488212585,
        "expert_target_speed": 7.086017947340072,
        "target_point": [
            18.546160498032705,
            0.47884482703480247
        ],
        "target_point_next": [
            69.54219652795872,
            1.1123616936509428
        ]
    },
    "175": {
        "acceleration": [
            -1.501321792602539,
            -0.21033406257629395,
            0.030501633882522583
        ],
        "angular_velocity": [
            0.03317851945757866,
            -0.2720046937465668,
            -0.14881356060504913
        ],
        "forward_vector": [
            -0.9888622164726257,
            -0.14755943417549133,
            0.019436921924352646
        ],
        "right_vector": [
            0.14758922159671783,
            -0.9890487194061279,
            9.905081242322922e-05
        ],
        "location": [
            1223.4962158203125,
            4094.044921875,
            364.7428894042969
        ],
        "rotation": [
            -0.0056762658059597015,
            1.1137237548828125,
            -171.5128631591797
        ],
        "velocity": [
            -6.61599063873291,
            -0.9842192530632019,
            0.09567233920097351
        ],
        "speed": 6.688798073637877,
        "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": 46.09462356567383,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1178.0499267578125,
                4086.37158203125,
                365.42767333984375
            ],
            "velocity": [
                -2.2034342288970947,
                -0.379978209733963,
                0.034109342843294144
            ],
            "speed_kmh": 8.050383467592983,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.268818855285645,
                "transform": {
                    "location": {
                        "x": 1162.9951171875,
                        "y": 4087.01806640625,
                        "z": 365.66363525390625
                    },
                    "rotation": {
                        "roll": -0.020416252315044403,
                        "pitch": -0.9262009263038635,
                        "yaw": 9.777572631835938
                    }
                },
                "velocity": {
                    "x": 8.147883415222168,
                    "y": 1.4026750326156616,
                    "z": -0.13365094363689423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8112924098968506,
                "transform": {
                    "location": {
                        "x": 1260.634521484375,
                        "y": 4099.73095703125,
                        "z": 364.1946716308594
                    },
                    "rotation": {
                        "roll": 0.0018863433506339788,
                        "pitch": 1.0400464534759521,
                        "yaw": -170.5951690673828
                    }
                },
                "velocity": {
                    "x": -2.7731029987335205,
                    "y": -0.4599510133266449,
                    "z": 0.04135079309344292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052999496459961,
                "transform": {
                    "location": {
                        "x": 1202.9349365234375,
                        "y": 4093.569580078125,
                        "z": 365.03863525390625
                    },
                    "rotation": {
                        "roll": 0.0004744300676975399,
                        "pitch": -0.8493613004684448,
                        "yaw": 9.231344223022461
                    }
                },
                "velocity": {
                    "x": 7.947944164276123,
                    "y": 1.2910243272781372,
                    "z": -0.11938907206058502
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.153480529785156,
                "transform": {
                    "location": {
                        "x": 1242.9674072265625,
                        "y": 4096.833984375,
                        "z": 364.46490478515625
                    },
                    "rotation": {
                        "roll": 0.0014829343417659402,
                        "pitch": 1.1837127208709717,
                        "yaw": -170.82186889648438
                    }
                },
                "velocity": {
                    "x": -9.03455638885498,
                    "y": -1.464508295059204,
                    "z": 0.13497294485569
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.236217737197876,
                "transform": {
                    "location": {
                        "x": 1178.0499267578125,
                        "y": 4086.37158203125,
                        "z": 365.42767333984375
                    },
                    "rotation": {
                        "roll": 0.002864567097276449,
                        "pitch": 0.9126771688461304,
                        "yaw": -170.5318145751953
                    }
                },
                "velocity": {
                    "x": -2.2034342288970947,
                    "y": -0.379978209733963,
                    "z": 0.034109342843294144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011290038237348199,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6568298339844
                    },
                    "rotation": {
                        "roll": -0.0006713858456350863,
                        "pitch": 0.919008731842041,
                        "yaw": -170.76502990722656
                    }
                },
                "velocity": {
                    "x": 4.1348634113091975e-05,
                    "y": 2.1588801246252842e-05,
                    "z": 0.001128039788454771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.2899225950241089,
        "expert_target_speed": 7.535587335191185,
        "target_point": [
            16.93177418017084,
            0.49058660125996134
        ],
        "target_point_next": [
            67.92740548212807,
            1.1558854067907518
        ]
    },
    "180": {
        "acceleration": [
            -1.777029037475586,
            -0.24222850799560547,
            0.01284480094909668
        ],
        "angular_velocity": [
            0.01339795533567667,
            -0.1785217821598053,
            -0.1632377803325653
        ],
        "forward_vector": [
            -0.988980770111084,
            -0.14689359068870544,
            0.018422991037368774
        ],
        "right_vector": [
            0.1469201296567917,
            -0.9891483783721924,
            8.840182999847457e-05
        ],
        "location": [
            1221.787841796875,
            4093.791259765625,
            364.7679138183594
        ],
        "rotation": [
            -0.005065911449491978,
            1.0556193590164185,
            -171.55160522460938
        ],
        "velocity": [
            -7.02820348739624,
            -1.040722370147705,
            0.10055182874202728
        ],
        "speed": 7.104839710505405,
        "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": 44.997676849365234,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1177.4290771484375,
                4086.26513671875,
                365.43743896484375
            ],
            "velocity": [
                -2.737643003463745,
                -0.4730432331562042,
                0.043227098882198334
            ],
            "speed_kmh": 10.002771963419404,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.100543975830078,
                "transform": {
                    "location": {
                        "x": 1165.0107421875,
                        "y": 4087.36376953125,
                        "z": 365.6307678222656
                    },
                    "rotation": {
                        "roll": 0.01126315537840128,
                        "pitch": -0.9272459149360657,
                        "yaw": 9.701167106628418
                    }
                },
                "velocity": {
                    "x": 7.986125469207764,
                    "y": 1.3504012823104858,
                    "z": -0.1305169016122818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.395426273345947,
                "transform": {
                    "location": {
                        "x": 1259.7305908203125,
                        "y": 4099.5810546875,
                        "z": 364.2086181640625
                    },
                    "rotation": {
                        "roll": 0.002242414280772209,
                        "pitch": 1.1066135168075562,
                        "yaw": -170.5945281982422
                    }
                },
                "velocity": {
                    "x": -4.335844993591309,
                    "y": -0.7182156443595886,
                    "z": 0.06625077873468399
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093472480773926,
                "transform": {
                    "location": {
                        "x": 1204.9276123046875,
                        "y": 4093.893310546875,
                        "z": 365.0086975097656
                    },
                    "rotation": {
                        "roll": 0.0004325372283346951,
                        "pitch": -0.8495388627052307,
                        "yaw": 9.231389045715332
                    }
                },
                "velocity": {
                    "x": 7.987750053405762,
                    "y": 1.2984113693237305,
                    "z": -0.11949161440134048
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.717561721801758,
                "transform": {
                    "location": {
                        "x": 1240.7381591796875,
                        "y": 4096.47216796875,
                        "z": 364.5008544921875
                    },
                    "rotation": {
                        "roll": -0.001007069367915392,
                        "pitch": 0.847175657749176,
                        "yaw": -170.7957763671875
                    }
                },
                "velocity": {
                    "x": -8.60420036315918,
                    "y": -1.395412564277649,
                    "z": 0.12821725010871887
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.778547763824463,
                "transform": {
                    "location": {
                        "x": 1177.4290771484375,
                        "y": 4086.26513671875,
                        "z": 365.43743896484375
                    },
                    "rotation": {
                        "roll": 0.004420450422912836,
                        "pitch": 0.9156209826469421,
                        "yaw": -170.4319305419922
                    }
                },
                "velocity": {
                    "x": -2.737643003463745,
                    "y": -0.4730432331562042,
                    "z": 0.043227098882198334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001017453265376389,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6568603515625
                    },
                    "rotation": {
                        "roll": -0.0006713857874274254,
                        "pitch": 0.9186398983001709,
                        "yaw": -170.76490783691406
                    }
                },
                "velocity": {
                    "x": 4.8661975597497076e-05,
                    "y": 6.569903234776575e-06,
                    "z": 0.0010162676917389035
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.2915385365486145,
        "expert_target_speed": 7.876626182249635,
        "target_point": [
            15.2043351656461,
            0.5021174380726454
        ],
        "target_point_next": [
            66.19950496522723,
            1.2018970445830366
        ]
    },
    "185": {
        "acceleration": [
            -0.25809288024902344,
            -0.18059730529785156,
            0.0029574334621429443
        ],
        "angular_velocity": [
            -0.057743389159440994,
            -0.38711896538734436,
            0.8668601512908936
        ],
        "forward_vector": [
            -0.9888332486152649,
            -0.14800268411636353,
            0.017435740679502487
        ],
        "right_vector": [
            0.14803485572338104,
            -0.9889819622039795,
            0.0005623741890303791
        ],
        "location": [
            1219.9932861328125,
            4093.52294921875,
            364.7940979003906
        ],
        "rotation": [
            -0.0322265699505806,
            0.9990448951721191,
            -171.4875030517578
        ],
        "velocity": [
            -7.276825428009033,
            -1.1044174432754517,
            0.1045759916305542
        ],
        "speed": 7.360158028108495,
        "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": 43.950218200683594,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1176.67333984375,
                4086.135498046875,
                365.44940185546875
            ],
            "velocity": [
                -3.3074471950531006,
                -0.572163999080658,
                0.052277736365795135
            ],
            "speed_kmh": 12.085126300916366,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.314990043640137,
                "transform": {
                    "location": {
                        "x": 1167.03515625,
                        "y": 4087.70458984375,
                        "z": 365.5979309082031
                    },
                    "rotation": {
                        "roll": 0.01774388551712036,
                        "pitch": -0.9083194732666016,
                        "yaw": 9.5352783203125
                    }
                },
                "velocity": {
                    "x": 8.200013160705566,
                    "y": 1.3717297315597534,
                    "z": -0.13114415109157562
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.345656394958496,
                "transform": {
                    "location": {
                        "x": 1258.48779296875,
                        "y": 4099.375,
                        "z": 364.22796630859375
                    },
                    "rotation": {
                        "roll": 0.002717929892241955,
                        "pitch": 1.0487550497055054,
                        "yaw": -170.5929718017578
                    }
                },
                "velocity": {
                    "x": -5.273166179656982,
                    "y": -0.8735561966896057,
                    "z": 0.0816270262002945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053311347961426,
                "transform": {
                    "location": {
                        "x": 1206.9193115234375,
                        "y": 4094.217041015625,
                        "z": 364.97900390625
                    },
                    "rotation": {
                        "roll": 0.00015949957014527172,
                        "pitch": -0.8443547487258911,
                        "yaw": 9.237083435058594
                    }
                },
                "velocity": {
                    "x": 7.948131084442139,
                    "y": 1.2918673753738403,
                    "z": -0.11881952732801437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.623590469360352,
                "transform": {
                    "location": {
                        "x": 1238.8712158203125,
                        "y": 4096.16943359375,
                        "z": 364.5329284667969
                    },
                    "rotation": {
                        "roll": -0.00015258934581652284,
                        "pitch": 0.3162650763988495,
                        "yaw": -170.78677368164062
                    }
                },
                "velocity": {
                    "x": -6.537347316741943,
                    "y": -1.0610766410827637,
                    "z": 0.0956772044301033
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3569796085357666,
                "transform": {
                    "location": {
                        "x": 1176.67333984375,
                        "y": 4086.135498046875,
                        "z": 365.44940185546875
                    },
                    "rotation": {
                        "roll": 0.005653838627040386,
                        "pitch": 0.9167752861976624,
                        "yaw": -170.34378051757812
                    }
                },
                "velocity": {
                    "x": -3.3074471950531006,
                    "y": -0.572163999080658,
                    "z": 0.052277736365795135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015387377934530377,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6568603515625
                    },
                    "rotation": {
                        "roll": -0.0006713857874274254,
                        "pitch": 0.9186398983001709,
                        "yaw": -170.76490783691406
                    }
                },
                "velocity": {
                    "x": 6.46838525426574e-05,
                    "y": 2.2466796508524567e-05,
                    "z": 0.0015372135676443577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.3045377731323242,
        "expert_target_speed": 8.081056721812173,
        "target_point": [
            13.39038452637118,
            0.4853931090903374
        ],
        "target_point_next": [
            64.386305233547,
            1.1281260343680746
        ]
    },
    "190": {
        "acceleration": [
            0.33901214599609375,
            -0.11736631393432617,
            0.00524178147315979
        ],
        "angular_velocity": [
            0.00020071350445505232,
            -0.3954402208328247,
            1.079896092414856
        ],
        "forward_vector": [
            -0.9882135391235352,
            -0.1522851288318634,
            0.015597902238368988
        ],
        "right_vector": [
            0.15231627225875854,
            -0.9883314371109009,
            0.0008222839678637683
        ],
        "location": [
            1218.1734619140625,
            4093.242919921875,
            364.82086181640625
        ],
        "rotation": [
            -0.047119140625,
            0.8937302231788635,
            -171.2395477294922
        ],
        "velocity": [
            -7.241691589355469,
            -1.1343357563018799,
            0.10558070987462997
        ],
        "speed": 7.329994180309197,
        "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": 43.04534149169922,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.750732421875,
                4085.9765625,
                365.4639892578125
            ],
            "velocity": [
                -4.073428630828857,
                -0.705767810344696,
                0.06485353410243988
            ],
            "speed_kmh": 14.884654833594535,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.146397590637207,
                "transform": {
                    "location": {
                        "x": 1169.0635986328125,
                        "y": 4088.04296875,
                        "z": 365.56549072265625
                    },
                    "rotation": {
                        "roll": 0.009815666824579239,
                        "pitch": -0.9101226329803467,
                        "yaw": 9.47517204284668
                    }
                },
                "velocity": {
                    "x": 8.034480094909668,
                    "y": 1.339608073234558,
                    "z": -0.12796840071678162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.85678243637085,
                "transform": {
                    "location": {
                        "x": 1257.13720703125,
                        "y": 4099.15283203125,
                        "z": 364.2484436035156
                    },
                    "rotation": {
                        "roll": 0.003329108003526926,
                        "pitch": 0.9506120085716248,
                        "yaw": -170.6331787109375
                    }
                },
                "velocity": {
                    "x": -5.778446674346924,
                    "y": -0.9505858421325684,
                    "z": 0.08852937817573547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089503288269043,
                "transform": {
                    "location": {
                        "x": 1208.910888671875,
                        "y": 4094.54052734375,
                        "z": 364.9494323730469
                    },
                    "rotation": {
                        "roll": -0.00036621387698687613,
                        "pitch": -0.8294922709465027,
                        "yaw": 9.2335786819458
                    }
                },
                "velocity": {
                    "x": 7.98367977142334,
                    "y": 1.2987232208251953,
                    "z": -0.11926906555891037
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.137731552124023,
                "transform": {
                    "location": {
                        "x": 1237.1849365234375,
                        "y": 4095.896240234375,
                        "z": 364.5538635253906
                    },
                    "rotation": {
                        "roll": -0.00018309839651919901,
                        "pitch": 0.7880876660346985,
                        "yaw": -170.7795867919922
                    }
                },
                "velocity": {
                    "x": -7.044761657714844,
                    "y": -1.1436009407043457,
                    "z": 0.10353240370750427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.134626388549805,
                "transform": {
                    "location": {
                        "x": 1175.750732421875,
                        "y": 4085.9765625,
                        "z": 365.4639892578125
                    },
                    "rotation": {
                        "roll": 0.007075570989400148,
                        "pitch": 0.9220003485679626,
                        "yaw": -170.27157592773438
                    }
                },
                "velocity": {
                    "x": -4.073428630828857,
                    "y": -0.705767810344696,
                    "z": 0.06485353410243988
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012509709922596812,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6568603515625
                    },
                    "rotation": {
                        "roll": -0.0019226052099838853,
                        "pitch": 0.9189677238464355,
                        "yaw": -170.76478576660156
                    }
                },
                "velocity": {
                    "x": 5.2988678362453356e-05,
                    "y": 3.0481609428534284e-05,
                    "z": 0.001249476452358067
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.3123355507850647,
        "expert_target_speed": 8.05875133633392,
        "target_point": [
            11.551116617749226,
            0.4278418393234811
        ],
        "target_point_next": [
            62.54934135254358,
            0.8498706122872726
        ]
    },
    "195": {
        "acceleration": [
            1.8121623992919922,
            0.15050649642944336,
            -0.01856192946434021
        ],
        "angular_velocity": [
            0.08930470049381256,
            -0.4552653729915619,
            1.239992380142212
        ],
        "forward_vector": [
            -0.9874173998832703,
            -0.15754647552967072,
            0.013636046089231968
        ],
        "right_vector": [
            0.15757428109645844,
            -0.9875066876411438,
            0.0009820823324844241
        ],
        "location": [
            1216.40283203125,
            4092.961181640625,
            364.8470153808594
        ],
        "rotation": [
            -0.0562744066119194,
            0.781312108039856,
            -170.93463134765625
        ],
        "velocity": [
            -6.916658401489258,
            -1.125059723854065,
            0.10213539004325867
        ],
        "speed": 7.007561831702273,
        "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": 42.39670944213867,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1174.623291015625,
                4085.781494140625,
                365.48187255859375
            ],
            "velocity": [
                -4.747990131378174,
                -0.8234476447105408,
                0.07536865025758743
            ],
            "speed_kmh": 17.350041827359505,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.346898078918457,
                "transform": {
                    "location": {
                        "x": 1171.098388671875,
                        "y": 4088.3798828125,
                        "z": 365.5330810546875
                    },
                    "rotation": {
                        "roll": 0.01528965774923563,
                        "pitch": -0.9064616560935974,
                        "yaw": 9.38494873046875
                    }
                },
                "velocity": {
                    "x": 8.23484992980957,
                    "y": 1.3567878007888794,
                    "z": -0.13067232072353363
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.795403480529785,
                "transform": {
                    "location": {
                        "x": 1255.38330078125,
                        "y": 4098.8642578125,
                        "z": 364.27545166015625
                    },
                    "rotation": {
                        "roll": 0.0026072622276842594,
                        "pitch": 1.1123030185699463,
                        "yaw": -170.6446533203125
                    }
                },
                "velocity": {
                    "x": -7.691289901733398,
                    "y": -1.2643765211105347,
                    "z": 0.11717494577169418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05652141571045,
                "transform": {
                    "location": {
                        "x": 1210.90283203125,
                        "y": 4094.8642578125,
                        "z": 364.9201354980469
                    },
                    "rotation": {
                        "roll": -0.0006103519117459655,
                        "pitch": -0.8288912177085876,
                        "yaw": 9.237070083618164
                    }
                },
                "velocity": {
                    "x": 7.951271057128906,
                    "y": 1.2928392887115479,
                    "z": -0.11575828492641449
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.289762496948242,
                "transform": {
                    "location": {
                        "x": 1235.2667236328125,
                        "y": 4095.583984375,
                        "z": 364.5791015625
                    },
                    "rotation": {
                        "roll": -0.0008239772287197411,
                        "pitch": 1.1721628904342651,
                        "yaw": -170.81036376953125
                    }
                },
                "velocity": {
                    "x": -8.181536674499512,
                    "y": -1.3297284841537476,
                    "z": 0.12012971937656403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.819456100463867,
                "transform": {
                    "location": {
                        "x": 1174.623291015625,
                        "y": 4085.781494140625,
                        "z": 365.48187255859375
                    },
                    "rotation": {
                        "roll": 0.007606623228639364,
                        "pitch": 0.923393726348877,
                        "yaw": -170.21585083007812
                    }
                },
                "velocity": {
                    "x": -4.747990131378174,
                    "y": -0.8234476447105408,
                    "z": 0.07536865025758743
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1163.457763671875,
                        "y": 4084.01025390625,
                        "z": 365.6568603515625
                    },
                    "rotation": {
                        "roll": -0.0019226052099838853,
                        "pitch": 0.9189677238464355,
                        "yaw": -170.76478576660156
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.31536316871643066,
        "expert_target_speed": 7.801257959168469,
        "target_point": [
            9.760325450269663,
            0.36712980943016693
        ],
        "target_point_next": [
            60.760073909587184,
            0.5177666978087991
        ]
    },
    "200": {
        "acceleration": [
            1.0997581481933594,
            0.012607574462890625,
            -0.028073936700820923
        ],
        "angular_velocity": [
            0.07365681231021881,
            -0.06196655333042145,
            1.2283573150634766
        ],
        "forward_vector": [
            -0.9865623712539673,
            -0.16290633380413055,
            0.012500197626650333
        ],
        "right_vector": [
            0.16293036937713623,
            -0.9866371154785156,
            0.000922979146707803
        ],
        "location": [
            1214.7205810546875,
            4092.68359375,
            364.87200927734375
        ],
        "rotation": [
            -0.052886947989463806,
            0.7162272334098816,
            -170.62362670898438
        ],
        "velocity": [
            -6.558526992797852,
            -1.1055408716201782,
            0.09711287915706635
        ],
        "speed": 6.651052317797593,
        "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": 41.74538040161133,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1173.5848388671875,
                4085.60302734375,
                365.4989013671875
            ],
            "velocity": [
                -3.492746591567993,
                -0.5898483991622925,
                0.0553329735994339
            ],
            "speed_kmh": 12.753485431768633,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.157597541809082,
                "transform": {
                    "location": {
                        "x": 1173.1328125,
                        "y": 4088.714599609375,
                        "z": 365.5007629394531
                    },
                    "rotation": {
                        "roll": 0.007989192381501198,
                        "pitch": -0.9123902916908264,
                        "yaw": 9.34254264831543
                    }
                },
                "velocity": {
                    "x": 8.048624038696289,
                    "y": 1.3227320909500122,
                    "z": -0.12816786766052246
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.88178825378418,
                "transform": {
                    "location": {
                        "x": 1253.3272705078125,
                        "y": 4098.52685546875,
                        "z": 364.30670166015625
                    },
                    "rotation": {
                        "roll": 0.002296201651915908,
                        "pitch": 1.057456612586975,
                        "yaw": -170.6884307861328
                    }
                },
                "velocity": {
                    "x": -8.763789176940918,
                    "y": -1.436858892440796,
                    "z": 0.1326896846294403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088976860046387,
                "transform": {
                    "location": {
                        "x": 1212.8946533203125,
                        "y": 4095.188232421875,
                        "z": 364.8910217285156
                    },
                    "rotation": {
                        "roll": -0.0007934523746371269,
                        "pitch": -0.8301069736480713,
                        "yaw": 9.241583824157715
                    }
                },
                "velocity": {
                    "x": 7.983141899108887,
                    "y": 1.299063801765442,
                    "z": -0.1158299669623375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.424887657165527,
                "transform": {
                    "location": {
                        "x": 1233.0714111328125,
                        "y": 4095.22705078125,
                        "z": 364.6115417480469
                    },
                    "rotation": {
                        "roll": -0.0005493178614415228,
                        "pitch": 1.1361404657363892,
                        "yaw": -170.8525390625
                    }
                },
                "velocity": {
                    "x": -9.302225112915039,
                    "y": -1.509520173072815,
                    "z": 0.1358681470155716
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5426347255706787,
                "transform": {
                    "location": {
                        "x": 1173.5848388671875,
                        "y": 4085.60302734375,
                        "z": 365.4989013671875
                    },
                    "rotation": {
                        "roll": 0.009715580381453037,
                        "pitch": 0.868998110294342,
                        "yaw": -170.2415771484375
                    }
                },
                "velocity": {
                    "x": -3.492746591567993,
                    "y": -0.5898483991622925,
                    "z": 0.0553329735994339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9373520016670227,
                "transform": {
                    "location": {
                        "x": 1163.385498046875,
                        "y": 4083.998046875,
                        "z": 365.65771484375
                    },
                    "rotation": {
                        "roll": -0.0014038109220564365,
                        "pitch": 0.9680904746055603,
                        "yaw": -170.7283935546875
                    }
                },
                "velocity": {
                    "x": -0.9233158826828003,
                    "y": -0.16085511445999146,
                    "z": 0.015561847016215324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.31107082962989807,
        "expert_target_speed": 7.500511020904163,
        "target_point": [
            8.057175019357514,
            0.31433429494070153
        ],
        "target_point_next": [
            59.05698978639554,
            0.18812766433009642
        ]
    },
    "205": {
        "acceleration": [
            1.6422748565673828,
            0.1708388328552246,
            -0.0032432377338409424
        ],
        "angular_velocity": [
            0.12844400107860565,
            -0.048449624329805374,
            1.1240383386611938
        ],
        "forward_vector": [
            -0.985713541507721,
            -0.16798798739910126,
            0.01220219861716032
        ],
        "right_vector": [
            0.16801001131534576,
            -0.9857850074768066,
            0.0007946277619339526
        ],
        "location": [
            1213.1292724609375,
            4092.412109375,
            364.8955383300781
        ],
        "rotation": [
            -0.04553220793604851,
            0.6991518139839172,
            -170.3284149169922
        ],
        "velocity": [
            -6.198270797729492,
            -1.0778001546859741,
            0.0919606164097786
        ],
        "speed": 6.291280796104026,
        "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": 40.84177780151367,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.884033203125,
                4085.484375,
                365.51019287109375
            ],
            "velocity": [
                -2.193039655685425,
                -0.36830654740333557,
                0.035585030913352966
            ],
            "speed_kmh": 8.00653187375631,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "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": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.350637435913086,
                "transform": {
                    "location": {
                        "x": 1175.169921875,
                        "y": 4089.048583984375,
                        "z": 365.4684143066406
                    },
                    "rotation": {
                        "roll": 0.008061721920967102,
                        "pitch": -0.9050819873809814,
                        "yaw": 9.312969207763672
                    }
                },
                "velocity": {
                    "x": 8.239934921264648,
                    "y": 1.348952293395996,
                    "z": -0.13017474114894867
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.539939880371094,
                "transform": {
                    "location": {
                        "x": 1251.0101318359375,
                        "y": 4098.14794921875,
                        "z": 364.3418273925781
                    },
                    "rotation": {
                        "roll": 0.00229918141849339,
                        "pitch": 0.9892367124557495,
                        "yaw": -170.6986846923828
                    }
                },
                "velocity": {
                    "x": -9.41385555267334,
                    "y": -1.5393694639205933,
                    "z": 0.14186137914657593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056212425231934,
                "transform": {
                    "location": {
                        "x": 1214.8863525390625,
                        "y": 4095.512451171875,
                        "z": 364.86181640625
                    },
                    "rotation": {
                        "roll": -0.0001220690828631632,
                        "pitch": -0.8298884034156799,
                        "yaw": 9.240528106689453
                    }
                },
                "velocity": {
                    "x": 7.950887680053711,
                    "y": 1.2932499647140503,
                    "z": -0.11600471287965775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.88414192199707,
                "transform": {
                    "location": {
                        "x": 1230.789306640625,
                        "y": 4094.857421875,
                        "z": 364.6476745605469
                    },
                    "rotation": {
                        "roll": -0.0008544806623831391,
                        "pitch": 0.7846999168395996,
                        "yaw": -170.79147338867188
                    }
                },
                "velocity": {
                    "x": -8.768258094787598,
                    "y": -1.4244880676269531,
                    "z": 0.12827420234680176
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.224036693572998,
                "transform": {
                    "location": {
                        "x": 1172.884033203125,
                        "y": 4085.484375,
                        "z": 365.51019287109375
                    },
                    "rotation": {
                        "roll": 0.007468823809176683,
                        "pitch": 0.8556587100028992,
                        "yaw": -170.3098907470703
                    }
                },
                "velocity": {
                    "x": -2.193039655685425,
                    "y": -0.36830654740333557,
                    "z": 0.035585030913352966
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.305828332901001,
                "transform": {
                    "location": {
                        "x": 1163.1033935546875,
                        "y": 4083.9501953125,
                        "z": 365.66265869140625
                    },
                    "rotation": {
                        "roll": 0.0020075226202607155,
                        "pitch": 0.9587945938110352,
                        "yaw": -170.6275634765625
                    }
                },
                "velocity": {
                    "x": -1.2873592376708984,
                    "y": -0.217904195189476,
                    "z": 0.020284395664930344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.30201852321624756,
        "expert_target_speed": 7.18897580313987,
        "target_point": [
            57.44287452121946,
            -0.11643375341232343
        ],
        "target_point_next": [
            94.4418570962088,
            -0.3985414953023092
        ]
    },
    "210": {
        "acceleration": [
            0.3424644470214844,
            -0.08738279342651367,
            -0.003982186317443848
        ],
        "angular_velocity": [
            0.011218194849789143,
            0.23956908285617828,
            1.1428927183151245
        ],
        "forward_vector": [
            -0.9848641753196716,
            -0.17286689579486847,
            0.012632748112082481
        ],
        "right_vector": [
            0.17288874089717865,
            -0.9849411249160767,
            0.0006508244550786912
        ],
        "location": [
            1211.60986328125,
            4092.14501953125,
            364.9177551269531
        ],
        "rotation": [
            -0.0372924730181694,
            0.7238224148750305,
            -170.04464721679688
        ],
        "velocity": [
            -5.984146595001221,
            -1.0730438232421875,
            0.08851566165685654
        ],
        "speed": 6.0795915584077616,
        "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": 39.42369079589844,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.76123046875,
                4085.46240234375,
                365.512451171875
            ],
            "velocity": [
                0.00014052822371013463,
                -6.804067379562184e-05,
                -0.0015678807394579053
            ],
            "speed_kmh": 0.005672288370344134,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "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": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15831470489502,
                "transform": {
                    "location": {
                        "x": 1177.205322265625,
                        "y": 4089.381103515625,
                        "z": 365.4362487792969
                    },
                    "rotation": {
                        "roll": 0.005420129746198654,
                        "pitch": -0.9131689071655273,
                        "yaw": 9.282444953918457
                    }
                },
                "velocity": {
                    "x": 8.050529479980469,
                    "y": 1.315597653388977,
                    "z": -0.12755988538265228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.020455360412598,
                "transform": {
                    "location": {
                        "x": 1248.751953125,
                        "y": 4097.77880859375,
                        "z": 364.3757019042969
                    },
                    "rotation": {
                        "roll": 0.0023128236643970013,
                        "pitch": 0.8329620361328125,
                        "yaw": -170.74130249023438
                    }
                },
                "velocity": {
                    "x": -8.901765823364258,
                    "y": -1.452224850654602,
                    "z": 0.135003924369812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088689804077148,
                "transform": {
                    "location": {
                        "x": 1216.8780517578125,
                        "y": 4095.836669921875,
                        "z": 364.8327331542969
                    },
                    "rotation": {
                        "roll": -0.000549313728697598,
                        "pitch": -0.8265075087547302,
                        "yaw": 9.239160537719727
                    }
                },
                "velocity": {
                    "x": 7.982938289642334,
                    "y": 1.2985328435897827,
                    "z": -0.11583510786294937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.382998466491699,
                "transform": {
                    "location": {
                        "x": 1228.799072265625,
                        "y": 4094.53564453125,
                        "z": 364.67987060546875
                    },
                    "rotation": {
                        "roll": 0.0029483006801456213,
                        "pitch": 0.38660916686058044,
                        "yaw": -170.6055145263672
                    }
                },
                "velocity": {
                    "x": -6.299774646759033,
                    "y": -1.0233134031295776,
                    "z": 0.0913216769695282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015756356297060847,
                "transform": {
                    "location": {
                        "x": 1172.76123046875,
                        "y": 4085.46240234375,
                        "z": 365.512451171875
                    },
                    "rotation": {
                        "roll": 0.004343410022556782,
                        "pitch": 0.8315481543540955,
                        "yaw": -170.46348571777344
                    }
                },
                "velocity": {
                    "x": 0.00014052822371013463,
                    "y": -6.804067379562184e-05,
                    "z": -0.0015678807394579053
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.925171136856079,
                "transform": {
                    "location": {
                        "x": 1162.7520751953125,
                        "y": 4083.89306640625,
                        "z": 365.66827392578125
                    },
                    "rotation": {
                        "roll": 0.007417699322104454,
                        "pitch": 0.9571348428726196,
                        "yaw": -170.29226684570312
                    }
                },
                "velocity": {
                    "x": -1.8987363576889038,
                    "y": -0.316459596157074,
                    "z": 0.03061647340655327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.25798606872558594,
        "expert_target_speed": 6.992148815473122,
        "target_point": [
            55.89888749739128,
            -0.40133196092332923
        ],
        "target_point_next": [
            92.89601900900585,
            -0.8666880339418892
        ]
    },
    "215": {
        "acceleration": [
            0.7644462585449219,
            0.07032394409179688,
            -0.0072796642780303955
        ],
        "angular_velocity": [
            0.05835798755288124,
            0.0910128653049469,
            0.8935468196868896
        ],
        "forward_vector": [
            -0.9840850830078125,
            -0.17719870805740356,
            0.01331540197134018
        ],
        "right_vector": [
            0.1772202104330063,
            -0.9841710925102234,
            0.00044364327914081514
        ],
        "location": [
            1210.1336669921875,
            4091.8779296875,
            364.9393005371094
        ],
        "rotation": [
            -0.025421142578125,
            0.762938916683197,
            -169.79244995117188
        ],
        "velocity": [
            -5.838249206542969,
            -1.0693154335021973,
            0.08685389906167984
        ],
        "speed": 5.935367662919088,
        "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": 37.92378234863281,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.7608642578125,
                4085.46240234375,
                365.5118408203125
            ],
            "velocity": [
                4.3126641685375944e-05,
                8.186586455849465e-06,
                -0.0016029777470976114
            ],
            "speed_kmh": 0.005772883250425082,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "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": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.350656509399414,
                "transform": {
                    "location": {
                        "x": 1179.24267578125,
                        "y": 4089.713623046875,
                        "z": 365.4041748046875
                    },
                    "rotation": {
                        "roll": 0.0028301274869590998,
                        "pitch": -0.8990440964698792,
                        "yaw": 9.276590347290039
                    }
                },
                "velocity": {
                    "x": 8.24044418334961,
                    "y": 1.345960021018982,
                    "z": -0.13012556731700897
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.833927154541016,
                "transform": {
                    "location": {
                        "x": 1246.510986328125,
                        "y": 4097.41357421875,
                        "z": 364.4094543457031
                    },
                    "rotation": {
                        "roll": 0.0022671541664749384,
                        "pitch": 0.8195338845252991,
                        "yaw": -170.72872924804688
                    }
                },
                "velocity": {
                    "x": -8.718032836914062,
                    "y": -1.4201924800872803,
                    "z": 0.1312255710363388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056358337402344,
                "transform": {
                    "location": {
                        "x": 1218.869873046875,
                        "y": 4096.16015625,
                        "z": 364.80364990234375
                    },
                    "rotation": {
                        "roll": 0.00018986403301823884,
                        "pitch": -0.8207018375396729,
                        "yaw": 9.234763145446777
                    }
                },
                "velocity": {
                    "x": 7.9512505531311035,
                    "y": 1.2919851541519165,
                    "z": -0.1153281107544899
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.114470958709717,
                "transform": {
                    "location": {
                        "x": 1227.7239990234375,
                        "y": 4094.365234375,
                        "z": 364.6978759765625
                    },
                    "rotation": {
                        "roll": 0.0018078474095091224,
                        "pitch": 0.05338475480675697,
                        "yaw": -170.23487854003906
                    }
                },
                "velocity": {
                    "x": -4.06018590927124,
                    "y": -0.6636138558387756,
                    "z": 0.05812223255634308
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001603578682988882,
                "transform": {
                    "location": {
                        "x": 1172.7608642578125,
                        "y": 4085.46240234375,
                        "z": 365.5118408203125
                    },
                    "rotation": {
                        "roll": 0.004420495126396418,
                        "pitch": 0.8920499682426453,
                        "yaw": -170.4634246826172
                    }
                },
                "velocity": {
                    "x": 4.3126641685375944e-05,
                    "y": 8.186586455849465e-06,
                    "z": -0.0016029777470976114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1657278537750244,
                "transform": {
                    "location": {
                        "x": 1162.1221923828125,
                        "y": 4083.78466796875,
                        "z": 365.6781921386719
                    },
                    "rotation": {
                        "roll": 0.007000132463872433,
                        "pitch": 0.9954317212104797,
                        "yaw": -170.21240234375
                    }
                },
                "velocity": {
                    "x": -3.117896318435669,
                    "y": -0.5458799004554749,
                    "z": 0.0506925955414772
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.22543294727802277,
        "expert_target_speed": 6.8739703253045885,
        "target_point": [
            54.396416142552205,
            -0.6486095856841221
        ],
        "target_point_next": [
            91.39114120422576,
            -1.2767926589858831
        ]
    },
    "220": {
        "acceleration": [
            -0.072784423828125,
            -0.07555246353149414,
            0.012644976377487183
        ],
        "angular_velocity": [
            0.009064736776053905,
            0.2030482143163681,
            0.687847912311554
        ],
        "forward_vector": [
            -0.9834613800048828,
            -0.18058322370052338,
            0.013911035843193531
        ],
        "right_vector": [
            0.18060357868671417,
            -0.9835559725761414,
            0.00021143455523997545
        ],
        "location": [
            1208.68212890625,
            4091.610595703125,
            364.9606628417969
        ],
        "rotation": [
            -0.01211548037827015,
            0.7970693707466125,
            -169.59524536132812
        ],
        "velocity": [
            -5.7768120765686035,
            -1.0750292539596558,
            0.08648071438074112
        ],
        "speed": 5.875988909524755,
        "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": 36.45104217529297,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.7576904296875,
                4085.461669921875,
                365.51177978515625
            ],
            "velocity": [
                -0.007594624534249306,
                -0.0013687039026990533,
                0.0007224464206956327
            ],
            "speed_kmh": 0.027902578182357682,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03498649597168,
                "transform": {
                    "location": {
                        "x": 1140.4149169921875,
                        "y": 4083.3037109375,
                        "z": 366.05267333984375
                    },
                    "rotation": {
                        "roll": -0.006744381505995989,
                        "pitch": -0.9786977767944336,
                        "yaw": 9.277600288391113
                    }
                },
                "velocity": {
                    "x": 7.921092987060547,
                    "y": 1.3332449197769165,
                    "z": -0.19939078390598297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.158574104309082,
                "transform": {
                    "location": {
                        "x": 1181.278076171875,
                        "y": 4090.045654296875,
                        "z": 365.37225341796875
                    },
                    "rotation": {
                        "roll": 0.0011941310949623585,
                        "pitch": -0.9041393995285034,
                        "yaw": 9.271257400512695
                    }
                },
                "velocity": {
                    "x": 8.051203727722168,
                    "y": 1.3131405115127563,
                    "z": -0.12690024077892303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.48150634765625,
                "transform": {
                    "location": {
                        "x": 1244.4993896484375,
                        "y": 4097.0859375,
                        "z": 364.439453125
                    },
                    "rotation": {
                        "roll": 0.0007708953926339746,
                        "pitch": 0.6816664934158325,
                        "yaw": -170.77528381347656
                    }
                },
                "velocity": {
                    "x": -7.383556842803955,
                    "y": -1.2016085386276245,
                    "z": 0.11030023545026779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088714599609375,
                "transform": {
                    "location": {
                        "x": 1220.8616943359375,
                        "y": 4096.48388671875,
                        "z": 364.7748107910156
                    },
                    "rotation": {
                        "roll": -0.0002746565151028335,
                        "pitch": -0.8211116194725037,
                        "yaw": 9.235424041748047
                    }
                },
                "velocity": {
                    "x": 7.983020305633545,
                    "y": 1.2981517314910889,
                    "z": -0.11614298820495605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.557074546813965,
                "transform": {
                    "location": {
                        "x": 1226.641845703125,
                        "y": 4094.186279296875,
                        "z": 364.7066345214844
                    },
                    "rotation": {
                        "roll": 0.00166196352802217,
                        "pitch": 0.9321773648262024,
                        "yaw": -170.42933654785156
                    }
                },
                "velocity": {
                    "x": -4.49650239944458,
                    "y": -0.7376305460929871,
                    "z": 0.065553680062294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.007750716060400009,
                "transform": {
                    "location": {
                        "x": 1172.7576904296875,
                        "y": 4085.461669921875,
                        "z": 365.51177978515625
                    },
                    "rotation": {
                        "roll": 0.004255110863596201,
                        "pitch": 0.8989143371582031,
                        "yaw": -170.46766662597656
                    }
                },
                "velocity": {
                    "x": -0.007594624534249306,
                    "y": -0.0013687039026990533,
                    "z": 0.0007224464206956327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5180561542510986,
                "transform": {
                    "location": {
                        "x": 1161.414306640625,
                        "y": 4083.654541015625,
                        "z": 365.69097900390625
                    },
                    "rotation": {
                        "roll": -0.00024414461222477257,
                        "pitch": 0.8264665007591248,
                        "yaw": -170.8562774658203
                    }
                },
                "velocity": {
                    "x": -1.4945002794265747,
                    "y": -0.2651573121547699,
                    "z": 0.025594091042876244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.19975297152996063,
        "expert_target_speed": 6.81713377943552,
        "target_point": [
            52.91791074268443,
            -0.8366426314518645
        ],
        "target_point_next": [
            89.91025424054793,
            -1.592168209097352
        ]
    },
    "225": {
        "acceleration": [
            0.9930610656738281,
            0.20838260650634766,
            -0.014096200466156006
        ],
        "angular_velocity": [
            0.1262388527393341,
            -0.0729508176445961,
            0.21586039662361145
        ],
        "forward_vector": [
            -0.983083963394165,
            -0.18260517716407776,
            0.014184713363647461
        ],
        "right_vector": [
            0.1826220601797104,
            -0.9831832051277161,
            -0.00010727217159001157
        ],
        "location": [
            1207.251708984375,
            4091.34423828125,
            364.98193359375
        ],
        "rotation": [
            0.006146861240267754,
            0.8127514719963074,
            -169.47738647460938
        ],
        "velocity": [
            -5.6517815589904785,
            -1.0545368194580078,
            0.08357356488704681
        ],
        "speed": 5.749320194087076,
        "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": 35.07186508178711,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.6829833984375,
                4085.44873046875,
                365.51287841796875
            ],
            "velocity": [
                -0.5052323937416077,
                -0.08442120254039764,
                0.007026891689747572
            ],
            "speed_kmh": 1.8442265871553183,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.114508628845215,
                "transform": {
                    "location": {
                        "x": 1142.404541015625,
                        "y": 4083.6435546875,
                        "z": 366.0040283203125
                    },
                    "rotation": {
                        "roll": -0.016876228153705597,
                        "pitch": -0.9726803302764893,
                        "yaw": 9.717958450317383
                    }
                },
                "velocity": {
                    "x": 7.992382049560547,
                    "y": 1.392269253730774,
                    "z": -0.16930171847343445
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.350382804870605,
                "transform": {
                    "location": {
                        "x": 1183.3155517578125,
                        "y": 4090.377685546875,
                        "z": 365.3403015136719
                    },
                    "rotation": {
                        "roll": -9.154509461950511e-05,
                        "pitch": -0.8974663019180298,
                        "yaw": 9.258927345275879
                    }
                },
                "velocity": {
                    "x": 8.24061107635498,
                    "y": 1.3432433605194092,
                    "z": -0.13007105886936188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.285085678100586,
                "transform": {
                    "location": {
                        "x": 1242.8778076171875,
                        "y": 4096.822265625,
                        "z": 364.46337890625
                    },
                    "rotation": {
                        "roll": -0.0008544934680685401,
                        "pitch": 0.5272222757339478,
                        "yaw": -170.75006103515625
                    }
                },
                "velocity": {
                    "x": -5.215899467468262,
                    "y": -0.8488191962242126,
                    "z": 0.07766298204660416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056079864501953,
                "transform": {
                    "location": {
                        "x": 1222.853271484375,
                        "y": 4096.806640625,
                        "z": 364.7458801269531
                    },
                    "rotation": {
                        "roll": -0.0002746565151028335,
                        "pitch": -0.8210433125495911,
                        "yaw": 9.23326301574707
                    }
                },
                "velocity": {
                    "x": 7.9508891105651855,
                    "y": 1.2925046682357788,
                    "z": -0.11493730545043945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.969371795654297,
                "transform": {
                    "location": {
                        "x": 1225.4644775390625,
                        "y": 4093.9921875,
                        "z": 364.7230529785156
                    },
                    "rotation": {
                        "roll": 0.006944648455828428,
                        "pitch": 1.0293503999710083,
                        "yaw": -170.5679931640625
                    }
                },
                "velocity": {
                    "x": -4.903797626495361,
                    "y": -0.801552414894104,
                    "z": 0.07027431577444077
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5122851729393005,
                "transform": {
                    "location": {
                        "x": 1172.6829833984375,
                        "y": 4085.44873046875,
                        "z": 365.51287841796875
                    },
                    "rotation": {
                        "roll": 0.0042688436806201935,
                        "pitch": 0.913947582244873,
                        "yaw": -170.47679138183594
                    }
                },
                "velocity": {
                    "x": -0.5052323937416077,
                    "y": -0.08442120254039764,
                    "z": 0.007026891689747572
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3647406101226807,
                "transform": {
                    "location": {
                        "x": 1160.7877197265625,
                        "y": 4083.54736328125,
                        "z": 365.70013427734375
                    },
                    "rotation": {
                        "roll": 0.0011508541647344828,
                        "pitch": 0.9775707721710205,
                        "yaw": -170.58204650878906
                    }
                },
                "velocity": {
                    "x": -3.3134281635284424,
                    "y": -0.5828256607055664,
                    "z": 0.0546598881483078
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.1556415557861328,
        "expert_target_speed": 6.702802536476319,
        "target_point": [
            51.46107063280288,
            -0.9461219373902843
        ],
        "target_point_next": [
            88.45178208752401,
            -1.7777242678125624
        ]
    },
    "230": {
        "acceleration": [
            0.6454277038574219,
            0.15429019927978516,
            0.007251352071762085
        ],
        "angular_velocity": [
            0.05489641800522804,
            -0.06974891573190689,
            -0.25062131881713867
        ],
        "forward_vector": [
            -0.9831639528274536,
            -0.18220272660255432,
            0.013815440237522125
        ],
        "right_vector": [
            0.18221434950828552,
            -0.9832587242126465,
            -0.00042356425547041
        ],
        "location": [
            1205.861572265625,
            4091.08642578125,
            365.0027160644531
        ],
        "rotation": [
            0.024270759895443916,
            0.7915915846824646,
            -169.5009002685547
        ],
        "velocity": [
            -5.45758056640625,
            -1.0070875883102417,
            0.08385225385427475
        ],
        "speed": 5.549721709179993,
        "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": 33.85893249511719,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.48486328125,
                4085.41552734375,
                365.5160217285156
            ],
            "velocity": [
                -1.0662975311279297,
                -0.1795727163553238,
                0.015550164505839348
            ],
            "speed_kmh": 3.8931276070564644,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076290130615234,
                "transform": {
                    "location": {
                        "x": 1144.3980712890625,
                        "y": 4083.990478515625,
                        "z": 365.96612548828125
                    },
                    "rotation": {
                        "roll": -0.014099115505814552,
                        "pitch": -0.9584052562713623,
                        "yaw": 9.902168273925781
                    }
                },
                "velocity": {
                    "x": 7.953989028930664,
                    "y": 1.3930870294570923,
                    "z": -0.14082281291484833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.158465385437012,
                "transform": {
                    "location": {
                        "x": 1185.35107421875,
                        "y": 4090.709716796875,
                        "z": 365.3083801269531
                    },
                    "rotation": {
                        "roll": 9.467395284445956e-05,
                        "pitch": -0.9048770666122437,
                        "yaw": 9.254377365112305
                    }
                },
                "velocity": {
                    "x": 8.051313400268555,
                    "y": 1.3117954730987549,
                    "z": -0.12690387666225433
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.231986045837402,
                "transform": {
                    "location": {
                        "x": 1241.64990234375,
                        "y": 4096.62353515625,
                        "z": 364.4820251464844
                    },
                    "rotation": {
                        "roll": -0.002349856309592724,
                        "pitch": 0.7563751339912415,
                        "yaw": -170.87283325195312
                    }
                },
                "velocity": {
                    "x": -5.16414213180542,
                    "y": -0.8359792828559875,
                    "z": 0.08031894266605377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089232444763184,
                "transform": {
                    "location": {
                        "x": 1224.8453369140625,
                        "y": 4097.130859375,
                        "z": 364.71697998046875
                    },
                    "rotation": {
                        "roll": -9.154994040727615e-05,
                        "pitch": -0.8210774660110474,
                        "yaw": 9.238625526428223
                    }
                },
                "velocity": {
                    "x": 7.983461856842041,
                    "y": 1.298707127571106,
                    "z": -0.11563731729984283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.057779788970947,
                "transform": {
                    "location": {
                        "x": 1224.223876953125,
                        "y": 4093.7890625,
                        "z": 364.74261474609375
                    },
                    "rotation": {
                        "roll": 0.0032062132377177477,
                        "pitch": 0.8586298823356628,
                        "yaw": -170.65402221679688
                    }
                },
                "velocity": {
                    "x": -4.991372108459473,
                    "y": -0.8136653900146484,
                    "z": 0.07272788882255554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.081424355506897,
                "transform": {
                    "location": {
                        "x": 1172.48486328125,
                        "y": 4085.41552734375,
                        "z": 365.5160217285156
                    },
                    "rotation": {
                        "roll": 0.0036418111994862556,
                        "pitch": 0.9174924492835999,
                        "yaw": -170.48110961914062
                    }
                },
                "velocity": {
                    "x": -1.0662975311279297,
                    "y": -0.1795727163553238,
                    "z": 0.015550164505839348
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.237002849578857,
                "transform": {
                    "location": {
                        "x": 1159.842529296875,
                        "y": 4083.38330078125,
                        "z": 365.7155456542969
                    },
                    "rotation": {
                        "roll": 0.004252178128808737,
                        "pitch": 0.998566746711731,
                        "yaw": -170.47341918945312
                    }
                },
                "velocity": {
                    "x": -4.1737799644470215,
                    "y": -0.7260932922363281,
                    "z": 0.06740941852331161
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.13109546899795532,
        "expert_target_speed": 6.5237993283914175,
        "target_point": [
            50.047612946887796,
            -0.9252041652707774
        ],
        "target_point_next": [
            87.03866231476448,
            -1.741637276866987
        ]
    },
    "235": {
        "acceleration": [
            1.3683605194091797,
            0.26804327964782715,
            -0.03328785300254822
        ],
        "angular_velocity": [
            0.020357703790068626,
            -0.0923297181725502,
            -0.2318664789199829
        ],
        "forward_vector": [
            -0.9833673238754272,
            -0.18117119371891022,
            0.012872458435595036
        ],
        "right_vector": [
            0.18118028342723846,
            -0.9834497570991516,
            -0.000466425932245329
        ],
        "location": [
            1204.5457763671875,
            4090.84423828125,
            365.02288818359375
        ],
        "rotation": [
            0.026726454496383667,
            0.7375579476356506,
            -169.56114196777344
        ],
        "velocity": [
            -5.10133695602417,
            -0.9355621337890625,
            0.07717446982860565
        ],
        "speed": 5.186416416474663,
        "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": 32.848968505859375,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.1614990234375,
                4085.361083984375,
                365.5211181640625
            ],
            "velocity": [
                -1.4974533319473267,
                -0.2510438859462738,
                0.02346833236515522
            ],
            "speed_kmh": 5.466716197631888,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.157214164733887,
                "transform": {
                    "location": {
                        "x": 1146.3983154296875,
                        "y": 4084.33251953125,
                        "z": 365.9315490722656
                    },
                    "rotation": {
                        "roll": -0.0029907207936048508,
                        "pitch": -0.9588287472724915,
                        "yaw": 9.692178726196289
                    }
                },
                "velocity": {
                    "x": 8.042183876037598,
                    "y": 1.358119010925293,
                    "z": -0.13759084045886993
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.35037899017334,
                "transform": {
                    "location": {
                        "x": 1187.3885498046875,
                        "y": 4091.041748046875,
                        "z": 365.2765197753906
                    },
                    "rotation": {
                        "roll": 0.000655757961794734,
                        "pitch": -0.8939487934112549,
                        "yaw": 9.249672889709473
                    }
                },
                "velocity": {
                    "x": 8.240822792053223,
                    "y": 1.3420627117156982,
                    "z": -0.12858366966247559
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3856048583984375,
                "transform": {
                    "location": {
                        "x": 1240.345458984375,
                        "y": 4096.41259765625,
                        "z": 364.5015563964844
                    },
                    "rotation": {
                        "roll": -0.0018920953152701259,
                        "pitch": 0.8595656156539917,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -5.3154497146606445,
                    "y": -0.8628023862838745,
                    "z": 0.07941056787967682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056193351745605,
                "transform": {
                    "location": {
                        "x": 1226.8367919921875,
                        "y": 4097.455078125,
                        "z": 364.6881103515625
                    },
                    "rotation": {
                        "roll": 0.000614620337728411,
                        "pitch": -0.8230240941047668,
                        "yaw": 9.240705490112305
                    }
                },
                "velocity": {
                    "x": 7.95072078704834,
                    "y": 1.2942276000976562,
                    "z": -0.11519980430603027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.806451320648193,
                "transform": {
                    "location": {
                        "x": 1222.902587890625,
                        "y": 4093.573974609375,
                        "z": 364.76104736328125
                    },
                    "rotation": {
                        "roll": 0.002569877076894045,
                        "pitch": 0.9394310116767883,
                        "yaw": -170.6012420654297
                    }
                },
                "velocity": {
                    "x": -5.73000955581665,
                    "y": -0.935434103012085,
                    "z": 0.08263450115919113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5185322761535645,
                "transform": {
                    "location": {
                        "x": 1172.1614990234375,
                        "y": 4085.361083984375,
                        "z": 365.5211181640625
                    },
                    "rotation": {
                        "roll": 0.003212141804397106,
                        "pitch": 0.9178817272186279,
                        "yaw": -170.50392150878906
                    }
                },
                "velocity": {
                    "x": -1.4974533319473267,
                    "y": -0.2510438859462738,
                    "z": 0.02346833236515522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8237810134887695,
                "transform": {
                    "location": {
                        "x": 1159.215576171875,
                        "y": 4083.276123046875,
                        "z": 365.72698974609375
                    },
                    "rotation": {
                        "roll": 0.008653108961880207,
                        "pitch": 0.8326410055160522,
                        "yaw": -170.33038330078125
                    }
                },
                "velocity": {
                    "x": -1.7980691194534302,
                    "y": -0.3036343455314636,
                    "z": 0.030511273071169853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.10287178307771683,
        "expert_target_speed": 6.1957448062657745,
        "target_point": [
            48.71065912391101,
            -0.8723574470799154
        ],
        "target_point_next": [
            85.70254646384048,
            -1.6498967659350097
        ]
    },
    "240": {
        "acceleration": [
            3.9093780517578125,
            0.7343637943267822,
            -0.04068523645401001
        ],
        "angular_velocity": [
            0.1569855511188507,
            -0.8633888959884644,
            -0.19843606650829315
        ],
        "forward_vector": [
            -0.9835696816444397,
            -0.1802278757095337,
            0.010423352010548115
        ],
        "right_vector": [
            0.18023285269737244,
            -0.9836238622665405,
            -0.0004681029822677374
        ],
        "location": [
            1203.348876953125,
            4090.62548828125,
            365.0411376953125
        ],
        "rotation": [
            0.026821782812476158,
            0.5972248911857605,
            -169.61639404296875
        ],
        "velocity": [
            -4.2816996574401855,
            -0.7798013091087341,
            0.0639476403594017
        ],
        "speed": 4.352130746911344,
        "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": 32.079227447509766,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1171.720703125,
                4085.287109375,
                365.5281677246094
            ],
            "velocity": [
                -2.018873453140259,
                -0.3378140926361084,
                0.031152496114373207
            ],
            "speed_kmh": 7.369841763059688,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.8374457359313965,
                "transform": {
                    "location": {
                        "x": 1148.0614013671875,
                        "y": 4084.614013671875,
                        "z": 365.9042053222656
                    },
                    "rotation": {
                        "roll": -0.0036621037870645523,
                        "pitch": -1.0676814317703247,
                        "yaw": 9.571352005004883
                    }
                },
                "velocity": {
                    "x": 5.755685329437256,
                    "y": 0.9687686562538147,
                    "z": -0.0967024490237236
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.158241271972656,
                "transform": {
                    "location": {
                        "x": 1189.4241943359375,
                        "y": 4091.373046875,
                        "z": 365.2449951171875
                    },
                    "rotation": {
                        "roll": 0.0032727052457630634,
                        "pitch": -0.8861077427864075,
                        "yaw": 9.235856056213379
                    }
                },
                "velocity": {
                    "x": 8.051559448242188,
                    "y": 1.3091024160385132,
                    "z": -0.1246749758720398
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.296239852905273,
                "transform": {
                    "location": {
                        "x": 1238.815185546875,
                        "y": 4096.16357421875,
                        "z": 364.52459716796875
                    },
                    "rotation": {
                        "roll": -0.001739510684274137,
                        "pitch": 1.0883837938308716,
                        "yaw": -170.7609405517578
                    }
                },
                "velocity": {
                    "x": -7.2007365226745605,
                    "y": -1.1718871593475342,
                    "z": 0.1058163270354271
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088720321655273,
                "transform": {
                    "location": {
                        "x": 1228.82861328125,
                        "y": 4097.77880859375,
                        "z": 364.65911865234375
                    },
                    "rotation": {
                        "roll": -0.0007629389874637127,
                        "pitch": -0.8242193460464478,
                        "yaw": 9.241889953613281
                    }
                },
                "velocity": {
                    "x": 7.982890605926514,
                    "y": 1.2989927530288696,
                    "z": -0.11604470014572144
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.83640718460083,
                "transform": {
                    "location": {
                        "x": 1221.332275390625,
                        "y": 4093.318603515625,
                        "z": 364.78265380859375
                    },
                    "rotation": {
                        "roll": 0.0037195230834186077,
                        "pitch": 1.0838416814804077,
                        "yaw": -170.51947021484375
                    }
                },
                "velocity": {
                    "x": -6.746448993682861,
                    "y": -1.1010112762451172,
                    "z": 0.0983261689543724
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.047178268432617,
                "transform": {
                    "location": {
                        "x": 1171.720703125,
                        "y": 4085.287109375,
                        "z": 365.5281677246094
                    },
                    "rotation": {
                        "roll": 0.0032784054055809975,
                        "pitch": 0.9189472794532776,
                        "yaw": -170.5037078857422
                    }
                },
                "velocity": {
                    "x": -2.018873453140259,
                    "y": -0.3378140926361084,
                    "z": 0.031152496114373207
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4212090969085693,
                "transform": {
                    "location": {
                        "x": 1158.5926513671875,
                        "y": 4083.172119140625,
                        "z": 365.736083984375
                    },
                    "rotation": {
                        "roll": 0.009831094183027744,
                        "pitch": 0.9893460273742676,
                        "yaw": -170.1787872314453
                    }
                },
                "velocity": {
                    "x": -3.3737294673919678,
                    "y": -0.5652340054512024,
                    "z": 0.05596404895186424
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.08146682381629944,
        "expert_target_speed": 5.4268820182208115,
        "target_point": [
            47.49475268921397,
            -0.8248330170113736
        ],
        "target_point_next": [
            84.48737251093767,
            -1.5667057067738224
        ]
    },
    "245": {
        "acceleration": [
            1.8944025039672852,
            0.3569209575653076,
            -0.008604377508163452
        ],
        "angular_velocity": [
            -0.04960780218243599,
            0.26259657740592957,
            -0.6971439123153687
        ],
        "forward_vector": [
            -0.9837510585784912,
            -0.17926543951034546,
            0.009887056425213814
        ],
        "right_vector": [
            0.17926988005638123,
            -0.9837998151779175,
            -0.0004430974368005991
        ],
        "location": [
            1202.364013671875,
            4090.446533203125,
            365.05609130859375
        ],
        "rotation": [
            0.02538885362446308,
            0.5664958357810974,
            -169.67251586914062
        ],
        "velocity": [
            -3.6858325004577637,
            -0.6663775444030762,
            0.056477565318346024
        ],
        "speed": 3.7455867702024213,
        "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": 31.477983474731445,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1171.326416015625,
                4085.221435546875,
                365.5349426269531
            ],
            "velocity": [
                -0.12184147536754608,
                -0.02035805583000183,
                0.0031950760167092085
            ],
            "speed_kmh": 0.4448586884809691,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.69381046295166,
                "transform": {
                    "location": {
                        "x": 1149.4547119140625,
                        "y": 4084.8486328125,
                        "z": 365.88018798828125
                    },
                    "rotation": {
                        "roll": -0.003479012055322528,
                        "pitch": -0.9828436970710754,
                        "yaw": 9.55483627319336
                    }
                },
                "velocity": {
                    "x": 5.6141276359558105,
                    "y": 0.9445804357528687,
                    "z": -0.09390775114297867
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.349669456481934,
                "transform": {
                    "location": {
                        "x": 1191.461669921875,
                        "y": 4091.704345703125,
                        "z": 365.2137145996094
                    },
                    "rotation": {
                        "roll": 0.0010520993964746594,
                        "pitch": -0.878232479095459,
                        "yaw": 9.234166145324707
                    }
                },
                "velocity": {
                    "x": 8.240519523620605,
                    "y": 1.3397365808486938,
                    "z": -0.1261955201625824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.13295841217041,
                "transform": {
                    "location": {
                        "x": 1236.881591796875,
                        "y": 4095.849609375,
                        "z": 364.5531311035156
                    },
                    "rotation": {
                        "roll": 0.000731818494386971,
                        "pitch": 1.0135453939437866,
                        "yaw": -170.86253356933594
                    }
                },
                "velocity": {
                    "x": -8.027177810668945,
                    "y": -1.3020716905593872,
                    "z": 0.11852020025253296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056262969970703,
                "transform": {
                    "location": {
                        "x": 1230.8203125,
                        "y": 4098.10302734375,
                        "z": 364.63006591796875
                    },
                    "rotation": {
                        "roll": 0.00020515370124485344,
                        "pitch": -0.8247658014297485,
                        "yaw": 9.24004077911377
                    }
                },
                "velocity": {
                    "x": 7.950923442840576,
                    "y": 1.2934075593948364,
                    "z": -0.11525363475084305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.904669761657715,
                "transform": {
                    "location": {
                        "x": 1219.494384765625,
                        "y": 4093.017333984375,
                        "z": 364.8092346191406
                    },
                    "rotation": {
                        "roll": 0.00443110428750515,
                        "pitch": 1.0975499153137207,
                        "yaw": -170.68508911132812
                    }
                },
                "velocity": {
                    "x": -7.801117420196533,
                    "y": -1.2702584266662598,
                    "z": 0.1132107526063919
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.12357185781002045,
                "transform": {
                    "location": {
                        "x": 1171.326416015625,
                        "y": 4085.221435546875,
                        "z": 365.5349426269531
                    },
                    "rotation": {
                        "roll": 0.003002672456204891,
                        "pitch": 0.8590055108070374,
                        "yaw": -170.50418090820312
                    }
                },
                "velocity": {
                    "x": -0.12184147536754608,
                    "y": -0.02035805583000183,
                    "z": 0.0031950760167092085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2953672409057617,
                "transform": {
                    "location": {
                        "x": 1157.70703125,
                        "y": 4083.02490234375,
                        "z": 365.75128173828125
                    },
                    "rotation": {
                        "roll": 0.012011345475912094,
                        "pitch": 0.9070149064064026,
                        "yaw": -169.9626007080078
                    }
                },
                "velocity": {
                    "x": -2.264533281326294,
                    "y": -0.3731538951396942,
                    "z": 0.036830347031354904
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.0645565316081047,
        "expert_target_speed": 4.84596145334055,
        "target_point": [
            46.494548456463754,
            -0.7777881568252303
        ],
        "target_point_next": [
            83.48787747914439,
            -1.4834114147293445
        ]
    },
    "250": {
        "acceleration": [
            0.942230224609375,
            0.1780104637145996,
            -0.01591205596923828
        ],
        "angular_velocity": [
            -0.04268999397754669,
            0.38954949378967285,
            0.408582866191864
        ],
        "forward_vector": [
            -0.9838795065879822,
            -0.17847533524036407,
            0.011299250647425652
        ],
        "right_vector": [
            0.17848245799541473,
            -0.9839430451393127,
            -0.00038350047543644905
        ],
        "location": [
            1201.492431640625,
            4090.2890625,
            365.0689697265625
        ],
        "rotation": [
            0.021974360570311546,
            0.6474131345748901,
            -169.71836853027344
        ],
        "velocity": [
            -3.335904836654663,
            -0.6000497937202454,
            0.05076616257429123
        ],
        "speed": 3.3894425550759353,
        "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": 30.765026092529297,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1171.1561279296875,
                4085.1923828125,
                365.5373840332031
            ],
            "velocity": [
                -1.0183489322662354,
                -0.17044949531555176,
                0.0150033850222826
            ],
            "speed_kmh": 3.717447017918012,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.95686149597168,
                "transform": {
                    "location": {
                        "x": 1150.955322265625,
                        "y": 4085.09765625,
                        "z": 365.85443115234375
                    },
                    "rotation": {
                        "roll": -0.0009460434666834772,
                        "pitch": -0.8961753845214844,
                        "yaw": 9.500664710998535
                    }
                },
                "velocity": {
                    "x": 6.86277961730957,
                    "y": 1.1344352960586548,
                    "z": -0.11502104252576828
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.157888412475586,
                "transform": {
                    "location": {
                        "x": 1193.4969482421875,
                        "y": 4092.034912109375,
                        "z": 365.18255615234375
                    },
                    "rotation": {
                        "roll": 0.001228440087288618,
                        "pitch": -0.885465681552887,
                        "yaw": 9.230597496032715
                    }
                },
                "velocity": {
                    "x": 8.051339149475098,
                    "y": 1.3083664178848267,
                    "z": -0.12353868037462234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.573107719421387,
                "transform": {
                    "location": {
                        "x": 1234.9344482421875,
                        "y": 4095.533935546875,
                        "z": 364.58148193359375
                    },
                    "rotation": {
                        "roll": -0.0011596668045967817,
                        "pitch": 0.808646559715271,
                        "yaw": -170.96261596679688
                    }
                },
                "velocity": {
                    "x": -7.474724769592285,
                    "y": -1.211820363998413,
                    "z": 0.10928058624267578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088761329650879,
                "transform": {
                    "location": {
                        "x": 1232.812255859375,
                        "y": 4098.4267578125,
                        "z": 364.60089111328125
                    },
                    "rotation": {
                        "roll": -0.0003051760431844741,
                        "pitch": -0.8300455212593079,
                        "yaw": 9.236888885498047
                    }
                },
                "velocity": {
                    "x": 7.983082294464111,
                    "y": 1.2981301546096802,
                    "z": -0.11537037789821625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.694365978240967,
                "transform": {
                    "location": {
                        "x": 1217.5966796875,
                        "y": 4092.7080078125,
                        "z": 364.8397216796875
                    },
                    "rotation": {
                        "roll": 0.0011607168707996607,
                        "pitch": 0.7460273504257202,
                        "yaw": -170.7718963623047
                    }
                },
                "velocity": {
                    "x": -6.60689640045166,
                    "y": -1.0742822885513306,
                    "z": 0.09678592532873154
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0326241254806519,
                "transform": {
                    "location": {
                        "x": 1171.1561279296875,
                        "y": 4085.1923828125,
                        "z": 365.5373840332031
                    },
                    "rotation": {
                        "roll": 0.0024010140914469957,
                        "pitch": 0.8999388217926025,
                        "yaw": -170.53329467773438
                    }
                },
                "velocity": {
                    "x": -1.0183489322662354,
                    "y": -0.17044949531555176,
                    "z": 0.0150033850222826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2251315116882324,
                "transform": {
                    "location": {
                        "x": 1157.28759765625,
                        "y": 4082.954833984375,
                        "z": 365.7581481933594
                    },
                    "rotation": {
                        "roll": 0.011504951864480972,
                        "pitch": 0.9083263278007507,
                        "yaw": -169.92959594726562
                    }
                },
                "velocity": {
                    "x": -2.193610429763794,
                    "y": -0.3714556097984314,
                    "z": 0.03610381856560707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.05091537535190582,
        "expert_target_speed": 4.505045518041728,
        "target_point": [
            45.6094630309608,
            -0.7399624782852623
        ],
        "target_point_next": [
            82.60334480406631,
            -1.4159859393365775
        ]
    },
    "255": {
        "acceleration": [
            -0.3283500671386719,
            -0.0473630428314209,
            0.004449859261512756
        ],
        "angular_velocity": [
            -0.148976132273674,
            0.5036484003067017,
            -0.8022201657295227
        ],
        "forward_vector": [
            -0.9840232729911804,
            -0.17754147946834564,
            0.013313733972609043
        ],
        "right_vector": [
            0.17755241692066193,
            -0.9841112494468689,
            -0.00036542004090733826
        ],
        "location": [
            1200.669921875,
            4090.141357421875,
            365.08099365234375
        ],
        "rotation": [
            0.02093888260424137,
            0.7628433108329773,
            -169.77249145507812
        ],
        "velocity": [
            -3.2904863357543945,
            -0.5889438986778259,
            0.048901062458753586
        ],
        "speed": 3.3427765766763744,
        "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": 30.251096725463867,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1170.8388671875,
                4085.138916015625,
                365.5421447753906
            ],
            "velocity": [
                -1.5281339883804321,
                -0.2551937699317932,
                0.02383902482688427
            ],
            "speed_kmh": 5.578124951007462,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.509102821350098,
                "transform": {
                    "location": {
                        "x": 1152.929931640625,
                        "y": 4085.424560546875,
                        "z": 365.821044921875
                    },
                    "rotation": {
                        "roll": -0.0007324184407480061,
                        "pitch": -0.8508844375610352,
                        "yaw": 9.406700134277344
                    }
                },
                "velocity": {
                    "x": 8.394355773925781,
                    "y": 1.3857085704803467,
                    "z": -0.1393865942955017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.348990440368652,
                "transform": {
                    "location": {
                        "x": 1195.534423828125,
                        "y": 4092.3662109375,
                        "z": 365.1513671875
                    },
                    "rotation": {
                        "roll": 0.0006971011753194034,
                        "pitch": -0.8776246309280396,
                        "yaw": 9.233389854431152
                    }
                },
                "velocity": {
                    "x": 8.239864349365234,
                    "y": 1.339495062828064,
                    "z": -0.12661635875701904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.398716449737549,
                "transform": {
                    "location": {
                        "x": 1233.2169189453125,
                        "y": 4095.255126953125,
                        "z": 364.60650634765625
                    },
                    "rotation": {
                        "roll": -0.0032959026284515858,
                        "pitch": 0.6957708597183228,
                        "yaw": -170.94578552246094
                    }
                },
                "velocity": {
                    "x": -6.31500768661499,
                    "y": -1.0275061130523682,
                    "z": 0.0920926108956337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055929183959961,
                "transform": {
                    "location": {
                        "x": 1234.8038330078125,
                        "y": 4098.75048828125,
                        "z": 364.57171630859375
                    },
                    "rotation": {
                        "roll": -0.00021361275867093354,
                        "pitch": -0.8338021039962769,
                        "yaw": 9.238110542297363
                    }
                },
                "velocity": {
                    "x": 7.950585842132568,
                    "y": 1.2933704853057861,
                    "z": -0.11567040532827377
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1271.519775390625,
                        "y": 4104.66357421875,
                        "z": 364.0339050292969
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.141611099243164,
                "transform": {
                    "location": {
                        "x": 1216.7855224609375,
                        "y": 4092.575927734375,
                        "z": 364.8613586425781
                    },
                    "rotation": {
                        "roll": -6.104361091274768e-05,
                        "pitch": -0.4793631434440613,
                        "yaw": -170.79319763183594
                    }
                },
                "velocity": {
                    "x": -1.1268086433410645,
                    "y": -0.18263673782348633,
                    "z": 0.01490420289337635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5494791269302368,
                "transform": {
                    "location": {
                        "x": 1170.8388671875,
                        "y": 4085.138916015625,
                        "z": 365.5421447753906
                    },
                    "rotation": {
                        "roll": 0.001941772410646081,
                        "pitch": 0.9215632081031799,
                        "yaw": -170.58151245117188
                    }
                },
                "velocity": {
                    "x": -1.5281339883804321,
                    "y": -0.2551937699317932,
                    "z": 0.02383902482688427
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.550153136253357,
                "transform": {
                    "location": {
                        "x": 1156.6790771484375,
                        "y": 4082.84814453125,
                        "z": 365.7683410644531
                    },
                    "rotation": {
                        "roll": 0.005467741284519434,
                        "pitch": 0.887139081954956,
                        "yaw": -170.32382202148438
                    }
                },
                "velocity": {
                    "x": -1.5268570184707642,
                    "y": -0.26649197936058044,
                    "z": 0.025777949020266533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.04038126766681671,
        "expert_target_speed": 4.459443997478004,
        "target_point": [
            44.77447507943902,
            -0.6961944882547577
        ],
        "target_point_next": [
            81.7689789292004,
            -1.3372726990768022
        ]
    },
    "260": {
        "acceleration": [
            -0.9998989105224609,
            -0.16622424125671387,
            0.023255571722984314
        ],
        "angular_velocity": [
            -0.049128562211990356,
            0.405620813369751,
            0.32581132650375366
        ],
        "forward_vector": [
            -0.984127402305603,
            -0.17679333686828613,
            0.015407070517539978
        ],
        "right_vector": [
            0.17680883407592773,
            -0.9842451214790344,
            -0.000360386969987303
        ],
        "location": [
            1199.8231201171875,
            4089.990234375,
            365.0932312011719
        ],
        "rotation": [
            0.02065110392868519,
            0.8827950954437256,
            -169.8157501220703
        ],
        "velocity": [
            -3.4923558235168457,
            -0.6220107674598694,
            0.05117654800415039
        ],
        "speed": 3.5473154064571197,
        "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": 29.833839416503906,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1170.4019775390625,
                4085.066162109375,
                365.5491638183594
            ],
            "velocity": [
                -1.9856630563735962,
                -0.3322448134422302,
                0.031180715188384056
            ],
            "speed_kmh": 7.24863073135305,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.971766471862793,
                "transform": {
                    "location": {
                        "x": 1154.9681396484375,
                        "y": 4085.76123046875,
                        "z": 365.7879638671875
                    },
                    "rotation": {
                        "roll": -0.0006103498162701726,
                        "pitch": -0.9377439618110657,
                        "yaw": 9.35631275177002
                    }
                },
                "velocity": {
                    "x": 7.865583896636963,
                    "y": 1.2902581691741943,
                    "z": -0.1299399435520172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.794758319854736,
                "transform": {
                    "location": {
                        "x": 1197.56103515625,
                        "y": 4092.695556640625,
                        "z": 365.12060546875
                    },
                    "rotation": {
                        "roll": -0.00015258546045515686,
                        "pitch": -0.9306337237358093,
                        "yaw": 9.230359077453613
                    }
                },
                "velocity": {
                    "x": 7.692782402038574,
                    "y": 1.2512520551681519,
                    "z": -0.11714111268520355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5679700374603271,
                "transform": {
                    "location": {
                        "x": 1232.2059326171875,
                        "y": 4095.08740234375,
                        "z": 364.62042236328125
                    },
                    "rotation": {
                        "roll": -0.0398864708840847,
                        "pitch": 0.2348150610923767,
                        "yaw": -171.78372192382812
                    }
                },
                "velocity": {
                    "x": -1.539109468460083,
                    "y": -0.29855209589004517,
                    "z": 0.023212861269712448
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088324546813965,
                "transform": {
                    "location": {
                        "x": 1236.7957763671875,
                        "y": 4099.07470703125,
                        "z": 364.54241943359375
                    },
                    "rotation": {
                        "roll": 0.00037117075407877564,
                        "pitch": -0.8344100117683411,
                        "yaw": 9.23966121673584
                    }
                },
                "velocity": {
                    "x": 7.982532024383545,
                    "y": 1.2985280752182007,
                    "z": -0.11832044273614883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1272.8154296875,
                        "y": 4104.83056640625,
                        "z": 363.9990234375
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5135513544082642,
                "transform": {
                    "location": {
                        "x": 1216.4600830078125,
                        "y": 4092.5234375,
                        "z": 364.85748291015625
                    },
                    "rotation": {
                        "roll": 0.003417417872697115,
                        "pitch": 0.564371645450592,
                        "yaw": -170.75613403320312
                    }
                },
                "velocity": {
                    "x": -1.4938595294952393,
                    "y": -0.24228890240192413,
                    "z": 0.022743739187717438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0135085582733154,
                "transform": {
                    "location": {
                        "x": 1170.4019775390625,
                        "y": 4085.066162109375,
                        "z": 365.5491638183594
                    },
                    "rotation": {
                        "roll": 0.002417605137452483,
                        "pitch": 0.9204840660095215,
                        "yaw": -170.57228088378906
                    }
                },
                "velocity": {
                    "x": -1.9856630563735962,
                    "y": -0.3322448134422302,
                    "z": 0.031180715188384056
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8194267749786377,
                "transform": {
                    "location": {
                        "x": 1156.138671875,
                        "y": 4082.757080078125,
                        "z": 365.7766418457031
                    },
                    "rotation": {
                        "roll": 0.00774950860068202,
                        "pitch": 0.976908266544342,
                        "yaw": -170.32266235351562
                    }
                },
                "velocity": {
                    "x": -2.7799675464630127,
                    "y": -0.46776044368743896,
                    "z": 0.04634229466319084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.025435347110033035,
        "expert_target_speed": 4.6552325881011845,
        "target_point": [
            43.91480737494725,
            -0.6614124578758691
        ],
        "target_point_next": [
            80.90978459255597,
            -1.2745658081987958
        ]
    },
    "265": {
        "acceleration": [
            -0.7965183258056641,
            -0.12818694114685059,
            0.0183752179145813
        ],
        "angular_velocity": [
            -0.03779061511158943,
            0.12118799984455109,
            -0.6592401266098022
        ],
        "forward_vector": [
            -0.9842850565910339,
            -0.17581677436828613,
            0.016470760107040405
        ],
        "right_vector": [
            0.17583522200584412,
            -0.9844195246696472,
            -0.0003323574783280492
        ],
        "location": [
            1198.9195556640625,
            4089.829345703125,
            365.1066589355469
        ],
        "rotation": [
            0.019045263528823853,
            0.9437476992607117,
            -169.87242126464844
        ],
        "velocity": [
            -3.713223457336426,
            -0.6579738259315491,
            0.05720161274075508
        ],
        "speed": 3.7710685487968103,
        "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": 29.4871883392334,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1169.8387451171875,
                4084.9716796875,
                365.5581970214844
            ],
            "velocity": [
                -2.4993505477905273,
                -0.4180043041706085,
                0.03905283659696579
            ],
            "speed_kmh": 9.123713950189108,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.98898458480835,
                "transform": {
                    "location": {
                        "x": 1156.91650390625,
                        "y": 4086.08056640625,
                        "z": 365.75579833984375
                    },
                    "rotation": {
                        "roll": 0.0011340092169120908,
                        "pitch": -0.9355787634849548,
                        "yaw": 9.30744743347168
                    }
                },
                "velocity": {
                    "x": 7.883121013641357,
                    "y": 1.289807677268982,
                    "z": -0.12913426756858826
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.797320365905762,
                "transform": {
                    "location": {
                        "x": 1199.15234375,
                        "y": 4092.95361328125,
                        "z": 365.09857177734375
                    },
                    "rotation": {
                        "roll": -0.0001220762642333284,
                        "pitch": -1.4669469594955444,
                        "yaw": 9.295230865478516
                    }
                },
                "velocity": {
                    "x": 5.721415996551514,
                    "y": 0.9310000538825989,
                    "z": -0.0869770348072052
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.362959384918213,
                "transform": {
                    "location": {
                        "x": 1231.7503662109375,
                        "y": 4095.013916015625,
                        "z": 364.6278381347656
                    },
                    "rotation": {
                        "roll": -0.011138910427689552,
                        "pitch": 0.7269301414489746,
                        "yaw": -171.68423461914062
                    }
                },
                "velocity": {
                    "x": -2.334306240081787,
                    "y": -0.3651992976665497,
                    "z": 0.03494434431195259
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056931495666504,
                "transform": {
                    "location": {
                        "x": 1238.787353515625,
                        "y": 4099.3984375,
                        "z": 364.5129699707031
                    },
                    "rotation": {
                        "roll": -0.00015258177882060409,
                        "pitch": -0.8411514163017273,
                        "yaw": 9.238626480102539
                    }
                },
                "velocity": {
                    "x": 7.951675891876221,
                    "y": 1.2926456928253174,
                    "z": -0.11859172582626343
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1274.0601806640625,
                        "y": 4105.03271484375,
                        "z": 363.97943115234375
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8159408569335938,
                "transform": {
                    "location": {
                        "x": 1216.0286865234375,
                        "y": 4092.453369140625,
                        "z": 364.8597717285156
                    },
                    "rotation": {
                        "roll": 0.0012680516811087728,
                        "pitch": 1.0943055152893066,
                        "yaw": -170.7139892578125
                    }
                },
                "velocity": {
                    "x": -1.7923287153244019,
                    "y": -0.29074129462242126,
                    "z": 0.02585260383784771
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.534364938735962,
                "transform": {
                    "location": {
                        "x": 1169.8387451171875,
                        "y": 4084.9716796875,
                        "z": 365.5581970214844
                    },
                    "rotation": {
                        "roll": 0.002441968070343137,
                        "pitch": 0.9210987687110901,
                        "yaw": -170.55384826660156
                    }
                },
                "velocity": {
                    "x": -2.4993505477905273,
                    "y": -0.4180043041706085,
                    "z": 0.03905283659696579
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.667407989501953,
                "transform": {
                    "location": {
                        "x": 1155.2498779296875,
                        "y": 4082.607177734375,
                        "z": 365.7911682128906
                    },
                    "rotation": {
                        "roll": 0.006080390885472298,
                        "pitch": 1.0017223358154297,
                        "yaw": -170.36495971679688
                    }
                },
                "velocity": {
                    "x": -3.615912914276123,
                    "y": -0.6094613671302795,
                    "z": 0.06010298430919647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.014516681432723999,
        "expert_target_speed": 4.868874160841181,
        "target_point": [
            42.997663842716825,
            -0.6174600195699096
        ],
        "target_point_next": [
            79.9932296281245,
            -1.1940088726373688
        ]
    },
    "270": {
        "acceleration": [
            0.16241073608398438,
            0.044934749603271484,
            -0.00421278178691864
        ],
        "angular_velocity": [
            0.01968412660062313,
            -0.20736470818519592,
            0.20684346556663513
        ],
        "forward_vector": [
            -0.9844375848770142,
            -0.17495600879192352,
            0.016523204743862152
        ],
        "right_vector": [
            0.174974724650383,
            -0.9845728278160095,
            -0.0003173182485625148
        ],
        "location": [
            1197.9700927734375,
            4089.661376953125,
            365.1212463378906
        ],
        "rotation": [
            0.018183477222919464,
            0.9467529654502869,
            -169.92251586914062
        ],
        "velocity": [
            -3.8295657634735107,
            -0.6747775077819824,
            0.05698034167289734
        ],
        "speed": 3.888559967620008,
        "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": 29.22699737548828,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1169.144287109375,
                4084.856201171875,
                365.5691833496094
            ],
            "velocity": [
                -3.0445992946624756,
                -0.5046767592430115,
                0.04880876466631889
            ],
            "speed_kmh": 11.111507038330233,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.132582664489746,
                "transform": {
                    "location": {
                        "x": 1158.91796875,
                        "y": 4086.407958984375,
                        "z": 365.7228088378906
                    },
                    "rotation": {
                        "roll": -0.0014648452633991838,
                        "pitch": -0.9228746294975281,
                        "yaw": 9.294026374816895
                    }
                },
                "velocity": {
                    "x": 8.025008201599121,
                    "y": 1.311870813369751,
                    "z": -0.13093456625938416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.72597074508667,
                "transform": {
                    "location": {
                        "x": 1200.5635986328125,
                        "y": 4093.18359375,
                        "z": 365.07611083984375
                    },
                    "rotation": {
                        "roll": -0.0010376001009717584,
                        "pitch": -1.1393437385559082,
                        "yaw": 9.240041732788086
                    }
                },
                "velocity": {
                    "x": 5.65117073059082,
                    "y": 0.9185859560966492,
                    "z": -0.08491652458906174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8971431255340576,
                "transform": {
                    "location": {
                        "x": 1230.9739990234375,
                        "y": 4094.89111328125,
                        "z": 364.6395568847656
                    },
                    "rotation": {
                        "roll": -0.014434817247092724,
                        "pitch": 0.9974192976951599,
                        "yaw": -171.35389709472656
                    }
                },
                "velocity": {
                    "x": -3.848536252975464,
                    "y": -0.6110706925392151,
                    "z": 0.05554647371172905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089129447937012,
                "transform": {
                    "location": {
                        "x": 1240.779296875,
                        "y": 4099.72216796875,
                        "z": 364.4833068847656
                    },
                    "rotation": {
                        "roll": 5.470077303471044e-05,
                        "pitch": -0.8417319655418396,
                        "yaw": 9.237397193908691
                    }
                },
                "velocity": {
                    "x": 7.983347415924072,
                    "y": 1.298476219177246,
                    "z": -0.11892100423574448
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1275.260986328125,
                        "y": 4105.2275390625,
                        "z": 363.9606628417969
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6354492902755737,
                "transform": {
                    "location": {
                        "x": 1215.6334228515625,
                        "y": 4092.389404296875,
                        "z": 364.8676452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8353457450866699,
                        "yaw": -170.69155883789062
                    }
                },
                "velocity": {
                    "x": -1.6141996383666992,
                    "y": -0.2617948353290558,
                    "z": 0.022749653086066246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0865297317504883,
                "transform": {
                    "location": {
                        "x": 1169.144287109375,
                        "y": 4084.856201171875,
                        "z": 365.5691833496094
                    },
                    "rotation": {
                        "roll": 0.0031287118326872587,
                        "pitch": 0.9220618009567261,
                        "yaw": -170.54148864746094
                    }
                },
                "velocity": {
                    "x": -3.0445992946624756,
                    "y": -0.5046767592430115,
                    "z": 0.04880876466631889
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2676610946655273,
                "transform": {
                    "location": {
                        "x": 1154.773681640625,
                        "y": 4082.526123046875,
                        "z": 365.7998046875
                    },
                    "rotation": {
                        "roll": 0.005211911164224148,
                        "pitch": 0.9051434397697449,
                        "yaw": -170.4035186767578
                    }
                },
                "velocity": {
                    "x": -2.236637592315674,
                    "y": -0.3717983067035675,
                    "z": 0.03879076987504959
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": 0.006290832068771124,
        "expert_target_speed": 4.981102046599697,
        "target_point": [
            42.03398136707978,
            -0.5791185455739134
        ],
        "target_point_next": [
            79.03003694924443,
            -1.123331485316756
        ]
    },
    "275": {
        "acceleration": [
            1.3089704513549805,
            0.24595022201538086,
            -0.007937029004096985
        ],
        "angular_velocity": [
            0.047316472977399826,
            -0.42740511894226074,
            -0.7387813329696655
        ],
        "forward_vector": [
            -0.9846444725990295,
            -0.1739521026611328,
            0.014695591293275356
        ],
        "right_vector": [
            0.1739664077758789,
            -0.9847515225410461,
            -0.00030861757113598287
        ],
        "location": [
            1197.044677734375,
            4089.498779296875,
            365.135498046875
        ],
        "rotation": [
            0.017684394493699074,
            0.8420256972312927,
            -169.98123168945312
        ],
        "velocity": [
            -3.5593056678771973,
            -0.6235981583595276,
            0.05554267764091492
        ],
        "speed": 3.6135206517317893,
        "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": 29.142271041870117,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.301025390625,
                4084.716064453125,
                365.5826721191406
            ],
            "velocity": [
                -3.710172414779663,
                -0.6125028729438782,
                0.05826321616768837
            ],
            "speed_kmh": 13.539031760053081,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02011775970459,
                "transform": {
                    "location": {
                        "x": 1160.9080810546875,
                        "y": 4086.733154296875,
                        "z": 365.6904296875
                    },
                    "rotation": {
                        "roll": -0.0008544995216652751,
                        "pitch": -0.9288032054901123,
                        "yaw": 9.278158187866211
                    }
                },
                "velocity": {
                    "x": 7.914565086364746,
                    "y": 1.2905563116073608,
                    "z": -0.12811261415481567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.544291019439697,
                "transform": {
                    "location": {
                        "x": 1202.249755859375,
                        "y": 4093.45751953125,
                        "z": 365.0484924316406
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": -0.5033029317855835,
                        "yaw": 9.222186088562012
                    }
                },
                "velocity": {
                    "x": 7.445745468139648,
                    "y": 1.2102307081222534,
                    "z": -0.11199867725372314
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.279025554656982,
                "transform": {
                    "location": {
                        "x": 1229.83154296875,
                        "y": 4094.7080078125,
                        "z": 364.6564636230469
                    },
                    "rotation": {
                        "roll": -0.012481697835028172,
                        "pitch": 1.0417540073394775,
                        "yaw": -171.05136108398438
                    }
                },
                "velocity": {
                    "x": -5.211334705352783,
                    "y": -0.8388939499855042,
                    "z": 0.07974891364574432
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055983543395996,
                "transform": {
                    "location": {
                        "x": 1242.7708740234375,
                        "y": 4100.04638671875,
                        "z": 364.45361328125
                    },
                    "rotation": {
                        "roll": -0.0001525886036688462,
                        "pitch": -0.845215380191803,
                        "yaw": 9.237852096557617
                    }
                },
                "velocity": {
                    "x": 7.9506354331970215,
                    "y": 1.293107271194458,
                    "z": -0.11893606185913086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110581,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1276.4195556640625,
                        "y": 4105.41552734375,
                        "z": 363.94244384765625
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.989295482635498,
                "transform": {
                    "location": {
                        "x": 1215.068359375,
                        "y": 4092.297119140625,
                        "z": 364.8741760253906
                    },
                    "rotation": {
                        "roll": 0.0009353107307106256,
                        "pitch": 1.0436869859695435,
                        "yaw": -170.74111938476562
                    }
                },
                "velocity": {
                    "x": -2.9503085613250732,
                    "y": -0.47928300499916077,
                    "z": 0.043059252202510834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7608420848846436,
                "transform": {
                    "location": {
                        "x": 1168.301025390625,
                        "y": 4084.716064453125,
                        "z": 365.5826721191406
                    },
                    "rotation": {
                        "roll": 0.002907644957304001,
                        "pitch": 0.9253266453742981,
                        "yaw": -170.5732879638672
                    }
                },
                "velocity": {
                    "x": -3.710172414779663,
                    "y": -0.6125028729438782,
                    "z": 0.05826321616768837
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4845545291900635,
                "transform": {
                    "location": {
                        "x": 1154.0621337890625,
                        "y": 4082.407958984375,
                        "z": 365.8110046386719
                    },
                    "rotation": {
                        "roll": 0.005125605501234531,
                        "pitch": 1.0013535022735596,
                        "yaw": -170.45018005371094
                    }
                },
                "velocity": {
                    "x": -3.437079668045044,
                    "y": -0.5703950524330139,
                    "z": 0.05703206732869148
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": -0.00550410570576787,
        "expert_target_speed": 4.720967601089395,
        "target_point": [
            41.09496227899173,
            -0.535168080508968
        ],
        "target_point_next": [
            78.0915561046158,
            -1.0414700301348603
        ]
    },
    "280": {
        "acceleration": [
            0.7299137115478516,
            0.1381242275238037,
            -0.0030582398176193237
        ],
        "angular_velocity": [
            0.0004205301811452955,
            -0.028259122744202614,
            0.43069180846214294
        ],
        "forward_vector": [
            -0.9847922921180725,
            -0.17319531738758087,
            0.013692309148609638
        ],
        "right_vector": [
            0.17320790886878967,
            -0.9848852157592773,
            -0.0002699132601264864
        ],
        "location": [
            1196.193603515625,
            4089.349609375,
            365.1488342285156
        ],
        "rotation": [
            0.015466341748833656,
            0.7845360040664673,
            -170.02540588378906
        ],
        "velocity": [
            -3.2939610481262207,
            -0.5741842985153198,
            0.05181923881173134
        ],
        "speed": 3.343630810247196,
        "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": 29.32965850830078,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1167.263671875,
                4084.544921875,
                365.5992431640625
            ],
            "velocity": [
                -4.578855991363525,
                -0.7552412152290344,
                0.07353679835796356
            ],
            "speed_kmh": 16.708700730465722,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.042930603027344,
                "transform": {
                    "location": {
                        "x": 1162.88623046875,
                        "y": 4087.055419921875,
                        "z": 365.6582336425781
                    },
                    "rotation": {
                        "roll": -0.0007629310130141675,
                        "pitch": -0.9166250228881836,
                        "yaw": 9.258703231811523
                    }
                },
                "velocity": {
                    "x": 7.937391757965088,
                    "y": 1.2923535108566284,
                    "z": -0.12790662050247192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.453840255737305,
                "transform": {
                    "location": {
                        "x": 1204.2674560546875,
                        "y": 4093.78564453125,
                        "z": 365.0179138183594
                    },
                    "rotation": {
                        "roll": 0.0006813262007199228,
                        "pitch": -0.41867008805274963,
                        "yaw": 9.213799476623535
                    }
                },
                "velocity": {
                    "x": 8.343764305114746,
                    "y": 1.3540350198745728,
                    "z": -0.12493118643760681
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.453494548797607,
                "transform": {
                    "location": {
                        "x": 1228.5028076171875,
                        "y": 4094.492431640625,
                        "z": 364.6756896972656
                    },
                    "rotation": {
                        "roll": -0.007049569394439459,
                        "pitch": 0.9093986749649048,
                        "yaw": -170.853515625
                    }
                },
                "velocity": {
                    "x": -5.382292747497559,
                    "y": -0.8750190734863281,
                    "z": 0.07661369442939758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089125633239746,
                "transform": {
                    "location": {
                        "x": 1244.762939453125,
                        "y": 4100.37060546875,
                        "z": 364.42376708984375
                    },
                    "rotation": {
                        "roll": 0.0005597367417067289,
                        "pitch": -0.8486919403076172,
                        "yaw": 9.235970497131348
                    }
                },
                "velocity": {
                    "x": 7.983404159545898,
                    "y": 1.2980400323867798,
                    "z": -0.11964499205350876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.991115093231201,
                "transform": {
                    "location": {
                        "x": 1214.0771484375,
                        "y": 4092.13623046875,
                        "z": 364.8865051269531
                    },
                    "rotation": {
                        "roll": 0.00159390177577734,
                        "pitch": 1.3154261112213135,
                        "yaw": -170.76344299316406
                    }
                },
                "velocity": {
                    "x": -4.926288604736328,
                    "y": -0.7985371947288513,
                    "z": 0.07245704531669617
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.641305446624756,
                "transform": {
                    "location": {
                        "x": 1167.263671875,
                        "y": 4084.544921875,
                        "z": 365.5992431640625
                    },
                    "rotation": {
                        "roll": 0.0023551289923489094,
                        "pitch": 0.9367877244949341,
                        "yaw": -170.6041717529297
                    }
                },
                "velocity": {
                    "x": -4.578855991363525,
                    "y": -0.7552412152290344,
                    "z": 0.07353679835796356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.939480781555176,
                "transform": {
                    "location": {
                        "x": 1153.1669921875,
                        "y": 4082.266845703125,
                        "z": 365.8259582519531
                    },
                    "rotation": {
                        "roll": 0.01725487969815731,
                        "pitch": 0.9877477288246155,
                        "yaw": -169.6411590576172
                    }
                },
                "velocity": {
                    "x": -3.8873589038848877,
                    "y": -0.635417103767395,
                    "z": 0.06476451456546783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": -0.012917815707623959,
        "expert_target_speed": 4.465198890263752,
        "target_point": [
            40.23131482119112,
            -0.5029812288663082
        ],
        "target_point_next": [
            77.22828803126124,
            -0.9807569667954859
        ]
    },
    "285": {
        "acceleration": [
            0.10115623474121094,
            0.02797842025756836,
            -0.015636757016181946
        ],
        "angular_velocity": [
            -0.03132515400648117,
            0.19645844399929047,
            -0.8286844491958618
        ],
        "forward_vector": [
            -0.9849463105201721,
            -0.17226459085941315,
            0.014345272444188595
        ],
        "right_vector": [
            0.172278493642807,
            -0.985048234462738,
            -0.00026923295808956027
        ],
        "location": [
            1195.38037109375,
            4089.2080078125,
            365.16131591796875
        ],
        "rotation": [
            0.015427499078214169,
            0.8219517469406128,
            -170.07945251464844
        ],
        "velocity": [
            -3.2328999042510986,
            -0.5607584714889526,
            0.04867105558514595
        ],
        "speed": 3.2811723292526698,
        "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": 29.772480010986328,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.012451171875,
                4084.338134765625,
                365.6197204589844
            ],
            "velocity": [
                -5.148329257965088,
                -0.8484163284301758,
                0.08295188844203949
            ],
            "speed_kmh": 18.786338950952864,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.096145629882812,
                "transform": {
                    "location": {
                        "x": 1164.881103515625,
                        "y": 4087.380615234375,
                        "z": 365.6259765625
                    },
                    "rotation": {
                        "roll": -0.0002136241819243878,
                        "pitch": -0.9172670245170593,
                        "yaw": 9.249404907226562
                    }
                },
                "velocity": {
                    "x": 7.990077495574951,
                    "y": 1.2996296882629395,
                    "z": -0.1311093121767044
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.912203788757324,
                "transform": {
                    "location": {
                        "x": 1206.2847900390625,
                        "y": 4094.113037109375,
                        "z": 364.98919677734375
                    },
                    "rotation": {
                        "roll": -0.0005188090726733208,
                        "pitch": -0.8335289359092712,
                        "yaw": 9.245896339416504
                    }
                },
                "velocity": {
                    "x": 7.808823108673096,
                    "y": 1.2694437503814697,
                    "z": -0.11731045693159103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.1671223640441895,
                "transform": {
                    "location": {
                        "x": 1226.935791015625,
                        "y": 4094.2373046875,
                        "z": 364.69854736328125
                    },
                    "rotation": {
                        "roll": -0.0035400388296693563,
                        "pitch": 1.0610220432281494,
                        "yaw": -170.7615203857422
                    }
                },
                "velocity": {
                    "x": -7.072990417480469,
                    "y": -1.1531778573989868,
                    "z": 0.10310663282871246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056517601013184,
                "transform": {
                    "location": {
                        "x": 1246.754638671875,
                        "y": 4100.69384765625,
                        "z": 364.3939514160156
                    },
                    "rotation": {
                        "roll": 0.0006920796586200595,
                        "pitch": -0.84991455078125,
                        "yaw": 9.236028671264648
                    }
                },
                "velocity": {
                    "x": 7.951066017150879,
                    "y": 1.2937116622924805,
                    "z": -0.11969247460365295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.920778751373291,
                "transform": {
                    "location": {
                        "x": 1212.740234375,
                        "y": 4091.919189453125,
                        "z": 364.9079895019531
                    },
                    "rotation": {
                        "roll": -0.0006103502819314599,
                        "pitch": 1.1150624752044678,
                        "yaw": -170.77989196777344
                    }
                },
                "velocity": {
                    "x": -5.843716144561768,
                    "y": -0.948247492313385,
                    "z": 0.0861789658665657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.218427658081055,
                "transform": {
                    "location": {
                        "x": 1166.012451171875,
                        "y": 4084.338134765625,
                        "z": 365.6197204589844
                    },
                    "rotation": {
                        "roll": 0.0019647369626909494,
                        "pitch": 0.9389187097549438,
                        "yaw": -170.62779235839844
                    }
                },
                "velocity": {
                    "x": -5.148329257965088,
                    "y": -0.8484163284301758,
                    "z": 0.08295188844203949
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.108109951019287,
                "transform": {
                    "location": {
                        "x": 1152.328857421875,
                        "y": 4082.1171875,
                        "z": 365.84100341796875
                    },
                    "rotation": {
                        "roll": -0.006134023889899254,
                        "pitch": 0.8455022573471069,
                        "yaw": -170.71847534179688
                    }
                },
                "velocity": {
                    "x": -2.0768284797668457,
                    "y": -0.3601406514644623,
                    "z": 0.034791287034749985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "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": -0.01956719532608986,
        "expert_target_speed": 4.408160249492248,
        "target_point": [
            39.406303227520596,
            -0.46441411800711485
        ],
        "target_point_next": [
            76.4037106117312,
            -0.9072946991556528
        ]
    },
    "290": {
        "acceleration": [
            0.3448677062988281,
            0.06945967674255371,
            0.01300126314163208
        ],
        "angular_velocity": [
            0.018533991649746895,
            0.01138862781226635,
            0.47455084323883057
        ],
        "forward_vector": [
            -0.9850608706474304,
            -0.17157240211963654,
            0.01476746704429388
        ],
        "right_vector": [
            0.1715875267982483,
            -0.9851688146591187,
            -0.0002451663895044476
        ],
        "location": [
            1194.57861328125,
            4089.0693359375,
            365.1734619140625
        ],
        "rotation": [
            0.014048529788851738,
            0.8461442589759827,
            -170.11965942382812
        ],
        "velocity": [
            -3.170319080352783,
            -0.5471656918525696,
            0.04900050163269043
        ],
        "speed": 3.2171902905469265,
        "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": 30.324161529541016,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1164.6654052734375,
                4084.115966796875,
                365.6413879394531
            ],
            "velocity": [
                -5.756323337554932,
                -0.9486201405525208,
                0.09296832978725433
            ],
            "speed_kmh": 21.004937756551143,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01186466217041,
                "transform": {
                    "location": {
                        "x": 1166.86572265625,
                        "y": 4087.703857421875,
                        "z": 365.5940246582031
                    },
                    "rotation": {
                        "roll": 0.00034944439539685845,
                        "pitch": -0.9115296602249146,
                        "yaw": 9.242700576782227
                    }
                },
                "velocity": {
                    "x": 7.906837463378906,
                    "y": 1.2867321968078613,
                    "z": -0.12733297049999237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.969339847564697,
                "transform": {
                    "location": {
                        "x": 1208.2222900390625,
                        "y": 4094.427734375,
                        "z": 364.9605407714844
                    },
                    "rotation": {
                        "roll": 0.002183644799515605,
                        "pitch": -0.8591967821121216,
                        "yaw": 9.216712951660156
                    }
                },
                "velocity": {
                    "x": 7.865597248077393,
                    "y": 1.2764114141464233,
                    "z": -0.1163310781121254
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.748653411865234,
                "transform": {
                    "location": {
                        "x": 1225.297119140625,
                        "y": 4093.969970703125,
                        "z": 364.7218933105469
                    },
                    "rotation": {
                        "roll": 0.0023092112969607115,
                        "pitch": 0.7295666337013245,
                        "yaw": -170.6146240234375
                    }
                },
                "velocity": {
                    "x": -5.673821449279785,
                    "y": -0.9207914471626282,
                    "z": 0.08311275392770767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088918685913086,
                "transform": {
                    "location": {
                        "x": 1248.74658203125,
                        "y": 4101.01806640625,
                        "z": 364.3639221191406
                    },
                    "rotation": {
                        "roll": 0.0004531441372819245,
                        "pitch": -0.8555562496185303,
                        "yaw": 9.237886428833008
                    }
                },
                "velocity": {
                    "x": 7.98313045501709,
                    "y": 1.2983715534210205,
                    "z": -0.12025442719459534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.523015022277832,
                "transform": {
                    "location": {
                        "x": 1211.0306396484375,
                        "y": 4091.641357421875,
                        "z": 364.9323425292969
                    },
                    "rotation": {
                        "roll": 0.00025531460414640605,
                        "pitch": 1.203322172164917,
                        "yaw": -170.87155151367188
                    }
                },
                "velocity": {
                    "x": -7.425317287445068,
                    "y": -1.2036397457122803,
                    "z": 0.10802650451660156
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.834704875946045,
                "transform": {
                    "location": {
                        "x": 1164.6654052734375,
                        "y": 4084.115966796875,
                        "z": 365.6413879394531
                    },
                    "rotation": {
                        "roll": 0.0024382700212299824,
                        "pitch": 0.9371155500411987,
                        "yaw": -170.64825439453125
                    }
                },
                "velocity": {
                    "x": -5.756323337554932,
                    "y": -0.9486201405525208,
                    "z": 0.09296832978725433
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.7316031455993652,
                "transform": {
                    "location": {
                        "x": 1151.6170654296875,
                        "y": 4081.9990234375,
                        "z": 365.8518981933594
                    },
                    "rotation": {
                        "roll": 0.00019605037232395262,
                        "pitch": 0.9902544021606445,
                        "yaw": -170.7420654296875
                    }
                },
                "velocity": {
                    "x": -3.6810977458953857,
                    "y": -0.6087176203727722,
                    "z": 0.062005918473005295
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.14737333357334137,
                "transform": {
                    "location": {
                        "x": 1187.193115234375,
                        "y": 4084.700439453125,
                        "z": 366.4035949707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.01210937462747097,
                    "y": 0.14687499403953552,
                    "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": -0.025751223787665367,
        "expert_target_speed": 3.5538845603879152,
        "target_point": [
            38.59295828831313,
            -0.4357952916915302
        ],
        "target_point_next": [
            75.59066741853175,
            -0.8527071266592792
        ]
    },
    "295": {
        "acceleration": [
            0.4975128173828125,
            0.09629487991333008,
            -0.003637149930000305
        ],
        "angular_velocity": [
            -0.028109882026910782,
            -0.033160772174596786,
            -0.8710653781890869
        ],
        "forward_vector": [
            -0.9852186441421509,
            -0.17066606879234314,
            0.014740409329533577
        ],
        "right_vector": [
            0.170681431889534,
            -0.9853262305259705,
            -0.00021936405391898006
        ],
        "location": [
            1193.79736328125,
            4088.9345703125,
            365.1854248046875
        ],
        "rotation": [
            0.012570000253617764,
            0.8445938229560852,
            -170.17237854003906
        ],
        "velocity": [
            -3.0762274265289307,
            -0.5282744765281677,
            0.047970712184906006
        ],
        "speed": 3.1212576154941005,
        "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": 31.079566955566406,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1163.137939453125,
                4083.8642578125,
                365.6661682128906
            ],
            "velocity": [
                -6.020078182220459,
                -0.9863467216491699,
                0.09786641597747803
            ],
            "speed_kmh": 21.964071461800415,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1142640113830566,
                "transform": {
                    "location": {
                        "x": 1167.22802734375,
                        "y": 4087.763427734375,
                        "z": 365.5876159667969
                    },
                    "rotation": {
                        "roll": 0.002302680630236864,
                        "pitch": -0.8155177235603333,
                        "yaw": 9.20532512664795
                    }
                },
                "velocity": {
                    "x": 2.0873653888702393,
                    "y": 0.334566593170166,
                    "z": -0.032912030816078186
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5255017280578613,
                "transform": {
                    "location": {
                        "x": 1208.7120361328125,
                        "y": 4094.5078125,
                        "z": 364.95062255859375
                    },
                    "rotation": {
                        "roll": -0.0001220720587298274,
                        "pitch": -0.20519936084747314,
                        "yaw": 9.198390007019043
                    }
                },
                "velocity": {
                    "x": 2.4925200939178467,
                    "y": 0.4051627516746521,
                    "z": -0.03668517991900444
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.078298807144165,
                "transform": {
                    "location": {
                        "x": 1224.59423828125,
                        "y": 4093.855224609375,
                        "z": 364.73138427734375
                    },
                    "rotation": {
                        "roll": -0.0031738276593387127,
                        "pitch": 0.38360390067100525,
                        "yaw": -170.49766540527344
                    }
                },
                "velocity": {
                    "x": -2.0505473613739014,
                    "y": -0.3371849060058594,
                    "z": 0.0297885499894619
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056827545166016,
                "transform": {
                    "location": {
                        "x": 1250.7384033203125,
                        "y": 4101.341796875,
                        "z": 364.3337707519531
                    },
                    "rotation": {
                        "roll": 0.00029747330700047314,
                        "pitch": -0.8571135401725769,
                        "yaw": 9.235745429992676
                    }
                },
                "velocity": {
                    "x": 7.95151424407959,
                    "y": 1.2928887605667114,
                    "z": -0.1196918711066246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.660604000091553,
                "transform": {
                    "location": {
                        "x": 1209.1480712890625,
                        "y": 4091.337158203125,
                        "z": 364.96209716796875
                    },
                    "rotation": {
                        "roll": -0.001281742937862873,
                        "pitch": 0.9296296834945679,
                        "yaw": -170.76956176757812
                    }
                },
                "velocity": {
                    "x": -7.561069965362549,
                    "y": -1.2258597612380981,
                    "z": 0.11109693348407745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.101130962371826,
                "transform": {
                    "location": {
                        "x": 1163.137939453125,
                        "y": 4083.8642578125,
                        "z": 365.6661682128906
                    },
                    "rotation": {
                        "roll": 0.0011698046000674367,
                        "pitch": 0.932163655757904,
                        "yaw": -170.70790100097656
                    }
                },
                "velocity": {
                    "x": -6.020078182220459,
                    "y": -0.9863467216491699,
                    "z": 0.09786641597747803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8965647220611572,
                "transform": {
                    "location": {
                        "x": 1150.84521484375,
                        "y": 4081.875244140625,
                        "z": 365.8652648925781
                    },
                    "rotation": {
                        "roll": 0.012015977874398232,
                        "pitch": 0.918066143989563,
                        "yaw": -169.9602813720703
                    }
                },
                "velocity": {
                    "x": -2.8570852279663086,
                    "y": -0.4742659628391266,
                    "z": 0.04715168848633766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.8843045830726624,
                "transform": {
                    "location": {
                        "x": 1187.205322265625,
                        "y": 4084.847412109375,
                        "z": 366.4030456542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.07343749701976776,
                    "y": 0.8812499642372131,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.5423784852027893,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0325082391500473,
        "expert_target_speed": 3.1893971426677097,
        "target_point": [
            37.80055487284899,
            -0.3997191582115134
        ],
        "target_point_next": [
            74.79863201769231,
            -0.7825819882453455
        ]
    },
    "300": {
        "acceleration": [
            1.1510276794433594,
            0.20468473434448242,
            0.007585287094116211
        ],
        "angular_velocity": [
            0.03540240228176117,
            -0.20193634927272797,
            0.5883800983428955
        ],
        "forward_vector": [
            -0.985336184501648,
            -0.17003536224365234,
            0.01415813248604536
        ],
        "right_vector": [
            0.17004947364330292,
            -0.9854355454444885,
            -0.00021062498854007572
        ],
        "location": [
            1193.05419921875,
            4088.80712890625,
            365.1969299316406
        ],
        "rotation": [
            0.01206913311034441,
            0.811228334903717,
            -170.20913696289062
        ],
        "velocity": [
            -2.8528554439544678,
            -0.4876837432384491,
            0.0448768213391304
        ],
        "speed": 2.8942390394574717,
        "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": 31.34734344482422,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1162.129638671875,
                4083.69921875,
                365.6834716796875
            ],
            "velocity": [
                -1.846433401107788,
                -0.3016587197780609,
                0.03021238185465336
            ],
            "speed_kmh": 6.736163812175799,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3218870162963867,
                "transform": {
                    "location": {
                        "x": 1167.90087890625,
                        "y": 4087.8740234375,
                        "z": 365.5768737792969
                    },
                    "rotation": {
                        "roll": 0.002133031375706196,
                        "pitch": -0.8194860219955444,
                        "yaw": 9.09434986114502
                    }
                },
                "velocity": {
                    "x": 3.277090311050415,
                    "y": 0.541100263595581,
                    "z": -0.053135115653276443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8401401042938232,
                "transform": {
                    "location": {
                        "x": 1209.4927978515625,
                        "y": 4094.63427734375,
                        "z": 364.939453125
                    },
                    "rotation": {
                        "roll": 0.0015115872956812382,
                        "pitch": -0.25079086422920227,
                        "yaw": 9.21158218383789
                    }
                },
                "velocity": {
                    "x": 3.7900586128234863,
                    "y": 0.6156526207923889,
                    "z": -0.05571455508470535
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5565576553344727,
                "transform": {
                    "location": {
                        "x": 1223.8958740234375,
                        "y": 4093.740478515625,
                        "z": 364.7423095703125
                    },
                    "rotation": {
                        "roll": 0.0003171222924720496,
                        "pitch": 0.896038830280304,
                        "yaw": -170.5909423828125
                    }
                },
                "velocity": {
                    "x": -3.5090255737304688,
                    "y": -0.5773633718490601,
                    "z": 0.04995126649737358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.944260597229004,
                "transform": {
                    "location": {
                        "x": 1252.7196044921875,
                        "y": 4101.66357421875,
                        "z": 364.3037414550781
                    },
                    "rotation": {
                        "roll": 2.228068478871137e-05,
                        "pitch": -0.8633358478546143,
                        "yaw": 9.231376647949219
                    }
                },
                "velocity": {
                    "x": 7.8404860496521,
                    "y": 1.2742769718170166,
                    "z": -0.11947597563266754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.75968074798584,
                "transform": {
                    "location": {
                        "x": 1207.7437744140625,
                        "y": 4091.1142578125,
                        "z": 364.99053955078125
                    },
                    "rotation": {
                        "roll": 0.0017701353644952178,
                        "pitch": -0.026303056627511978,
                        "yaw": -170.3537139892578
                    }
                },
                "velocity": {
                    "x": -2.7260992527008057,
                    "y": -0.42742326855659485,
                    "z": 0.039114903658628464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8711565732955933,
                "transform": {
                    "location": {
                        "x": 1162.129638671875,
                        "y": 4083.69921875,
                        "z": 365.6834716796875
                    },
                    "rotation": {
                        "roll": 0.00020479901286307722,
                        "pitch": 0.8022807836532593,
                        "yaw": -170.7299041748047
                    }
                },
                "velocity": {
                    "x": -1.846433401107788,
                    "y": -0.3016587197780609,
                    "z": 0.03021238185465336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.616838216781616,
                "transform": {
                    "location": {
                        "x": 1150.0206298828125,
                        "y": 4081.73681640625,
                        "z": 365.8786315917969
                    },
                    "rotation": {
                        "roll": 0.008698521181941032,
                        "pitch": 0.9815254211425781,
                        "yaw": -170.23660278320312
                    }
                },
                "velocity": {
                    "x": -3.5673341751098633,
                    "y": -0.5933724641799927,
                    "z": 0.059617068618535995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.6212358474731445,
                "transform": {
                    "location": {
                        "x": 1187.23291015625,
                        "y": 4085.177734375,
                        "z": 366.40179443359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.134765625,
                    "y": 1.6156249046325684,
                    "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": -0.03773098066449165,
        "expert_target_speed": 2.513234999458023,
        "target_point": [
            37.04679184608322,
            -0.3746843340030521
        ],
        "target_point_next": [
            74.04510692933525,
            -0.7338185189605593
        ]
    },
    "305": {
        "acceleration": [
            1.3870859146118164,
            0.24407029151916504,
            -0.024910345673561096
        ],
        "angular_velocity": [
            -0.044642675668001175,
            -0.16579444706439972,
            -1.0362193584442139
        ],
        "forward_vector": [
            -0.9855053424835205,
            -0.16912056505680084,
            0.013318262994289398
        ],
        "right_vector": [
            0.16913287341594696,
            -0.9855932593345642,
            -0.00020554846560116857
        ],
        "location": [
            1192.3836669921875,
            4088.692626953125,
            365.2074890136719
        ],
        "rotation": [
            0.011778104119002819,
            0.7631028294563293,
            -170.26243591308594
        ],
        "velocity": [
            -2.5203959941864014,
            -0.42802169919013977,
            0.039657048881053925
        ],
        "speed": 2.5564816726290984,
        "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": 30.8068790435791,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1161.99169921875,
                4083.67626953125,
                365.685302734375
            ],
            "velocity": [
                -0.7492083311080933,
                -0.12129560112953186,
                0.012864942662417889
            ],
            "speed_kmh": 2.7326614570676213,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.307547569274902,
                "transform": {
                    "location": {
                        "x": 1168.8365478515625,
                        "y": 4088.025634765625,
                        "z": 365.56195068359375
                    },
                    "rotation": {
                        "roll": 0.0021368851885199547,
                        "pitch": -0.8284267783164978,
                        "yaw": 9.200271606445312
                    }
                },
                "velocity": {
                    "x": 4.251364707946777,
                    "y": 0.690166175365448,
                    "z": -0.067337766289711
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.167238235473633,
                "transform": {
                    "location": {
                        "x": 1210.61181640625,
                        "y": 4094.81640625,
                        "z": 364.9231262207031
                    },
                    "rotation": {
                        "roll": -0.00012207066174596548,
                        "pitch": -0.2372739315032959,
                        "yaw": 9.222185134887695
                    }
                },
                "velocity": {
                    "x": 5.099789619445801,
                    "y": 0.82915860414505,
                    "z": -0.07066549360752106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.985170364379883,
                "transform": {
                    "location": {
                        "x": 1222.8294677734375,
                        "y": 4093.56591796875,
                        "z": 364.7579650878906
                    },
                    "rotation": {
                        "roll": 0.003401307389140129,
                        "pitch": 1.0213249921798706,
                        "yaw": -170.65274047851562
                    }
                },
                "velocity": {
                    "x": -4.91919469833374,
                    "y": -0.8052110075950623,
                    "z": 0.07128576189279556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.524569034576416,
                "transform": {
                    "location": {
                        "x": 1254.62548828125,
                        "y": 4101.9736328125,
                        "z": 364.2748107910156
                    },
                    "rotation": {
                        "roll": -0.00021362163533922285,
                        "pitch": -0.8732874393463135,
                        "yaw": 9.230705261230469
                    }
                },
                "velocity": {
                    "x": 7.426280975341797,
                    "y": 1.2068870067596436,
                    "z": -0.11364199966192245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40760523080825806,
                "transform": {
                    "location": {
                        "x": 1207.5948486328125,
                        "y": 4091.091796875,
                        "z": 364.9939880371094
                    },
                    "rotation": {
                        "roll": -0.019195556640625,
                        "pitch": -0.1888410598039627,
                        "yaw": -170.28758239746094
                    }
                },
                "velocity": {
                    "x": -0.4023040533065796,
                    "y": -0.06513930857181549,
                    "z": 0.007096233312040567
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7590726613998413,
                "transform": {
                    "location": {
                        "x": 1161.99169921875,
                        "y": 4083.67626953125,
                        "z": 365.685302734375
                    },
                    "rotation": {
                        "roll": -0.0007324325270019472,
                        "pitch": 0.855105459690094,
                        "yaw": -170.79916381835938
                    }
                },
                "velocity": {
                    "x": -0.7492083311080933,
                    "y": -0.12129560112953186,
                    "z": 0.012864942662417889
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.547460913658142,
                "transform": {
                    "location": {
                        "x": 1149.5897216796875,
                        "y": 4081.6669921875,
                        "z": 365.88671875
                    },
                    "rotation": {
                        "roll": 0.009877671487629414,
                        "pitch": 0.8569223284721375,
                        "yaw": -170.08114624023438
                    }
                },
                "velocity": {
                    "x": -1.5269259214401245,
                    "y": -0.2494983971118927,
                    "z": 0.02972029708325863
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.2730712890625,
                        "y": 4085.66015625,
                        "z": 366.39996337890625
                    },
                    "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": -0.04118920862674713,
        "expert_target_speed": 1.3553578814160205,
        "target_point": [
            36.36688630183466,
            -0.3396607418413886
        ],
        "target_point_next": [
            73.36551948034482,
            -0.6643748999074361
        ]
    },
    "310": {
        "acceleration": [
            1.675877571105957,
            0.28947770595550537,
            -0.028832033276557922
        ],
        "angular_velocity": [
            0.03868337348103523,
            -0.10447072237730026,
            0.8067012429237366
        ],
        "forward_vector": [
            -0.9856101274490356,
            -0.1685570627450943,
            0.012694494798779488
        ],
        "right_vector": [
            0.1685684323310852,
            -0.9856899380683899,
            -0.00017695249698590487
        ],
        "location": [
            1191.8037109375,
            4088.59423828125,
            365.216552734375
        ],
        "rotation": [
            0.010139448568224907,
            0.7273604869842529,
            -170.29527282714844
        ],
        "velocity": [
            -2.124805212020874,
            -0.3591660261154175,
            0.032838381826877594
        ],
        "speed": 2.154947197345358,
        "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": 30.48438262939453,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1161.7293701171875,
                4083.633544921875,
                365.68890380859375
            ],
            "velocity": [
                -1.3017784357070923,
                -0.2122599482536316,
                0.021511448547244072
            ],
            "speed_kmh": 4.7489228087486515,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.612131595611572,
                "transform": {
                    "location": {
                        "x": 1170.06298828125,
                        "y": 4088.224609375,
                        "z": 365.54229736328125
                    },
                    "rotation": {
                        "roll": -3.0512179364450276e-05,
                        "pitch": -0.8186049461364746,
                        "yaw": 9.233508110046387
                    }
                },
                "velocity": {
                    "x": 5.538768768310547,
                    "y": 0.9001549482345581,
                    "z": -0.0882282555103302
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.377286911010742,
                "transform": {
                    "location": {
                        "x": 1211.927978515625,
                        "y": 4095.030517578125,
                        "z": 364.9049987792969
                    },
                    "rotation": {
                        "roll": 5.400680311140604e-05,
                        "pitch": -0.5272837281227112,
                        "yaw": 9.221922874450684
                    }
                },
                "velocity": {
                    "x": 5.3069658279418945,
                    "y": 0.8634142875671387,
                    "z": -0.07645303755998611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.607520580291748,
                "transform": {
                    "location": {
                        "x": 1221.5050048828125,
                        "y": 4093.349365234375,
                        "z": 364.77734375
                    },
                    "rotation": {
                        "roll": 0.002661076607182622,
                        "pitch": 0.9398202896118164,
                        "yaw": -170.7068328857422
                    }
                },
                "velocity": {
                    "x": -5.533651828765869,
                    "y": -0.9037383198738098,
                    "z": 0.07900243252515793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.328653812408447,
                "transform": {
                    "location": {
                        "x": 1256.45361328125,
                        "y": 4102.2705078125,
                        "z": 364.246826171875
                    },
                    "rotation": {
                        "roll": -0.00012206369865452871,
                        "pitch": -0.870664656162262,
                        "yaw": 9.230944633483887
                    }
                },
                "velocity": {
                    "x": 7.232908725738525,
                    "y": 1.1754710674285889,
                    "z": -0.11165311932563782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8477484583854675,
                "transform": {
                    "location": {
                        "x": 1207.416015625,
                        "y": 4091.061767578125,
                        "z": 364.987060546875
                    },
                    "rotation": {
                        "roll": 0.007789847906678915,
                        "pitch": 1.0160316228866577,
                        "yaw": -170.3359832763672
                    }
                },
                "velocity": {
                    "x": -0.8363786339759827,
                    "y": -0.13776004314422607,
                    "z": 0.013052796944975853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3191452026367188,
                "transform": {
                    "location": {
                        "x": 1161.7293701171875,
                        "y": 4083.633544921875,
                        "z": 365.68890380859375
                    },
                    "rotation": {
                        "roll": -0.0008544943411834538,
                        "pitch": 0.9349026083946228,
                        "yaw": -170.77284240722656
                    }
                },
                "velocity": {
                    "x": -1.3017784357070923,
                    "y": -0.2122599482536316,
                    "z": 0.021511448547244072
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5493268966674805,
                "transform": {
                    "location": {
                        "x": 1149.1414794921875,
                        "y": 4081.592041015625,
                        "z": 365.8934020996094
                    },
                    "rotation": {
                        "roll": 0.009783386252820492,
                        "pitch": 0.9930411577224731,
                        "yaw": -170.24794006347656
                    }
                },
                "velocity": {
                    "x": -2.516380786895752,
                    "y": -0.4061945378780365,
                    "z": 0.04360406845808029
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3145751953125,
                        "y": 4086.157958984375,
                        "z": 366.2469177246094
                    },
                    "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": -0.044475723057985306,
        "expert_target_speed": 0.0,
        "target_point": [
            35.77883292886884,
            -0.31803390762338424
        ],
        "target_point_next": [
            72.77764614275432,
            -0.6215419411456224
        ]
    },
    "315": {
        "acceleration": [
            1.7991948127746582,
            0.3112339973449707,
            -0.03707505762577057
        ],
        "angular_velocity": [
            -0.023100731894373894,
            -0.0753653272986412,
            -1.2416958808898926
        ],
        "forward_vector": [
            -0.9857457280158997,
            -0.16779419779777527,
            0.012263108976185322
        ],
        "right_vector": [
            0.16780513525009155,
            -0.9858201742172241,
            -0.00013914423470851034
        ],
        "location": [
            1191.32763671875,
            4088.513916015625,
            365.2239685058594
        ],
        "rotation": [
            0.007972977124154568,
            0.702642023563385,
            -170.3396759033203
        ],
        "velocity": [
            -1.6953643560409546,
            -0.28526899218559265,
            0.0261880774050951
        ],
        "speed": 1.7191971084307769,
        "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": 30.40350914001465,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1161.3323974609375,
                4083.570556640625,
                365.6953430175781
            ],
            "velocity": [
                -1.8526194095611572,
                -0.3035244047641754,
                0.030423620715737343
            ],
            "speed_kmh": 6.759234966782301,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.84660530090332,
                "transform": {
                    "location": {
                        "x": 1171.606201171875,
                        "y": 4088.4755859375,
                        "z": 365.5177307128906
                    },
                    "rotation": {
                        "roll": 0.00020867535204160959,
                        "pitch": -0.8145751357078552,
                        "yaw": 9.220301628112793
                    }
                },
                "velocity": {
                    "x": 6.757055282592773,
                    "y": 1.0985546112060547,
                    "z": -0.10671961307525635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.089735984802246,
                "transform": {
                    "location": {
                        "x": 1213.4835205078125,
                        "y": 4095.283447265625,
                        "z": 364.88140869140625
                    },
                    "rotation": {
                        "roll": 0.0005787712289020419,
                        "pitch": -0.29656678438186646,
                        "yaw": 9.231572151184082
                    }
                },
                "velocity": {
                    "x": 6.997138500213623,
                    "y": 1.1374154090881348,
                    "z": -0.1034507155418396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.701684474945068,
                "transform": {
                    "location": {
                        "x": 1220.0364990234375,
                        "y": 4093.10986328125,
                        "z": 364.7987060546875
                    },
                    "rotation": {
                        "roll": 0.001425528316758573,
                        "pitch": 1.021823525428772,
                        "yaw": -170.725341796875
                    }
                },
                "velocity": {
                    "x": -6.613691806793213,
                    "y": -1.0781676769256592,
                    "z": 0.09596248716115952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.066906452178955,
                "transform": {
                    "location": {
                        "x": 1258.23046875,
                        "y": 4102.55908203125,
                        "z": 364.2195129394531
                    },
                    "rotation": {
                        "roll": -0.00027465360471978784,
                        "pitch": -0.8746330142021179,
                        "yaw": 9.230770111083984
                    }
                },
                "velocity": {
                    "x": 6.974594593048096,
                    "y": 1.1334834098815918,
                    "z": -0.10682358592748642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7893358469009399,
                "transform": {
                    "location": {
                        "x": 1207.2088623046875,
                        "y": 4091.02783203125,
                        "z": 364.990234375
                    },
                    "rotation": {
                        "roll": 0.008876143023371696,
                        "pitch": 1.0003358125686646,
                        "yaw": -170.39320373535156
                    }
                },
                "velocity": {
                    "x": -0.7787091135978699,
                    "y": -0.12844929099082947,
                    "z": 0.012803077697753906
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8775652647018433,
                "transform": {
                    "location": {
                        "x": 1161.3323974609375,
                        "y": 4083.570556640625,
                        "z": 365.6953430175781
                    },
                    "rotation": {
                        "roll": 0.0030919716227799654,
                        "pitch": 0.9414663910865784,
                        "yaw": -170.5623321533203
                    }
                },
                "velocity": {
                    "x": -1.8526194095611572,
                    "y": -0.3035244047641754,
                    "z": 0.030423620715737343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9616183638572693,
                "transform": {
                    "location": {
                        "x": 1148.517822265625,
                        "y": 4081.499267578125,
                        "z": 365.90460205078125
                    },
                    "rotation": {
                        "roll": 0.023908182978630066,
                        "pitch": 0.8987913727760315,
                        "yaw": -169.3509063720703
                    }
                },
                "velocity": {
                    "x": -0.9546027183532715,
                    "y": -0.11477833241224289,
                    "z": 0.016414795070886612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3560791015625,
                        "y": 4086.65625,
                        "z": 366.24432373046875
                    },
                    "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": -0.044997237622737885,
        "expert_target_speed": 0.0,
        "target_point": [
            35.296266557959676,
            -0.2896050660345244
        ],
        "target_point_next": [
            72.29530384096998,
            -0.5644440967677724
        ]
    },
    "320": {
        "acceleration": [
            0.07648557424545288,
            0.0091162184253335,
            -0.0004920072387903929
        ],
        "angular_velocity": [
            -0.20360079407691956,
            1.0385818481445312,
            0.00014935866056475788
        ],
        "forward_vector": [
            -0.9856226444244385,
            -0.1688687950372696,
            0.005598515272140503
        ],
        "right_vector": [
            0.16887088119983673,
            -0.9856382012367249,
            -0.00010172439942834899
        ],
        "location": [
            1191.189697265625,
            4088.4912109375,
            365.22747802734375
        ],
        "rotation": [
            0.00582846999168396,
            0.3207729756832123,
            -170.2777862548828
        ],
        "velocity": [
            0.00331525388173759,
            0.0005909785977564752,
            0.00043562546488828957
        ],
        "speed": 0.003367515998979421,
        "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": 30.773441314697266,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.8291015625,
                4083.489990234375,
                365.70361328125
            ],
            "velocity": [
                -1.7838802337646484,
                -0.29418322443962097,
                0.029780510812997818
            ],
            "speed_kmh": 6.509591769435102,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.188603401184082,
                "transform": {
                    "location": {
                        "x": 1173.470947265625,
                        "y": 4088.778564453125,
                        "z": 365.4880676269531
                    },
                    "rotation": {
                        "roll": 0.0008428652072325349,
                        "pitch": -0.8086260557174683,
                        "yaw": 9.220479965209961
                    }
                },
                "velocity": {
                    "x": 8.081517219543457,
                    "y": 1.3137006759643555,
                    "z": -0.12847593426704407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.177020072937012,
                "transform": {
                    "location": {
                        "x": 1215.4117431640625,
                        "y": 4095.5966796875,
                        "z": 364.8529968261719
                    },
                    "rotation": {
                        "roll": -0.0007629412575624883,
                        "pitch": -0.285187691450119,
                        "yaw": 9.236540794372559
                    }
                },
                "velocity": {
                    "x": 8.070151329040527,
                    "y": 1.3123024702072144,
                    "z": -0.11910250037908554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8049705028533936,
                "transform": {
                    "location": {
                        "x": 1218.5859375,
                        "y": 4092.873046875,
                        "z": 364.8189392089844
                    },
                    "rotation": {
                        "roll": 0.00010633969213813543,
                        "pitch": 0.5477606654167175,
                        "yaw": -170.74180603027344
                    }
                },
                "velocity": {
                    "x": -3.755012035369873,
                    "y": -0.6123690009117126,
                    "z": 0.05185944586992264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8310136795043945,
                "transform": {
                    "location": {
                        "x": 1259.943359375,
                        "y": 4102.837890625,
                        "z": 364.1932067871094
                    },
                    "rotation": {
                        "roll": -0.0003356925444677472,
                        "pitch": -0.8782051801681519,
                        "yaw": 9.233915328979492
                    }
                },
                "velocity": {
                    "x": 6.741579532623291,
                    "y": 1.0968539714813232,
                    "z": -0.10374826937913895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3879278898239136,
                "transform": {
                    "location": {
                        "x": 1206.96923828125,
                        "y": 4090.98876953125,
                        "z": 364.99468994140625
                    },
                    "rotation": {
                        "roll": 0.006563656963407993,
                        "pitch": 0.909063994884491,
                        "yaw": -170.39138793945312
                    }
                },
                "velocity": {
                    "x": -1.3693419694900513,
                    "y": -0.225442036986351,
                    "z": 0.020545396953821182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8082200288772583,
                "transform": {
                    "location": {
                        "x": 1160.8291015625,
                        "y": 4083.489990234375,
                        "z": 365.70361328125
                    },
                    "rotation": {
                        "roll": 0.005811444018036127,
                        "pitch": 0.9312962293624878,
                        "yaw": -170.36024475097656
                    }
                },
                "velocity": {
                    "x": -1.7838802337646484,
                    "y": -0.29418322443962097,
                    "z": 0.029780510812997818
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.3181301951408386,
                "transform": {
                    "location": {
                        "x": 1148.2845458984375,
                        "y": 4081.462646484375,
                        "z": 365.9085998535156
                    },
                    "rotation": {
                        "roll": 0.013297954574227333,
                        "pitch": 0.8485621809959412,
                        "yaw": -169.38668823242188
                    }
                },
                "velocity": {
                    "x": -0.3137626647949219,
                    "y": -0.05236164852976799,
                    "z": 0.004250716883689165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3975830078125,
                        "y": 4087.154296875,
                        "z": 366.24237060546875
                    },
                    "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": -0.04865504801273346,
        "expert_target_speed": 0.0,
        "target_point": [
            35.15614056998505,
            -0.32681110787588885
        ],
        "target_point_next": [
            72.15485943767925,
            -0.6416102688175407
        ]
    },
    "325": {
        "acceleration": [
            -0.01121952198445797,
            0.0031103375367820263,
            -0.0017394707538187504
        ],
        "angular_velocity": [
            -0.18828414380550385,
            1.001742959022522,
            0.000338167417794466
        ],
        "forward_vector": [
            -0.9855736494064331,
            -0.16886040568351746,
            0.011436928063631058
        ],
        "right_vector": [
            0.1688700169324875,
            -0.9856383204460144,
            -0.00012741831596940756
        ],
        "location": [
            1191.1875,
            4088.490966796875,
            365.2262878417969
        ],
        "rotation": [
            0.007301009260118008,
            0.6553019881248474,
            -170.2777862548828
        ],
        "velocity": [
            0.0032704824116081,
            0.000543431204278022,
            0.0006848573684692383
        ],
        "speed": 0.0033153239175714028,
        "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": 30.899192810058594,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.7027587890625,
                4083.469970703125,
                365.7060852050781
            ],
            "velocity": [
                -0.6472097635269165,
                -0.10674413293600082,
                0.010424013249576092
            ],
            "speed_kmh": 2.361730189020492,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.165226936340332,
                "transform": {
                    "location": {
                        "x": 1175.5225830078125,
                        "y": 4089.112060546875,
                        "z": 365.4560546875
                    },
                    "rotation": {
                        "roll": -0.0009155315929092467,
                        "pitch": -0.8729527592658997,
                        "yaw": 9.224872589111328
                    }
                },
                "velocity": {
                    "x": 8.058650970458984,
                    "y": 1.3087458610534668,
                    "z": -0.12750181555747986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.6895170211792,
                "transform": {
                    "location": {
                        "x": 1217.540771484375,
                        "y": 4095.943603515625,
                        "z": 364.8225402832031
                    },
                    "rotation": {
                        "roll": -0.0007934552850201726,
                        "pitch": -0.46539539098739624,
                        "yaw": 9.243865966796875
                    }
                },
                "velocity": {
                    "x": 8.575927734375,
                    "y": 1.3947612047195435,
                    "z": -0.12571020424365997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40881597995758057,
                "transform": {
                    "location": {
                        "x": 1218.3360595703125,
                        "y": 4092.83251953125,
                        "z": 364.8221740722656
                    },
                    "rotation": {
                        "roll": 7.208835995697882e-06,
                        "pitch": 0.32885992527008057,
                        "yaw": -170.7397003173828
                    }
                },
                "velocity": {
                    "x": -0.40359553694725037,
                    "y": -0.0648663192987442,
                    "z": 0.0057877441868186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1261.6492919921875,
                        "y": 4103.052734375,
                        "z": 364.17034912109375
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7108654975891113,
                "transform": {
                    "location": {
                        "x": 1206.4671630859375,
                        "y": 4090.905517578125,
                        "z": 365.0002746582031
                    },
                    "rotation": {
                        "roll": 0.009903253987431526,
                        "pitch": 1.134644627571106,
                        "yaw": -170.43911743164062
                    }
                },
                "velocity": {
                    "x": -2.674896717071533,
                    "y": -0.438378244638443,
                    "z": 0.03928614407777786
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6560361981391907,
                "transform": {
                    "location": {
                        "x": 1160.7027587890625,
                        "y": 4083.469970703125,
                        "z": 365.7060852050781
                    },
                    "rotation": {
                        "roll": 0.007236020639538765,
                        "pitch": 0.8951098918914795,
                        "yaw": -170.28184509277344
                    }
                },
                "velocity": {
                    "x": -0.6472097635269165,
                    "y": -0.10674413293600082,
                    "z": 0.010424013249576092
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008879599627107382,
                "transform": {
                    "location": {
                        "x": 1148.193359375,
                        "y": 4081.446044921875,
                        "z": 365.90966796875
                    },
                    "rotation": {
                        "roll": 0.017131829634308815,
                        "pitch": 0.9172670245170593,
                        "yaw": -169.5487060546875
                    }
                },
                "velocity": {
                    "x": -0.00018485545297153294,
                    "y": 0.0003501700994092971,
                    "z": 0.0007947843987494707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4390869140625,
                        "y": 4087.65234375,
                        "z": 366.24041748046875
                    },
                    "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": -0.04725603386759758,
        "expert_target_speed": 0.0,
        "target_point": [
            35.15393363290392,
            -0.32668068705114983
        ],
        "target_point_next": [
            72.15265250059811,
            -0.6414798479928017
        ]
    },
    "330": {
        "acceleration": [
            -0.02361053228378296,
            -0.0025666458532214165,
            -0.019450265914201736
        ],
        "angular_velocity": [
            -0.03359236568212509,
            0.07823875546455383,
            0.0004443392972461879
        ],
        "forward_vector": [
            -0.9855407476425171,
            -0.1688566952943802,
            0.014031306840479374
        ],
        "right_vector": [
            0.16887179017066956,
            -0.9856380224227905,
            -0.00011059047392336652
        ],
        "location": [
            1191.1865234375,
            4088.490478515625,
            365.2257385253906
        ],
        "rotation": [
            0.006336991675198078,
            0.8039610385894775,
            -170.27767944335938
        ],
        "velocity": [
            0.000285908579826355,
            0.0001124380505643785,
            0.00022274306684266776
        ],
        "speed": 0.0003072230968417592,
        "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": 31.123266220092773,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.480712890625,
                4083.43310546875,
                365.70928955078125
            ],
            "velocity": [
                -1.1188104152679443,
                -0.1848255842924118,
                0.0179859921336174
            ],
            "speed_kmh": 4.082820197159046,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9001312255859375,
                "transform": {
                    "location": {
                        "x": 1177.4874267578125,
                        "y": 4089.43115234375,
                        "z": 365.42523193359375
                    },
                    "rotation": {
                        "roll": -0.00012207827239762992,
                        "pitch": -0.9083263278007507,
                        "yaw": 9.229049682617188
                    }
                },
                "velocity": {
                    "x": 7.796914577484131,
                    "y": 1.2669029235839844,
                    "z": -0.1231083869934082
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.200661659240723,
                "transform": {
                    "location": {
                        "x": 1219.6004638671875,
                        "y": 4096.27880859375,
                        "z": 364.7940979003906
                    },
                    "rotation": {
                        "roll": 0.000141715572681278,
                        "pitch": -0.8567174077033997,
                        "yaw": 9.242785453796387
                    }
                },
                "velocity": {
                    "x": 8.093338966369629,
                    "y": 1.3170907497406006,
                    "z": -0.11829835921525955
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4675947427749634,
                "transform": {
                    "location": {
                        "x": 1218.09228515625,
                        "y": 4092.79248046875,
                        "z": 364.82647705078125
                    },
                    "rotation": {
                        "roll": 0.000841764674987644,
                        "pitch": 0.8409259915351868,
                        "yaw": -170.74855041503906
                    }
                },
                "velocity": {
                    "x": -1.448440670967102,
                    "y": -0.2353730946779251,
                    "z": 0.021296892315149307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1263.2921142578125,
                        "y": 4103.283203125,
                        "z": 364.14697265625
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.60838508605957,
                "transform": {
                    "location": {
                        "x": 1205.563720703125,
                        "y": 4090.7568359375,
                        "z": 365.0124206542969
                    },
                    "rotation": {
                        "roll": 0.009570224210619926,
                        "pitch": 1.298316478729248,
                        "yaw": -170.5430450439453
                    }
                },
                "velocity": {
                    "x": -4.5474677085876465,
                    "y": -0.7437049746513367,
                    "z": 0.06823267042636871
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.134116768836975,
                "transform": {
                    "location": {
                        "x": 1160.480712890625,
                        "y": 4083.43310546875,
                        "z": 365.70928955078125
                    },
                    "rotation": {
                        "roll": 0.008197374641895294,
                        "pitch": 0.9393353462219238,
                        "yaw": -170.31314086914062
                    }
                },
                "velocity": {
                    "x": -1.1188104152679443,
                    "y": -0.1848255842924118,
                    "z": 0.0179859921336174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.46080127358436584,
                "transform": {
                    "location": {
                        "x": 1148.1507568359375,
                        "y": 4081.43896484375,
                        "z": 365.91015625
                    },
                    "rotation": {
                        "roll": 0.020222386345267296,
                        "pitch": 0.9591429233551025,
                        "yaw": -169.55108642578125
                    }
                },
                "velocity": {
                    "x": -0.4546181857585907,
                    "y": -0.07488071173429489,
                    "z": 0.007279872894287109
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4805908203125,
                        "y": 4088.150634765625,
                        "z": 366.23846435546875
                    },
                    "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": -0.04813724383711815,
        "expert_target_speed": 0.0,
        "target_point": [
            35.152888015232506,
            -0.32706409108166223
        ],
        "target_point_next": [
            72.15160628242765,
            -0.6419338214785899
        ]
    },
    "335": {
        "acceleration": [
            -0.7137279510498047,
            -0.13444924354553223,
            0.01732753962278366
        ],
        "angular_velocity": [
            -0.03530342876911163,
            0.24263893067836761,
            -0.06928659975528717
        ],
        "forward_vector": [
            -0.9855751395225525,
            -0.16857598721981049,
            0.014956869184970856
        ],
        "right_vector": [
            0.1685931235551834,
            -0.9856857061386108,
            -0.00011747143435059115
        ],
        "location": [
            1191.184326171875,
            4088.489990234375,
            365.22552490234375
        ],
        "rotation": [
            0.006731370463967323,
            0.8569974303245544,
            -170.2938690185547
        ],
        "velocity": [
            -0.03509801626205444,
            -0.0066299280151724815,
            0.0007885837112553418
        ],
        "speed": 0.035718716256576286,
        "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": 31.482816696166992,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.123779296875,
                4083.374267578125,
                365.7150573730469
            ],
            "velocity": [
                -1.7091028690338135,
                -0.2815360128879547,
                0.02720555290579796
            ],
            "speed_kmh": 6.236458714799109,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.13171672821045,
                "transform": {
                    "location": {
                        "x": 1179.4677734375,
                        "y": 4089.7529296875,
                        "z": 365.3939514160156
                    },
                    "rotation": {
                        "roll": 0.0004377303703222424,
                        "pitch": -0.8774402141571045,
                        "yaw": 9.233230590820312
                    }
                },
                "velocity": {
                    "x": 8.025386810302734,
                    "y": 1.3046032190322876,
                    "z": -0.12645366787910461
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.306386947631836,
                "transform": {
                    "location": {
                        "x": 1221.5106201171875,
                        "y": 4096.58935546875,
                        "z": 364.7671813964844
                    },
                    "rotation": {
                        "roll": 0.0013325689360499382,
                        "pitch": -1.0917646884918213,
                        "yaw": 9.232481002807617
                    }
                },
                "velocity": {
                    "x": 7.211007595062256,
                    "y": 1.172041654586792,
                    "z": -0.10477305948734283
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.345615863800049,
                "transform": {
                    "location": {
                        "x": 1217.625,
                        "y": 4092.716796875,
                        "z": 364.8334655761719
                    },
                    "rotation": {
                        "roll": 0.0003915889246854931,
                        "pitch": 0.9488430023193359,
                        "yaw": -170.76162719726562
                    }
                },
                "velocity": {
                    "x": -2.3149046897888184,
                    "y": -0.3768308460712433,
                    "z": 0.03359370306134224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1264.8721923828125,
                        "y": 4103.5390625,
                        "z": 364.1224670410156
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.573672294616699,
                "transform": {
                    "location": {
                        "x": 1204.277587890625,
                        "y": 4090.546142578125,
                        "z": 365.03338623046875
                    },
                    "rotation": {
                        "roll": 0.005860847886651754,
                        "pitch": 1.1330599784851074,
                        "yaw": -170.66433715820312
                    }
                },
                "velocity": {
                    "x": -5.500271320343018,
                    "y": -0.8977062106132507,
                    "z": 0.08345283567905426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7323496341705322,
                "transform": {
                    "location": {
                        "x": 1160.123779296875,
                        "y": 4083.374267578125,
                        "z": 365.7150573730469
                    },
                    "rotation": {
                        "roll": 0.007954240776598454,
                        "pitch": 0.9468485713005066,
                        "yaw": -170.33432006835938
                    }
                },
                "velocity": {
                    "x": -1.7091028690338135,
                    "y": -0.2815360128879547,
                    "z": 0.02720555290579796
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.14313462376594543,
                "transform": {
                    "location": {
                        "x": 1148.12109375,
                        "y": 4081.434326171875,
                        "z": 365.9107666015625
                    },
                    "rotation": {
                        "roll": 0.019471237435936928,
                        "pitch": 0.9503661394119263,
                        "yaw": -169.5557403564453
                    }
                },
                "velocity": {
                    "x": -0.14114981889724731,
                    "y": -0.02363935112953186,
                    "z": 0.0023302841000258923
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5220947265625,
                        "y": 4088.6484375,
                        "z": 366.23651123046875
                    },
                    "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": -0.04707466438412666,
        "expert_target_speed": 0.0,
        "target_point": [
            35.15073080632758,
            -0.3172516976895201
        ],
        "target_point_next": [
            72.14953648319607,
            -0.6216771363837523
        ]
    },
    "340": {
        "acceleration": [
            -0.20166829228401184,
            -0.025401832535862923,
            -0.002890396863222122
        ],
        "angular_velocity": [
            0.00605106633156538,
            0.0689263641834259,
            0.027767514809966087
        ],
        "forward_vector": [
            -0.9855669140815735,
            -0.16859005391597748,
            0.015335196629166603
        ],
        "right_vector": [
            0.1686079353094101,
            -0.9856832027435303,
            -0.00012953265104442835
        ],
        "location": [
            1191.17529296875,
            4088.488037109375,
            365.2255859375
        ],
        "rotation": [
            0.007422546856105328,
            0.8786764740943909,
            -170.29299926757812
        ],
        "velocity": [
            -0.03646833449602127,
            -0.00596257671713829,
            0.0015385817969217896
        ],
        "speed": 0.03695256069640444,
        "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": 31.965164184570312,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.638916015625,
                4083.293701171875,
                365.7229919433594
            ],
            "velocity": [
                -2.110353708267212,
                -0.3464275598526001,
                0.03435194119811058
            ],
            "speed_kmh": 7.699948837347126,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.062424659729004,
                "transform": {
                    "location": {
                        "x": 1181.470703125,
                        "y": 4090.07861328125,
                        "z": 365.3625793457031
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": -0.8908683657646179,
                        "yaw": 9.233591079711914
                    }
                },
                "velocity": {
                    "x": 7.957007884979248,
                    "y": 1.2935009002685547,
                    "z": -0.12476703524589539
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.741387844085693,
                "transform": {
                    "location": {
                        "x": 1223.3448486328125,
                        "y": 4096.8876953125,
                        "z": 364.73980712890625
                    },
                    "rotation": {
                        "roll": 0.0017151172505691648,
                        "pitch": -0.8593743443489075,
                        "yaw": 9.23629379272461
                    }
                },
                "velocity": {
                    "x": 7.64039945602417,
                    "y": 1.2413690090179443,
                    "z": -0.11128273606300354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.011968010105192661,
                "transform": {
                    "location": {
                        "x": 1217.1864013671875,
                        "y": 4092.645263671875,
                        "z": 364.83935546875
                    },
                    "rotation": {
                        "roll": -0.00033569385414011776,
                        "pitch": 0.5837830901145935,
                        "yaw": -170.68519592285156
                    }
                },
                "velocity": {
                    "x": -0.011808967217803001,
                    "y": -0.0017304325010627508,
                    "z": 0.0008872291073203087
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1266.396484375,
                        "y": 4103.78662109375,
                        "z": 364.09881591796875
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.724262714385986,
                "transform": {
                    "location": {
                        "x": 1202.75048828125,
                        "y": 4090.296142578125,
                        "z": 365.05718994140625
                    },
                    "rotation": {
                        "roll": 0.004416204988956451,
                        "pitch": 1.0211063623428345,
                        "yaw": -170.82603454589844
                    }
                },
                "velocity": {
                    "x": -5.649506568908691,
                    "y": -0.9181898832321167,
                    "z": 0.08478431403636932
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1388747692108154,
                "transform": {
                    "location": {
                        "x": 1159.638916015625,
                        "y": 4083.293701171875,
                        "z": 365.7229919433594
                    },
                    "rotation": {
                        "roll": 0.004844439681619406,
                        "pitch": 0.9470739960670471,
                        "yaw": -170.42593383789062
                    }
                },
                "velocity": {
                    "x": -2.110353708267212,
                    "y": -0.3464275598526001,
                    "z": 0.03435194119811058
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009715851629152894,
                "transform": {
                    "location": {
                        "x": 1148.082763671875,
                        "y": 4081.427490234375,
                        "z": 365.9113464355469
                    },
                    "rotation": {
                        "roll": 0.018872855231165886,
                        "pitch": 0.9566977024078369,
                        "yaw": -169.61468505859375
                    }
                },
                "velocity": {
                    "x": -0.00017085597210098058,
                    "y": 1.912713014462497e-05,
                    "z": -0.0009562531486153603
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5635986328125,
                        "y": 4089.146484375,
                        "z": 366.23455810546875
                    },
                    "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": -0.048480402678251266,
        "expert_target_speed": 0.0,
        "target_point": [
            35.141492923334795,
            -0.31817337196893547
        ],
        "target_point_next": [
            72.14029409615885,
            -0.6231457251959203
        ]
    },
    "345": {
        "acceleration": [
            -1.0633289813995361,
            -0.17864704132080078,
            0.0007347110658884048
        ],
        "angular_velocity": [
            -0.057785745710134506,
            0.27354010939598083,
            -0.023397056385874748
        ],
        "forward_vector": [
            -0.9855146408081055,
            -0.16869550943374634,
            0.017397599294781685
        ],
        "right_vector": [
            0.16871847212314606,
            -0.9856642484664917,
            -0.00015047330816742033
        ],
        "location": [
            1191.1126708984375,
            4088.477294921875,
            365.2262268066406
        ],
        "rotation": [
            0.008622790686786175,
            0.9968592524528503,
            -170.28652954101562
        ],
        "velocity": [
            -0.463058739900589,
            -0.07795057445764542,
            0.0064112660475075245
        ],
        "speed": 0.4695739437581671,
        "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": 32.239986419677734,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.305419921875,
                4083.23681640625,
                365.72906494140625
            ],
            "velocity": [
                -0.5468797087669373,
                -0.08996088802814484,
                0.008677739650011063
            ],
            "speed_kmh": 1.9954708762596054,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.973010063171387,
                "transform": {
                    "location": {
                        "x": 1183.4451904296875,
                        "y": 4090.39990234375,
                        "z": 365.3316345214844
                    },
                    "rotation": {
                        "roll": -0.0009460354340262711,
                        "pitch": -0.8907795548439026,
                        "yaw": 9.240443229675293
                    }
                },
                "velocity": {
                    "x": 7.868375301361084,
                    "y": 1.281557559967041,
                    "z": -0.12315152585506439
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.362399101257324,
                "transform": {
                    "location": {
                        "x": 1225.368896484375,
                        "y": 4097.216796875,
                        "z": 364.7095642089844
                    },
                    "rotation": {
                        "roll": 0.00022845499916002154,
                        "pitch": -0.6309182047843933,
                        "yaw": 9.235223770141602
                    }
                },
                "velocity": {
                    "x": 8.253182411193848,
                    "y": 1.3418614864349365,
                    "z": -0.11879294365644455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9829421043395996,
                "transform": {
                    "location": {
                        "x": 1217.0755615234375,
                        "y": 4092.62744140625,
                        "z": 364.84136962890625
                    },
                    "rotation": {
                        "roll": 0.000991422450169921,
                        "pitch": 0.8319442868232727,
                        "yaw": -170.7057342529297
                    }
                },
                "velocity": {
                    "x": -0.97016441822052,
                    "y": -0.15734562277793884,
                    "z": 0.014092645607888699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1267.866943359375,
                        "y": 4104.025390625,
                        "z": 364.0760192871094
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0038973211776465178,
                "transform": {
                    "location": {
                        "x": 1202.186279296875,
                        "y": 4090.203125,
                        "z": 365.07672119140625
                    },
                    "rotation": {
                        "roll": 0.006572459824383259,
                        "pitch": -0.3790891468524933,
                        "yaw": -170.9182586669922
                    }
                },
                "velocity": {
                    "x": -0.0033337378408759832,
                    "y": -0.0010090278228744864,
                    "z": -0.0017484758282080293
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5542975068092346,
                "transform": {
                    "location": {
                        "x": 1159.305419921875,
                        "y": 4083.23681640625,
                        "z": 365.72906494140625
                    },
                    "rotation": {
                        "roll": -0.001281732926145196,
                        "pitch": 0.8824057579040527,
                        "yaw": -170.65248107910156
                    }
                },
                "velocity": {
                    "x": -0.5468797087669373,
                    "y": -0.08996088802814484,
                    "z": 0.008677739650011063
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.35898566246032715,
                "transform": {
                    "location": {
                        "x": 1148.0423583984375,
                        "y": 4081.420654296875,
                        "z": 365.9119567871094
                    },
                    "rotation": {
                        "roll": 0.020124142989516258,
                        "pitch": 0.9661916494369507,
                        "yaw": -169.6417236328125
                    }
                },
                "velocity": {
                    "x": -0.35396990180015564,
                    "y": -0.05941849574446678,
                    "z": 0.006741590332239866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6051025390625,
                        "y": 4089.64453125,
                        "z": 366.23260498046875
                    },
                    "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": -0.04843886196613312,
        "expert_target_speed": 0.0,
        "target_point": [
            35.077919998529154,
            -0.3221672574694008
        ],
        "target_point_next": [
            72.07668647004134,
            -0.6313208583003664
        ]
    },
    "350": {
        "acceleration": [
            -0.15038132667541504,
            -0.025169551372528076,
            0.004188921302556992
        ],
        "angular_velocity": [
            0.009997101500630379,
            -0.14151933789253235,
            -0.19694344699382782
        ],
        "forward_vector": [
            -0.9854241013526917,
            -0.16916321218013763,
            0.017974838614463806
        ],
        "right_vector": [
            0.16918817162513733,
            -0.9855837821960449,
            -0.0001344116171821952
        ],
        "location": [
            1190.9500732421875,
            4088.449951171875,
            365.228515625
        ],
        "rotation": [
            0.007702462840825319,
            1.0299378633499146,
            -170.25924682617188
        ],
        "velocity": [
            -0.785685658454895,
            -0.13351820409297943,
            0.01209255214780569
        ],
        "speed": 0.7969498508224444,
        "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": 32.294578552246094,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.0888671875,
                4083.201171875,
                365.7321472167969
            ],
            "velocity": [
                -1.1261838674545288,
                -0.1832515448331833,
                0.01814638078212738
            ],
            "speed_kmh": 4.108104037121948,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.81099796295166,
                "transform": {
                    "location": {
                        "x": 1185.2913818359375,
                        "y": 4090.699951171875,
                        "z": 365.30316162109375
                    },
                    "rotation": {
                        "roll": 1.202118528453866e-05,
                        "pitch": -0.9504344463348389,
                        "yaw": 9.241762161254883
                    }
                },
                "velocity": {
                    "x": 6.72182559967041,
                    "y": 1.0934597253799438,
                    "z": -0.10534192621707916
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.879085063934326,
                "transform": {
                    "location": {
                        "x": 1227.368408203125,
                        "y": 4097.5419921875,
                        "z": 364.6815185546875
                    },
                    "rotation": {
                        "roll": 0.001033049775287509,
                        "pitch": -0.8870229721069336,
                        "yaw": 9.230565071105957
                    }
                },
                "velocity": {
                    "x": 7.776230335235596,
                    "y": 1.263765573501587,
                    "z": -0.11455657333135605
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9160740375518799,
                "transform": {
                    "location": {
                        "x": 1216.7142333984375,
                        "y": 4092.568603515625,
                        "z": 364.84674072265625
                    },
                    "rotation": {
                        "roll": 0.001393730752170086,
                        "pitch": 0.9514316320419312,
                        "yaw": -170.7977294921875
                    }
                },
                "velocity": {
                    "x": -1.891167402267456,
                    "y": -0.3067326843738556,
                    "z": 0.027212895452976227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110819,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1269.285888671875,
                        "y": 4104.255859375,
                        "z": 364.05377197265625
                    },
                    "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": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5582199692726135,
                "transform": {
                    "location": {
                        "x": 1202.056884765625,
                        "y": 4090.182373046875,
                        "z": 365.07061767578125
                    },
                    "rotation": {
                        "roll": 0.000561175518669188,
                        "pitch": 0.5874099135398865,
                        "yaw": -170.91079711914062
                    }
                },
                "velocity": {
                    "x": -0.5509983897209167,
                    "y": -0.08897911757230759,
                    "z": 0.009645442478358746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1411399841308594,
                "transform": {
                    "location": {
                        "x": 1159.0888671875,
                        "y": 4083.201171875,
                        "z": 365.7321472167969
                    },
                    "rotation": {
                        "roll": -0.00018309878942091018,
                        "pitch": 0.9351621270179749,
                        "yaw": -170.70159912109375
                    }
                },
                "velocity": {
                    "x": -1.1261838674545288,
                    "y": -0.1832515448331833,
                    "z": 0.01814638078212738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5482762455940247,
                "transform": {
                    "location": {
                        "x": 1147.947509765625,
                        "y": 4081.404296875,
                        "z": 365.9135437011719
                    },
                    "rotation": {
                        "roll": 0.01816610060632229,
                        "pitch": 0.9648324847221375,
                        "yaw": -169.72213745117188
                    }
                },
                "velocity": {
                    "x": -0.5409469604492188,
                    "y": -0.08894655853509903,
                    "z": 0.008469104766845703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6466064453125,
                        "y": 4090.142333984375,
                        "z": 366.23065185546875
                    },
                    "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": -0.0521063469350338,
        "expert_target_speed": 0.0,
        "target_point": [
            34.91288286382307,
            -0.33829988069000105
        ],
        "target_point_next": [
            71.91149802478377,
            -0.6650605477381291
        ]
    },
    "355": {
        "acceleration": [
            -1.4917397499084473,
            -0.261666476726532,
            0.05371246486902237
        ],
        "angular_velocity": [
            -0.060614485293626785,
            0.11674868315458298,
            -0.019369494169950485
        ],
        "forward_vector": [
            -0.9854122400283813,
            -0.169204980134964,
            0.01823073998093605
        ],
        "right_vector": [
            0.1692305952310562,
            -0.9855764508247375,
            -0.00013962015509605408
        ],
        "location": [
            1190.708984375,
            4088.4091796875,
            365.232177734375
        ],
        "rotation": [
            0.008000975474715233,
            1.0446022748947144,
            -170.25677490234375
        ],
        "velocity": [
            -1.168987512588501,
            -0.19823820888996124,
            0.018363161012530327
        ],
        "speed": 1.1856771027778814,
        "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": 32.41432571411133,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.7294921875,
                4083.141845703125,
                365.7378845214844
            ],
            "velocity": [
                -1.7072432041168213,
                -0.2768659293651581,
                0.027376718819141388
            ],
            "speed_kmh": 6.227150493533273,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9460374116897583,
                "transform": {
                    "location": {
                        "x": 1186.47314453125,
                        "y": 4090.89990234375,
                        "z": 365.2851867675781
                    },
                    "rotation": {
                        "roll": 0.1019810289144516,
                        "pitch": -1.029111385345459,
                        "yaw": 9.341687202453613
                    }
                },
                "velocity": {
                    "x": 1.9194096326828003,
                    "y": 0.3195193111896515,
                    "z": -0.02891063690185547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028223991394043,
                "transform": {
                    "location": {
                        "x": 1229.314208984375,
                        "y": 4097.8583984375,
                        "z": 364.6529846191406
                    },
                    "rotation": {
                        "roll": -6.103803752921522e-05,
                        "pitch": -0.8402907848358154,
                        "yaw": 9.233235359191895
                    }
                },
                "velocity": {
                    "x": 7.923394680023193,
                    "y": 1.2880101203918457,
                    "z": -0.11502725630998611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8056907653808594,
                "transform": {
                    "location": {
                        "x": 1216.192138671875,
                        "y": 4092.484375,
                        "z": 364.854248046875
                    },
                    "rotation": {
                        "roll": -0.0008239721646532416,
                        "pitch": 0.8653849363327026,
                        "yaw": -170.9529266357422
                    }
                },
                "velocity": {
                    "x": -1.7818626165390015,
                    "y": -0.2911984324455261,
                    "z": 0.026235437020659447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1457655429840088,
                "transform": {
                    "location": {
                        "x": 1201.8565673828125,
                        "y": 4090.14990234375,
                        "z": 365.0696716308594
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": 1.1165993213653564,
                        "yaw": -170.8819580078125
                    }
                },
                "velocity": {
                    "x": -1.1307849884033203,
                    "y": -0.18381796777248383,
                    "z": 0.01774817518889904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7297639846801758,
                "transform": {
                    "location": {
                        "x": 1158.7294921875,
                        "y": 4083.141845703125,
                        "z": 365.7378845214844
                    },
                    "rotation": {
                        "roll": -0.0007934517343528569,
                        "pitch": 0.951008141040802,
                        "yaw": -170.79319763183594
                    }
                },
                "velocity": {
                    "x": -1.7072432041168213,
                    "y": -0.2768659293651581,
                    "z": 0.027376718819141388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1965235471725464,
                "transform": {
                    "location": {
                        "x": 1147.6947021484375,
                        "y": 4081.362060546875,
                        "z": 365.9178466796875
                    },
                    "rotation": {
                        "roll": 0.018873408436775208,
                        "pitch": 1.0019135475158691,
                        "yaw": -169.83407592773438
                    }
                },
                "velocity": {
                    "x": -1.1801060438156128,
                    "y": -0.19643650949001312,
                    "z": 0.020761536434292793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 110573,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 6.2856903076171875,
                "transform": {
                    "location": {
                        "x": 1188.9969482421875,
                        "y": 4090.382080078125,
                        "z": 366.0393371582031
                    },
                    "rotation": {
                        "roll": 46.846107482910156,
                        "pitch": -4.906186103820801,
                        "yaw": 87.4569320678711
                    }
                },
                "velocity": {
                    "x": 5.9821672439575195,
                    "y": 0.669868528842926,
                    "z": -1.8096561431884766
                },
                "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": -0.05327955260872841,
        "expert_target_speed": 0.0,
        "target_point": [
            34.66835685211316,
            -0.33919810263382644
        ],
        "target_point_next": [
            71.66695779938371,
            -0.6675642199943077
        ]
    },
    "360": {
        "acceleration": [
            -1.3046717643737793,
            -0.21882295608520508,
            0.017684921622276306
        ],
        "angular_velocity": [
            -0.0076031675562262535,
            -0.06501264870166779,
            -0.0021275505423545837
        ],
        "forward_vector": [
            -0.9854058027267456,
            -0.16921934485435486,
            0.01844480074942112
        ],
        "right_vector": [
            0.1692451536655426,
            -0.9855740070343018,
            -0.00016396840510424227
        ],
        "location": [
            1190.3646240234375,
            4088.3505859375,
            365.2374572753906
        ],
        "rotation": [
            0.009396295994520187,
            1.0568692684173584,
            -170.25588989257812
        ],
        "velocity": [
            -1.5498162508010864,
            -0.2632012963294983,
            0.02313515543937683
        ],
        "speed": 1.5720067854932003,
        "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": 32.55061721801758,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.250244140625,
                4083.063720703125,
                365.7458190917969
            ],
            "velocity": [
                -2.1086246967315674,
                -0.3430275321006775,
                0.03394433110952377
            ],
            "speed_kmh": 7.691809416066914,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8248522281646729,
                "transform": {
                    "location": {
                        "x": 1186.5809326171875,
                        "y": 4090.917724609375,
                        "z": 365.2829284667969
                    },
                    "rotation": {
                        "roll": 0.02685861475765705,
                        "pitch": -0.9910877346992493,
                        "yaw": 9.363258361816406
                    }
                },
                "velocity": {
                    "x": 0.8144897818565369,
                    "y": 0.12972325086593628,
                    "z": -0.012627534568309784
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.127985000610352,
                "transform": {
                    "location": {
                        "x": 1231.3232421875,
                        "y": 4098.18505859375,
                        "z": 364.62353515625
                    },
                    "rotation": {
                        "roll": -0.00012206806422909722,
                        "pitch": -0.7962907552719116,
                        "yaw": 9.233586311340332
                    }
                },
                "velocity": {
                    "x": 8.021833419799805,
                    "y": 1.304052710533142,
                    "z": -0.11739111691713333
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.858527421951294,
                "transform": {
                    "location": {
                        "x": 1216.0679931640625,
                        "y": 4092.4638671875,
                        "z": 364.85595703125
                    },
                    "rotation": {
                        "roll": -0.0026245128829032183,
                        "pitch": 0.7742770314216614,
                        "yaw": -170.98158264160156
                    }
                },
                "velocity": {
                    "x": -0.8473854660987854,
                    "y": -0.13729630410671234,
                    "z": 0.012530956417322159
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.461695671081543,
                "transform": {
                    "location": {
                        "x": 1201.4058837890625,
                        "y": 4090.077392578125,
                        "z": 365.07574462890625
                    },
                    "rotation": {
                        "roll": -0.0030212413985282183,
                        "pitch": 1.1950849294662476,
                        "yaw": -170.8506622314453
                    }
                },
                "velocity": {
                    "x": -2.429659843444824,
                    "y": -0.39422908425331116,
                    "z": 0.03581680357456207
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.136613607406616,
                "transform": {
                    "location": {
                        "x": 1158.250244140625,
                        "y": 4083.063720703125,
                        "z": 365.7458190917969
                    },
                    "rotation": {
                        "roll": -0.0018005482852458954,
                        "pitch": 0.9480643272399902,
                        "yaw": -170.80007934570312
                    }
                },
                "velocity": {
                    "x": -2.1086246967315674,
                    "y": -0.3430275321006775,
                    "z": 0.03394433110952377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.68104088306427,
                "transform": {
                    "location": {
                        "x": 1147.353759765625,
                        "y": 4081.30419921875,
                        "z": 365.9237060546875
                    },
                    "rotation": {
                        "roll": 0.012969862669706345,
                        "pitch": 0.9880619645118713,
                        "yaw": -170.02349853515625
                    }
                },
                "velocity": {
                    "x": -1.6588996648788452,
                    "y": -0.27057406306266785,
                    "z": 0.027203740552067757
                },
                "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": -0.05627911537885666,
        "expert_target_speed": 2.7356938024484614,
        "target_point": [
            34.31904220014396,
            -0.33920969540108104
        ],
        "target_point_next": [
            71.3176379757874,
            -0.6681580088760803
        ]
    },
    "365": {
        "acceleration": [
            -1.972811222076416,
            -0.32982587814331055,
            0.03791045397520065
        ],
        "angular_velocity": [
            0.0010342600289732218,
            0.14201681315898895,
            -0.20225004851818085
        ],
        "forward_vector": [
            -0.9854950904846191,
            -0.1686749905347824,
            0.018661009147763252
        ],
        "right_vector": [
            0.1687013804912567,
            -0.9856672286987305,
            -0.00016184824926313013
        ],
        "location": [
            1189.9237060546875,
            4088.275634765625,
            365.244140625
        ],
        "rotation": [
            0.009274836629629135,
            1.0692591667175293,
            -170.28750610351562
        ],
        "velocity": [
            -1.985924482345581,
            -0.33616045117378235,
            0.030371788889169693
        ],
        "speed": 2.0141747437878683,
        "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": 32.588932037353516,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.77099609375,
                4082.98583984375,
                365.7539367675781
            ],
            "velocity": [
                -1.77974271774292,
                -0.2894468307495117,
                0.029408464208245277
            ],
            "speed_kmh": 6.492117137865154,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3925362825393677,
                "transform": {
                    "location": {
                        "x": 1186.867919921875,
                        "y": 4090.962646484375,
                        "z": 365.2779541015625
                    },
                    "rotation": {
                        "roll": 0.002598848193883896,
                        "pitch": -0.8728913068771362,
                        "yaw": 9.441145896911621
                    }
                },
                "velocity": {
                    "x": 1.3734955787658691,
                    "y": 0.22845646739006042,
                    "z": -0.021791871637105942
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.941341876983643,
                "transform": {
                    "location": {
                        "x": 1233.298095703125,
                        "y": 4098.50634765625,
                        "z": 364.5948791503906
                    },
                    "rotation": {
                        "roll": 0.00013860120088793337,
                        "pitch": -0.8816475868225098,
                        "yaw": 9.233416557312012
                    }
                },
                "velocity": {
                    "x": 7.837610244750977,
                    "y": 1.2741519212722778,
                    "z": -0.1153884008526802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8585782051086426,
                "transform": {
                    "location": {
                        "x": 1215.7294921875,
                        "y": 4092.4091796875,
                        "z": 364.8611145019531
                    },
                    "rotation": {
                        "roll": -0.0024108770303428173,
                        "pitch": 0.9440550208091736,
                        "yaw": -170.91944885253906
                    }
                },
                "velocity": {
                    "x": -1.8345807790756226,
                    "y": -0.2965136766433716,
                    "z": 0.026569632813334465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007261618040502071,
                "transform": {
                    "location": {
                        "x": 1201.0364990234375,
                        "y": 4090.01904296875,
                        "z": 365.0870361328125
                    },
                    "rotation": {
                        "roll": -0.003143311943858862,
                        "pitch": 0.46679559350013733,
                        "yaw": -170.68601989746094
                    }
                },
                "velocity": {
                    "x": -0.007160981651395559,
                    "y": -0.0007725932518951595,
                    "z": 0.0009244137327186763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8033658266067505,
                "transform": {
                    "location": {
                        "x": 1157.77099609375,
                        "y": 4082.98583984375,
                        "z": 365.7539367675781
                    },
                    "rotation": {
                        "roll": -0.0021667529363185167,
                        "pitch": 0.9251012802124023,
                        "yaw": -170.79173278808594
                    }
                },
                "velocity": {
                    "x": -1.77974271774292,
                    "y": -0.2894468307495117,
                    "z": 0.029408464208245277
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.667997121810913,
                "transform": {
                    "location": {
                        "x": 1146.9923095703125,
                        "y": 4081.241455078125,
                        "z": 365.9298095703125
                    },
                    "rotation": {
                        "roll": 0.007606310769915581,
                        "pitch": 0.9784245491027832,
                        "yaw": -170.3619384765625
                    }
                },
                "velocity": {
                    "x": -1.6454784870147705,
                    "y": -0.27154016494750977,
                    "z": 0.029682129621505737
                },
                "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": -0.057842012494802475,
        "expert_target_speed": 3.172248173972135,
        "target_point": [
            33.871981524258366,
            -0.3197517008726276
        ],
        "target_point_next": [
            70.8707532972925,
            -0.6282701757382689
        ]
    },
    "370": {
        "acceleration": [
            -2.2278642654418945,
            -0.3694725036621094,
            0.02273157238960266
        ],
        "angular_velocity": [
            -0.025657083839178085,
            0.14121846854686737,
            -0.12467961013317108
        ],
        "forward_vector": [
            -0.9855968356132507,
            -0.1680007427930832,
            0.019356591627001762
        ],
        "right_vector": [
            0.16802895069122314,
            -0.9857820272445679,
            -0.00017190549988299608
        ],
        "location": [
            1189.3587646484375,
            4088.18017578125,
            365.2528076171875
        ],
        "rotation": [
            0.009851304814219475,
            1.10912024974823,
            -170.32656860351562
        ],
        "velocity": [
            -2.5187766551971436,
            -0.42473453283309937,
            0.038965318351984024
        ],
        "speed": 2.5543365600772074,
        "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": 32.499874114990234,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.2933349609375,
                4082.908447265625,
                365.7616271972656
            ],
            "velocity": [
                -2.06345272064209,
                -0.33570337295532227,
                0.033630914986133575
            ],
            "speed_kmh": 7.527069642764434,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1642308235168457,
                "transform": {
                    "location": {
                        "x": 1187.2666015625,
                        "y": 4091.026123046875,
                        "z": 365.2715148925781
                    },
                    "rotation": {
                        "roll": -0.0006408722838386893,
                        "pitch": -0.8380095362663269,
                        "yaw": 9.430486679077148
                    }
                },
                "velocity": {
                    "x": 2.136970281600952,
                    "y": 0.3408108055591583,
                    "z": -0.03318796679377556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.083392143249512,
                "transform": {
                    "location": {
                        "x": 1235.27490234375,
                        "y": 4098.82763671875,
                        "z": 364.5655822753906
                    },
                    "rotation": {
                        "roll": -3.0512264856952243e-05,
                        "pitch": -0.8294034600257874,
                        "yaw": 9.233418464660645
                    }
                },
                "velocity": {
                    "x": 7.97782039642334,
                    "y": 1.2969378232955933,
                    "z": -0.11642313003540039
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9471499919891357,
                "transform": {
                    "location": {
                        "x": 1215.1422119140625,
                        "y": 4092.314208984375,
                        "z": 364.869873046875
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": 0.9955273270606995,
                        "yaw": -170.875244140625
                    }
                },
                "velocity": {
                    "x": -2.9089136123657227,
                    "y": -0.47135257720947266,
                    "z": 0.04173073545098305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4922620058059692,
                "transform": {
                    "location": {
                        "x": 1200.798828125,
                        "y": 4089.97998046875,
                        "z": 365.0877685546875
                    },
                    "rotation": {
                        "roll": -0.0012817438691854477,
                        "pitch": 0.8359058499336243,
                        "yaw": -170.74935913085938
                    }
                },
                "velocity": {
                    "x": -1.4726979732513428,
                    "y": -0.2398194670677185,
                    "z": 0.022207584232091904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.090852737426758,
                "transform": {
                    "location": {
                        "x": 1157.2933349609375,
                        "y": 4082.908447265625,
                        "z": 365.7616271972656
                    },
                    "rotation": {
                        "roll": -3.052648753509857e-05,
                        "pitch": 0.9367877244949341,
                        "yaw": -170.7852325439453
                    }
                },
                "velocity": {
                    "x": -2.06345272064209,
                    "y": -0.33570337295532227,
                    "z": 0.033630914986133575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.819899559020996,
                "transform": {
                    "location": {
                        "x": 1146.4188232421875,
                        "y": 4081.145263671875,
                        "z": 365.9391784667969
                    },
                    "rotation": {
                        "roll": 0.002977853873744607,
                        "pitch": 1.0272467136383057,
                        "yaw": -170.57688903808594
                    }
                },
                "velocity": {
                    "x": -2.7817509174346924,
                    "y": -0.45988860726356506,
                    "z": 0.046881742775440216
                },
                "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": -0.059408772736787796,
        "expert_target_speed": 3.7031359522137013,
        "target_point": [
            33.29924256572203,
            -0.2958445341205591
        ],
        "target_point_next": [
            70.2982159739386,
            -0.57915196516214
        ]
    },
    "375": {
        "acceleration": [
            -2.3735713958740234,
            -0.3866004943847656,
            0.043430328369140625
        ],
        "angular_velocity": [
            -0.021356327459216118,
            0.09842938184738159,
            -0.26375600695610046
        ],
        "forward_vector": [
            -0.9857298731803894,
            -0.16714832186698914,
            0.01995120942592621
        ],
        "right_vector": [
            0.16717775166034698,
            -0.9859267473220825,
            -0.00019541394431144
        ],
        "location": [
            1188.6536865234375,
            4088.061279296875,
            365.2635803222656
        ],
        "rotation": [
            0.011198623105883598,
            1.1431959867477417,
            -170.37600708007812
        ],
        "velocity": [
            -3.100903272628784,
            -0.5202246308326721,
            0.04815931245684624
        ],
        "speed": 3.144238345406546,
        "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": 32.087486267089844,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.99462890625,
                4082.859619140625,
                365.76708984375
            ],
            "velocity": [
                -0.35534313321113586,
                -0.05787474662065506,
                0.006905650720000267
            ],
            "speed_kmh": 1.296329541245736,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.7166354656219482,
                "transform": {
                    "location": {
                        "x": 1188.0076904296875,
                        "y": 4091.146240234375,
                        "z": 365.2596435546875
                    },
                    "rotation": {
                        "roll": -0.0024108958896249533,
                        "pitch": -0.784918487071991,
                        "yaw": 9.438578605651855
                    }
                },
                "velocity": {
                    "x": 3.667421579360962,
                    "y": 0.6001859307289124,
                    "z": -0.05634688213467598
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029275894165039,
                "transform": {
                    "location": {
                        "x": 1237.266357421875,
                        "y": 4099.1513671875,
                        "z": 364.5363464355469
                    },
                    "rotation": {
                        "roll": -0.00015258867642842233,
                        "pitch": -0.8466155529022217,
                        "yaw": 9.233304977416992
                    }
                },
                "velocity": {
                    "x": 7.924400329589844,
                    "y": 1.2881147861480713,
                    "z": -0.11793293058872223
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.470088481903076,
                "transform": {
                    "location": {
                        "x": 1214.2125244140625,
                        "y": 4092.163330078125,
                        "z": 364.883544921875
                    },
                    "rotation": {
                        "roll": -0.0021972667891532183,
                        "pitch": 1.0570263862609863,
                        "yaw": -170.81988525390625
                    }
                },
                "velocity": {
                    "x": -4.411835670471191,
                    "y": -0.7163133025169373,
                    "z": 0.06551045924425125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9094476699829102,
                "transform": {
                    "location": {
                        "x": 1200.309326171875,
                        "y": 4089.8984375,
                        "z": 365.0926818847656
                    },
                    "rotation": {
                        "roll": 0.004806901793926954,
                        "pitch": 1.1350271701812744,
                        "yaw": -170.9962615966797
                    }
                },
                "velocity": {
                    "x": -1.884493112564087,
                    "y": -0.3064047694206238,
                    "z": 0.028140973299741745
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.36009153723716736,
                "transform": {
                    "location": {
                        "x": 1156.99462890625,
                        "y": 4082.859619140625,
                        "z": 365.76708984375
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": 0.8761903047561646,
                        "yaw": -170.79916381835938
                    }
                },
                "velocity": {
                    "x": -0.35534313321113586,
                    "y": -0.05787474662065506,
                    "z": 0.006905650720000267
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.819464921951294,
                "transform": {
                    "location": {
                        "x": 1145.9388427734375,
                        "y": 4081.06689453125,
                        "z": 365.9480285644531
                    },
                    "rotation": {
                        "roll": 0.0027271888684481382,
                        "pitch": 0.9257842898368835,
                        "yaw": -170.52415466308594
                    }
                },
                "velocity": {
                    "x": -1.7953733205795288,
                    "y": -0.2935616672039032,
                    "z": 0.030142134055495262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 1119.8846435546875,
                        "y": 4079.96533203125,
                        "z": 366.59906005859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": -2.0335798822657125e-08,
                    "y": -3.3063196624993907e-09,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.059390582144260406,
        "expert_target_speed": 4.272150630836688,
        "target_point": [
            32.584453255365084,
            -0.26645184107960507
        ],
        "target_point_next": [
            69.58365739893856,
            -0.5178262721090636
        ]
    },
    "380": {
        "acceleration": [
            -2.1116209030151367,
            -0.3988778591156006,
            0.04846788942813873
        ],
        "angular_velocity": [
            -0.012534632347524166,
            0.00183978327549994,
            0.1116444543004036
        ],
        "forward_vector": [
            -0.9857772588729858,
            -0.16683237254619598,
            0.02025298774242401
        ],
        "right_vector": [
            0.16686521470546722,
            -0.9859797358512878,
            -6.948388181626797e-05
        ],
        "location": [
            1187.8023681640625,
            4087.91748046875,
            365.27679443359375
        ],
        "rotation": [
            0.003981949761509895,
            1.1604900360107422,
            -170.39431762695312
        ],
        "velocity": [
            -3.6728484630584717,
            -0.6226856708526611,
            0.05733035132288933
        ],
        "speed": 3.7252588201729293,
        "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": 31.403362274169922,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.817626953125,
                4082.830810546875,
                365.76953125
            ],
            "velocity": [
                -0.9929893016815186,
                -0.16181626915931702,
                0.015192384831607342
            ],
            "speed_kmh": 3.622328276869725,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.050500869750977,
                "transform": {
                    "location": {
                        "x": 1189.0987548828125,
                        "y": 4091.32421875,
                        "z": 365.24267578125
                    },
                    "rotation": {
                        "roll": 2.2593709218199365e-05,
                        "pitch": -0.7737715840339661,
                        "yaw": 9.288628578186035
                    }
                },
                "velocity": {
                    "x": 4.98466157913208,
                    "y": 0.8091962337493896,
                    "z": -0.0768628939986229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020939826965332,
                "transform": {
                    "location": {
                        "x": 1239.242919921875,
                        "y": 4099.47216796875,
                        "z": 364.5071105957031
                    },
                    "rotation": {
                        "roll": -0.001190195675007999,
                        "pitch": -0.8642237782478333,
                        "yaw": 9.2352933883667
                    }
                },
                "velocity": {
                    "x": 7.91583251953125,
                    "y": 1.2888535261154175,
                    "z": -0.11800595372915268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.298496723175049,
                "transform": {
                    "location": {
                        "x": 1212.960693359375,
                        "y": 4091.9599609375,
                        "z": 364.9021911621094
                    },
                    "rotation": {
                        "roll": -0.0017394963651895523,
                        "pitch": 0.9897763133049011,
                        "yaw": -170.78323364257812
                    }
                },
                "velocity": {
                    "x": -5.229250907897949,
                    "y": -0.850350022315979,
                    "z": 0.07687582075595856
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7680020332336426,
                "transform": {
                    "location": {
                        "x": 1200.029052734375,
                        "y": 4089.850830078125,
                        "z": 365.09967041015625
                    },
                    "rotation": {
                        "roll": 0.0028916567098349333,
                        "pitch": 0.7866464853286743,
                        "yaw": -171.14747619628906
                    }
                },
                "velocity": {
                    "x": -1.745357632637024,
                    "y": -0.2808374762535095,
                    "z": 0.02624223567545414
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0062023401260376,
                "transform": {
                    "location": {
                        "x": 1156.817626953125,
                        "y": 4082.830810546875,
                        "z": 365.76953125
                    },
                    "rotation": {
                        "roll": -0.0009460537112317979,
                        "pitch": 0.9347932934761047,
                        "yaw": -170.7766571044922
                    }
                },
                "velocity": {
                    "x": -0.9929893016815186,
                    "y": -0.16181626915931702,
                    "z": 0.015192384831607342
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.173767328262329,
                "transform": {
                    "location": {
                        "x": 1145.2861328125,
                        "y": 4080.958251953125,
                        "z": 365.95831298828125
                    },
                    "rotation": {
                        "roll": 4.929342321702279e-05,
                        "pitch": 1.032888412475586,
                        "yaw": -170.7236328125
                    }
                },
                "velocity": {
                    "x": -3.131486654281616,
                    "y": -0.5136603713035583,
                    "z": 0.05238011106848717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10905814915895462,
                "transform": {
                    "location": {
                        "x": 1119.8828125,
                        "y": 4079.96484375,
                        "z": 366.3609924316406
                    },
                    "rotation": {
                        "roll": 0.0009277230710722506,
                        "pitch": -1.0121724605560303,
                        "yaw": 9.234759330749512
                    }
                },
                "velocity": {
                    "x": 0.0018578353337943554,
                    "y": 0.0004705091123469174,
                    "z": 0.10904130339622498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06875558197498322,
        "expert_target_speed": 4.828967804884497,
        "target_point": [
            31.7211590626393,
            -0.25576793253598495
        ],
        "target_point_next": [
            68.72044162732169,
            -0.4953218120469458
        ]
    },
    "385": {
        "acceleration": [
            -1.144423484802246,
            -0.20612239837646484,
            0.01879855990409851
        ],
        "angular_velocity": [
            0.041265279054641724,
            -0.2970910668373108,
            0.09406215697526932
        ],
        "forward_vector": [
            -0.9857112765312195,
            -0.16731561720371246,
            0.019462784752249718
        ],
        "right_vector": [
            0.16734720766544342,
            -0.9858980178833008,
            -5.4426486713055056e-06
        ],
        "location": [
            1186.8319091796875,
            4087.75244140625,
            365.2921142578125
        ],
        "rotation": [
            0.0003118999011348933,
            1.1152058839797974,
            -170.3663787841797
        ],
        "velocity": [
            -4.037571430206299,
            -0.6885721683502197,
            0.0625545084476471
        ],
        "speed": 4.095865559932926,
        "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": 30.73534393310547,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.50537109375,
                4082.779541015625,
                365.77447509765625
            ],
            "velocity": [
                -1.4995975494384766,
                -0.24337241053581238,
                0.025518331676721573
            ],
            "speed_kmh": 5.469955819715113,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.257481098175049,
                "transform": {
                    "location": {
                        "x": 1190.466796875,
                        "y": 4091.54638671875,
                        "z": 365.2218322753906
                    },
                    "rotation": {
                        "roll": -9.155597945209593e-05,
                        "pitch": -0.7933947443962097,
                        "yaw": 9.207442283630371
                    }
                },
                "velocity": {
                    "x": 6.17600154876709,
                    "y": 1.0021084547042847,
                    "z": -0.09410401433706284
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046950340270996,
                "transform": {
                    "location": {
                        "x": 1241.2266845703125,
                        "y": 4099.79541015625,
                        "z": 364.4775695800781
                    },
                    "rotation": {
                        "roll": 0.0003260503872297704,
                        "pitch": -0.8465267419815063,
                        "yaw": 9.23853588104248
                    }
                },
                "velocity": {
                    "x": 7.941701889038086,
                    "y": 1.2917561531066895,
                    "z": -0.11893859505653381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2746942043304443,
                "transform": {
                    "location": {
                        "x": 1211.967529296875,
                        "y": 4091.79833984375,
                        "z": 364.9156799316406
                    },
                    "rotation": {
                        "roll": -0.00131225713994354,
                        "pitch": 0.5186025500297546,
                        "yaw": -170.77008056640625
                    }
                },
                "velocity": {
                    "x": -2.244826555252075,
                    "y": -0.36596548557281494,
                    "z": 0.03251219540834427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.18976648151874542,
                "transform": {
                    "location": {
                        "x": 1199.5755615234375,
                        "y": 4089.778564453125,
                        "z": 365.1064758300781
                    },
                    "rotation": {
                        "roll": -0.002868650946766138,
                        "pitch": 0.788914144039154,
                        "yaw": -171.03355407714844
                    }
                },
                "velocity": {
                    "x": -0.18739940226078033,
                    "y": -0.029680315405130386,
                    "z": 0.0034446525387465954
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5194321870803833,
                "transform": {
                    "location": {
                        "x": 1156.50537109375,
                        "y": 4082.779541015625,
                        "z": 365.77447509765625
                    },
                    "rotation": {
                        "roll": -0.0021362346597015858,
                        "pitch": 0.9495533108711243,
                        "yaw": -170.8158416748047
                    }
                },
                "velocity": {
                    "x": -1.4995975494384766,
                    "y": -0.24337241053581238,
                    "z": 0.025518331676721573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.618332862854004,
                "transform": {
                    "location": {
                        "x": 1144.2840576171875,
                        "y": 4080.794677734375,
                        "z": 365.9751892089844
                    },
                    "rotation": {
                        "roll": 3.330273466417566e-05,
                        "pitch": 1.04746413230896,
                        "yaw": -170.8098602294922
                    }
                },
                "velocity": {
                    "x": -4.557285785675049,
                    "y": -0.7444172501564026,
                    "z": 0.07736276090145111
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.32799914479255676,
                "transform": {
                    "location": {
                        "x": 1119.888671875,
                        "y": 4079.9658203125,
                        "z": 366.3924865722656
                    },
                    "rotation": {
                        "roll": -0.0012512183748185635,
                        "pitch": -0.9895918965339661,
                        "yaw": 9.245985984802246
                    }
                },
                "velocity": {
                    "x": 0.31579503417015076,
                    "y": 0.053270623087882996,
                    "z": 0.07084609568119049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07579424977302551,
        "expert_target_speed": 5.178831441371089,
        "target_point": [
            30.736638232736574,
            -0.2715348520491183
        ],
        "target_point_next": [
            67.73579966276647,
            -0.5291194730750721
        ]
    },
    "390": {
        "acceleration": [
            -1.1731719970703125,
            -0.20844101905822754,
            0.03897473216056824
        ],
        "angular_velocity": [
            0.027200572192668915,
            -0.10670585185289383,
            0.15940937399864197
        ],
        "forward_vector": [
            -0.9856342077255249,
            -0.16787266731262207,
            0.018548617139458656
        ],
        "right_vector": [
            0.1679006665945053,
            -0.9858039617538452,
            -4.83731237181928e-05
        ],
        "location": [
            1185.7860107421875,
            4087.573974609375,
            365.3086242675781
        ],
        "rotation": [
            0.0027720527723431587,
            1.0628184080123901,
            -170.33416748046875
        ],
        "velocity": [
            -4.323633193969727,
            -0.7397385835647583,
            0.06798066943883896
        ],
        "speed": 4.386458385532827,
        "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": 30.113698959350586,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.0716552734375,
                4082.708984375,
                365.7816467285156
            ],
            "velocity": [
                -1.980303406715393,
                -0.32212409377098083,
                0.0327829085290432
            ],
            "speed_kmh": 7.223757016021701,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.334925651550293,
                "transform": {
                    "location": {
                        "x": 1192.3311767578125,
                        "y": 4091.848876953125,
                        "z": 365.19287109375
                    },
                    "rotation": {
                        "roll": 8.590487414039671e-05,
                        "pitch": -0.7440807819366455,
                        "yaw": 9.204390525817871
                    }
                },
                "velocity": {
                    "x": 8.226666450500488,
                    "y": 1.3330047130584717,
                    "z": -0.12662850320339203
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033895492553711,
                "transform": {
                    "location": {
                        "x": 1243.210693359375,
                        "y": 4100.1181640625,
                        "z": 364.4479675292969
                    },
                    "rotation": {
                        "roll": 0.0010060996282845736,
                        "pitch": -0.8631582856178284,
                        "yaw": 9.235501289367676
                    }
                },
                "velocity": {
                    "x": 7.928881645202637,
                    "y": 1.2892435789108276,
                    "z": -0.11900222301483154
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7836517095565796,
                "transform": {
                    "location": {
                        "x": 1211.8125,
                        "y": 4091.77294921875,
                        "z": 364.9180908203125
                    },
                    "rotation": {
                        "roll": 0.0024648464750498533,
                        "pitch": 0.5935775637626648,
                        "yaw": -170.70188903808594
                    }
                },
                "velocity": {
                    "x": -0.7734284996986389,
                    "y": -0.12555453181266785,
                    "z": 0.012426290661096573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4761744737625122,
                "transform": {
                    "location": {
                        "x": 1199.3912353515625,
                        "y": 4089.74951171875,
                        "z": 365.1091613769531
                    },
                    "rotation": {
                        "roll": -0.00314331310801208,
                        "pitch": 0.8078405857086182,
                        "yaw": -170.9623565673828
                    }
                },
                "velocity": {
                    "x": -1.457279920578003,
                    "y": -0.2343851625919342,
                    "z": 0.022126873955130577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.006599187850952,
                "transform": {
                    "location": {
                        "x": 1156.0716552734375,
                        "y": 4082.708984375,
                        "z": 365.7816467285156
                    },
                    "rotation": {
                        "roll": -0.001403803238645196,
                        "pitch": 0.9496216177940369,
                        "yaw": -170.82554626464844
                    }
                },
                "velocity": {
                    "x": -1.980303406715393,
                    "y": -0.32212409377098083,
                    "z": 0.0327829085290432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.517330646514893,
                "transform": {
                    "location": {
                        "x": 1143.2374267578125,
                        "y": 4080.622802734375,
                        "z": 365.9934997558594
                    },
                    "rotation": {
                        "roll": -0.0076293968595564365,
                        "pitch": 0.9919005036354065,
                        "yaw": -171.1846923828125
                    }
                },
                "velocity": {
                    "x": -4.4582719802856445,
                    "y": -0.7240290641784668,
                    "z": 0.0766100138425827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.906102180480957,
                "transform": {
                    "location": {
                        "x": 1120.1988525390625,
                        "y": 4080.01904296875,
                        "z": 366.3963928222656
                    },
                    "rotation": {
                        "roll": -0.005706783849745989,
                        "pitch": -0.81744384765625,
                        "yaw": 9.36997127532959
                    }
                },
                "velocity": {
                    "x": 1.8788894414901733,
                    "y": 0.3202866017818451,
                    "z": -0.020413631573319435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0832505151629448,
        "expert_target_speed": 5.450008320432241,
        "target_point": [
            29.675465248405796,
            -0.28914034759753626
        ],
        "target_point_next": [
            66.67447601973133,
            -0.5675255227376521
        ]
    },
    "395": {
        "acceleration": [
            -1.1608505249023438,
            -0.20907282829284668,
            0.031609684228897095
        ],
        "angular_velocity": [
            -0.06045292690396309,
            -0.0594375841319561,
            0.13029643893241882
        ],
        "forward_vector": [
            -0.9855402112007141,
            -0.16845464706420898,
            0.018263157457113266
        ],
        "right_vector": [
            0.16848213970661163,
            -0.9857047200202942,
            -3.4289201721549034e-05
        ],
        "location": [
            1184.666748046875,
            4087.382080078125,
            365.3263244628906
        ],
        "rotation": [
            0.0019649541936814785,
            1.0464600324630737,
            -170.30038452148438
        ],
        "velocity": [
            -4.61836576461792,
            -0.7928778529167175,
            0.07249969244003296
        ],
        "speed": 4.685931884421784,
        "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": 29.32652473449707,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.7276611328125,
                4082.6533203125,
                365.78802490234375
            ],
            "velocity": [
                -0.06827732920646667,
                -0.011085680685937405,
                0.0008885097340680659
            ],
            "speed_kmh": 0.24903767149579356,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.130206108093262,
                "transform": {
                    "location": {
                        "x": 1194.3919677734375,
                        "y": 4092.18310546875,
                        "z": 365.1620178222656
                    },
                    "rotation": {
                        "roll": 0.00046361610293388367,
                        "pitch": -0.8446621298789978,
                        "yaw": 9.205794334411621
                    }
                },
                "velocity": {
                    "x": 8.024250030517578,
                    "y": 1.3025845289230347,
                    "z": -0.12226551026105881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026399612426758,
                "transform": {
                    "location": {
                        "x": 1245.1910400390625,
                        "y": 4100.43994140625,
                        "z": 364.4183044433594
                    },
                    "rotation": {
                        "roll": -0.0004577611980494112,
                        "pitch": -0.8625777363777161,
                        "yaw": 9.234746932983398
                    }
                },
                "velocity": {
                    "x": 7.921487331390381,
                    "y": 1.2880175113677979,
                    "z": -0.11892572790384293
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7354387044906616,
                "transform": {
                    "location": {
                        "x": 1211.482177734375,
                        "y": 4091.719482421875,
                        "z": 364.92340087890625
                    },
                    "rotation": {
                        "roll": 0.0001237791875610128,
                        "pitch": 0.9024659991264343,
                        "yaw": -170.78277587890625
                    }
                },
                "velocity": {
                    "x": -1.7127478122711182,
                    "y": -0.27857255935668945,
                    "z": 0.025297746062278748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8933398723602295,
                "transform": {
                    "location": {
                        "x": 1198.8468017578125,
                        "y": 4089.662109375,
                        "z": 365.1140441894531
                    },
                    "rotation": {
                        "roll": -0.005065911915153265,
                        "pitch": 1.2367149591445923,
                        "yaw": -170.8967742919922
                    }
                },
                "velocity": {
                    "x": -2.855705738067627,
                    "y": -0.46311452984809875,
                    "z": 0.043426234275102615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06917712837457657,
                "transform": {
                    "location": {
                        "x": 1155.7276611328125,
                        "y": 4082.6533203125,
                        "z": 365.78802490234375
                    },
                    "rotation": {
                        "roll": -0.0014343290822580457,
                        "pitch": 0.8810328841209412,
                        "yaw": -170.81507873535156
                    }
                },
                "velocity": {
                    "x": -0.06827732920646667,
                    "y": -0.011085680685937405,
                    "z": 0.0008885097340680659
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.982350826263428,
                "transform": {
                    "location": {
                        "x": 1142.0369873046875,
                        "y": 4080.428955078125,
                        "z": 366.0138854980469
                    },
                    "rotation": {
                        "roll": -0.0060424767434597015,
                        "pitch": 1.0113801956176758,
                        "yaw": -171.0185089111328
                    }
                },
                "velocity": {
                    "x": -4.9171552658081055,
                    "y": -0.7990503311157227,
                    "z": 0.08322549611330032
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0710506439208984,
                "transform": {
                    "location": {
                        "x": 1120.8084716796875,
                        "y": 4080.123046875,
                        "z": 366.3869934082031
                    },
                    "rotation": {
                        "roll": -0.007812495343387127,
                        "pitch": -0.8237549066543579,
                        "yaw": 9.50685977935791
                    }
                },
                "velocity": {
                    "x": 3.026611566543579,
                    "y": 0.5179843902587891,
                    "z": -0.0516500361263752
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09637011587619781,
        "expert_target_speed": 5.71445876759283,
        "target_point": [
            28.539696229154053,
            -0.3072193151303715
        ],
        "target_point_next": [
            65.538536359321,
            -0.6074282169767677
        ]
    },
    "400": {
        "acceleration": [
            -1.116781234741211,
            -0.16753911972045898,
            0.009931176900863647
        ],
        "angular_velocity": [
            0.0156991146504879,
            -0.02424273081123829,
            -0.000708078034222126
        ],
        "forward_vector": [
            -0.9854723811149597,
            -0.16886578500270844,
            0.018126923590898514
        ],
        "right_vector": [
            0.1688917875289917,
            -0.9856346249580383,
            -9.832483920035884e-05
        ],
        "location": [
            1183.47509765625,
            4087.177734375,
            365.3450622558594
        ],
        "rotation": [
            0.005634524393826723,
            1.0386531352996826,
            -170.27650451660156
        ],
        "velocity": [
            -4.901816368103027,
            -0.8402801156044006,
            0.07688993215560913
        ],
        "speed": 4.973316235600034,
        "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": 28.251201629638672,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.5955810546875,
                4082.6318359375,
                365.7897644042969
            ],
            "velocity": [
                -0.8516936898231506,
                -0.13882213830947876,
                0.014627942815423012
            ],
            "speed_kmh": 3.1070058649577716,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.900548934936523,
                "transform": {
                    "location": {
                        "x": 1196.35009765625,
                        "y": 4092.50048828125,
                        "z": 365.13226318359375
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": -0.878990650177002,
                        "yaw": 9.216669082641602
                    }
                },
                "velocity": {
                    "x": 7.79766321182251,
                    "y": 1.265225887298584,
                    "z": -0.1197052150964737
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.048251152038574,
                "transform": {
                    "location": {
                        "x": 1247.1749267578125,
                        "y": 4100.76220703125,
                        "z": 364.3884582519531
                    },
                    "rotation": {
                        "roll": -0.0003356976667419076,
                        "pitch": -0.8610477447509766,
                        "yaw": 9.233433723449707
                    }
                },
                "velocity": {
                    "x": 7.943096160888672,
                    "y": 1.2912276983261108,
                    "z": -0.11959286779165268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.25384259223938,
                "transform": {
                    "location": {
                        "x": 1210.9522705078125,
                        "y": 4091.63330078125,
                        "z": 364.93115234375
                    },
                    "rotation": {
                        "roll": -0.0008544906741008162,
                        "pitch": 0.9199103116989136,
                        "yaw": -170.7724151611328
                    }
                },
                "velocity": {
                    "x": -2.2243363857269287,
                    "y": -0.3620646297931671,
                    "z": 0.032310448586940765
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.871872425079346,
                "transform": {
                    "location": {
                        "x": 1197.887939453125,
                        "y": 4089.5068359375,
                        "z": 365.127685546875
                    },
                    "rotation": {
                        "roll": -0.003936768509447575,
                        "pitch": 1.3496999740600586,
                        "yaw": -170.849365234375
                    }
                },
                "velocity": {
                    "x": -4.80839204788208,
                    "y": -0.7805007100105286,
                    "z": 0.07296992838382721
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8630571961402893,
                "transform": {
                    "location": {
                        "x": 1155.5955810546875,
                        "y": 4082.6318359375,
                        "z": 365.7897644042969
                    },
                    "rotation": {
                        "roll": -0.0014038165099918842,
                        "pitch": 0.9327101111412048,
                        "yaw": -170.8243408203125
                    }
                },
                "velocity": {
                    "x": -0.8516936898231506,
                    "y": -0.13882213830947876,
                    "z": 0.014627942815423012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.324398040771484,
                "transform": {
                    "location": {
                        "x": 1140.9783935546875,
                        "y": 4080.2568359375,
                        "z": 366.03240966796875
                    },
                    "rotation": {
                        "roll": -0.007171635515987873,
                        "pitch": 0.9621686935424805,
                        "yaw": -171.15048217773438
                    }
                },
                "velocity": {
                    "x": -4.2680206298828125,
                    "y": -0.6921707987785339,
                    "z": 0.07292945683002472
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.639566898345947,
                "transform": {
                    "location": {
                        "x": 1121.7735595703125,
                        "y": 4080.289306640625,
                        "z": 366.3700256347656
                    },
                    "rotation": {
                        "roll": -0.010925286449491978,
                        "pitch": -0.7776443362236023,
                        "yaw": 9.647602081298828
                    }
                },
                "velocity": {
                    "x": 4.571674823760986,
                    "y": 0.7866688370704651,
                    "z": -0.08075395226478577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.109413743019104,
        "expert_target_speed": 5.973347106308914,
        "target_point": [
            27.33052154824899,
            -0.31926161974918266
        ],
        "target_point_next": [
            64.32923335157848,
            -0.634889971717925
        ]
    },
    "405": {
        "acceleration": [
            1.2319564819335938,
            0.21195411682128906,
            -0.11402398347854614
        ],
        "angular_velocity": [
            0.10290554165840149,
            -0.3981720507144928,
            0.15809045732021332
        ],
        "forward_vector": [
            -0.985518217086792,
            -0.1687161922454834,
            0.016992824152112007
        ],
        "right_vector": [
            0.16873802244663239,
            -0.9856609106063843,
            -0.00015156633162405342
        ],
        "location": [
            1182.2352294921875,
            4086.965576171875,
            365.364990234375
        ],
        "rotation": [
            0.008685365319252014,
            0.9736639261245728,
            -170.285400390625
        ],
        "velocity": [
            -4.936590671539307,
            -0.8435732126235962,
            0.07386596500873566
        ],
        "speed": 5.008147683863267,
        "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": 27.27045440673828,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.3218994140625,
                4082.587646484375,
                365.7940979003906
            ],
            "velocity": [
                -1.3317718505859375,
                -0.2165766805410385,
                0.02214527130126953
            ],
            "speed_kmh": 4.858015773087119,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.143647193908691,
                "transform": {
                    "location": {
                        "x": 1198.3350830078125,
                        "y": 4092.822998046875,
                        "z": 365.1019592285156
                    },
                    "rotation": {
                        "roll": 0.0006022160523571074,
                        "pitch": -0.8455159068107605,
                        "yaw": 9.221235275268555
                    }
                },
                "velocity": {
                    "x": 8.037516593933105,
                    "y": 1.3048806190490723,
                    "z": -0.1208314299583435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022350311279297,
                "transform": {
                    "location": {
                        "x": 1249.156982421875,
                        "y": 4101.08447265625,
                        "z": 364.3586120605469
                    },
                    "rotation": {
                        "roll": 0.00044816313311457634,
                        "pitch": -0.8730757236480713,
                        "yaw": 9.23277759552002
                    }
                },
                "velocity": {
                    "x": 7.917542457580566,
                    "y": 1.2870409488677979,
                    "z": -0.11895757168531418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.33054280281066895,
                "transform": {
                    "location": {
                        "x": 1210.746337890625,
                        "y": 4091.599853515625,
                        "z": 364.9338073730469
                    },
                    "rotation": {
                        "roll": -0.0008850045851431787,
                        "pitch": 0.6183643341064453,
                        "yaw": -170.80413818359375
                    }
                },
                "velocity": {
                    "x": -0.3262396454811096,
                    "y": -0.05292854085564613,
                    "z": 0.004980764351785183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.847384452819824,
                "transform": {
                    "location": {
                        "x": 1196.570068359375,
                        "y": 4089.29345703125,
                        "z": 365.1496276855469
                    },
                    "rotation": {
                        "roll": -0.002044693101197481,
                        "pitch": 1.141215205192566,
                        "yaw": -170.804931640625
                    }
                },
                "velocity": {
                    "x": -5.771020889282227,
                    "y": -0.9377747774124146,
                    "z": 0.08830991387367249
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3494489192962646,
                "transform": {
                    "location": {
                        "x": 1155.3218994140625,
                        "y": 4082.587646484375,
                        "z": 365.7940979003906
                    },
                    "rotation": {
                        "roll": -0.0018310515442863107,
                        "pitch": 0.95440274477005,
                        "yaw": -170.81143188476562
                    }
                },
                "velocity": {
                    "x": -1.3317718505859375,
                    "y": -0.2165766805410385,
                    "z": 0.02214527130126953
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.527637481689453,
                "transform": {
                    "location": {
                        "x": 1139.7637939453125,
                        "y": 4080.060546875,
                        "z": 366.0528564453125
                    },
                    "rotation": {
                        "roll": -0.004638675134629011,
                        "pitch": 1.030627727508545,
                        "yaw": -170.94508361816406
                    }
                },
                "velocity": {
                    "x": -5.454743385314941,
                    "y": -0.8898308873176575,
                    "z": 0.09354804456233978
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.372458457946777,
                "transform": {
                    "location": {
                        "x": 1123.0511474609375,
                        "y": 4080.509521484375,
                        "z": 366.3475341796875
                    },
                    "rotation": {
                        "roll": -0.013092044740915298,
                        "pitch": -0.8712179064750671,
                        "yaw": 9.776333808898926
                    }
                },
                "velocity": {
                    "x": 5.29311990737915,
                    "y": 0.9150248765945435,
                    "z": -0.09443900734186172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11539454013109207,
        "expert_target_speed": 5.999813684084558,
        "target_point": [
            26.07268207698975,
            -0.3149135091019346
        ],
        "target_point_next": [
            63.07144249737827,
            -0.6247904477268875
        ]
    },
    "410": {
        "acceleration": [
            -0.5029678344726562,
            -0.08842110633850098,
            0.004600882530212402
        ],
        "angular_velocity": [
            -0.04377412796020508,
            0.06636422127485275,
            -0.07651439309120178
        ],
        "forward_vector": [
            -0.9854845404624939,
            -0.16899266839027405,
            0.01618076115846634
        ],
        "right_vector": [
            0.16901254653930664,
            -0.9856138825416565,
            -0.00014132018259260803
        ],
        "location": [
            1180.989501953125,
            4086.7529296875,
            365.3846740722656
        ],
        "rotation": [
            0.008098109625279903,
            0.9271298050880432,
            -170.2694549560547
        ],
        "velocity": [
            -4.993710994720459,
            -0.8532016277313232,
            0.07893882691860199
        ],
        "speed": 5.06607367853601,
        "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": 26.399789810180664,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1154.933837890625,
                4082.524658203125,
                365.8005065917969
            ],
            "velocity": [
                -1.7844328880310059,
                -0.29043737053871155,
                0.029686907306313515
            ],
            "speed_kmh": 6.509369355077772,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.049714088439941,
                "transform": {
                    "location": {
                        "x": 1200.3365478515625,
                        "y": 4093.14794921875,
                        "z": 365.0718688964844
                    },
                    "rotation": {
                        "roll": 0.0004652314237318933,
                        "pitch": -0.8529061675071716,
                        "yaw": 9.22585391998291
                    }
                },
                "velocity": {
                    "x": 7.9447245597839355,
                    "y": 1.290427327156067,
                    "z": -0.11847126483917236
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1251.172119140625,
                        "y": 4101.37841796875,
                        "z": 364.3296813964844
                    },
                    "rotation": {
                        "roll": 6.670857644053285e-09,
                        "pitch": -0.859886646270752,
                        "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2922390699386597,
                "transform": {
                    "location": {
                        "x": 1210.53173828125,
                        "y": 4091.56494140625,
                        "z": 364.9373474121094
                    },
                    "rotation": {
                        "roll": -0.0013122576056048274,
                        "pitch": 0.8977463841438293,
                        "yaw": -170.824462890625
                    }
                },
                "velocity": {
                    "x": -1.2752726078033447,
                    "y": -0.20787368714809418,
                    "z": 0.018710240721702576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.434720516204834,
                "transform": {
                    "location": {
                        "x": 1195.0093994140625,
                        "y": 4089.04052734375,
                        "z": 365.174560546875
                    },
                    "rotation": {
                        "roll": -0.0011901959078386426,
                        "pitch": 1.0208263397216797,
                        "yaw": -170.68411254882812
                    }
                },
                "velocity": {
                    "x": -6.350403785705566,
                    "y": -1.033828854560852,
                    "z": 0.09589404612779617
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8081581592559814,
                "transform": {
                    "location": {
                        "x": 1154.933837890625,
                        "y": 4082.524658203125,
                        "z": 365.8005065917969
                    },
                    "rotation": {
                        "roll": -0.0016479520127177238,
                        "pitch": 0.9552087187767029,
                        "yaw": -170.80450439453125
                    }
                },
                "velocity": {
                    "x": -1.7844328880310059,
                    "y": -0.29043737053871155,
                    "z": 0.029686907306313515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.450078964233398,
                "transform": {
                    "location": {
                        "x": 1138.365478515625,
                        "y": 4079.833740234375,
                        "z": 366.0771789550781
                    },
                    "rotation": {
                        "roll": -0.0018920848378911614,
                        "pitch": 0.990425169467926,
                        "yaw": -170.82850646972656
                    }
                },
                "velocity": {
                    "x": -5.378418445587158,
                    "y": -0.876035213470459,
                    "z": 0.09240903705358505
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.60538387298584,
                "transform": {
                    "location": {
                        "x": 1124.4495849609375,
                        "y": 4080.751708984375,
                        "z": 366.3226623535156
                    },
                    "rotation": {
                        "roll": -0.010559075511991978,
                        "pitch": -0.8211116194725037,
                        "yaw": 9.742301940917969
                    }
                },
                "velocity": {
                    "x": 6.50772762298584,
                    "y": 1.1257504224777222,
                    "z": -0.11517420411109924
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12509293854236603,
        "expert_target_speed": 6.047357961657929,
        "target_point": [
            24.808846918592696,
            -0.3212269034828066
        ],
        "target_point_next": [
            61.80751945940019,
            -0.6414246244265893
        ]
    },
    "415": {
        "acceleration": [
            -1.7967700958251953,
            -0.24706363677978516,
            0.027454346418380737
        ],
        "angular_velocity": [
            -0.0190951619297266,
            0.4190358817577362,
            -0.3800608515739441
        ],
        "forward_vector": [
            -0.9856462478637695,
            -0.16807277500629425,
            0.015902681276202202
        ],
        "right_vector": [
            0.16809038817882538,
            -0.9857715368270874,
            -0.0002325656678294763
        ],
        "location": [
            1179.74169921875,
            4086.54052734375,
            365.404296875
        ],
        "rotation": [
            0.013326717540621758,
            0.9111949801445007,
            -170.32298278808594
        ],
        "velocity": [
            -5.03524112701416,
            -0.8515781760215759,
            0.07925248891115189
        ],
        "speed": 5.1067444225309595,
        "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": 25.657779693603516,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1154.4168701171875,
                4082.4404296875,
                365.80914306640625
            ],
            "velocity": [
                -2.3285441398620605,
                -0.37892287969589233,
                0.03824624791741371
            ],
            "speed_kmh": 8.494141171205868,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009527206420898,
                "transform": {
                    "location": {
                        "x": 1202.3111572265625,
                        "y": 4093.46875,
                        "z": 365.04229736328125
                    },
                    "rotation": {
                        "roll": -0.0002136203838745132,
                        "pitch": -0.8511371612548828,
                        "yaw": 9.226290702819824
                    }
                },
                "velocity": {
                    "x": 7.90503454208374,
                    "y": 1.2840576171875,
                    "z": -0.11897885054349899
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1253.1875,
                        "y": 4101.640625,
                        "z": 364.3022155761719
                    },
                    "rotation": {
                        "roll": 6.670857644053285e-09,
                        "pitch": -0.859886646270752,
                        "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2881431579589844,
                "transform": {
                    "location": {
                        "x": 1210.088623046875,
                        "y": 4091.492431640625,
                        "z": 364.9439392089844
                    },
                    "rotation": {
                        "roll": -0.0019226010190322995,
                        "pitch": 0.9713826179504395,
                        "yaw": -170.74951171875
                    }
                },
                "velocity": {
                    "x": -2.2581136226654053,
                    "y": -0.367922842502594,
                    "z": 0.03397829830646515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.671710014343262,
                "transform": {
                    "location": {
                        "x": 1193.4027099609375,
                        "y": 4088.778564453125,
                        "z": 365.20013427734375
                    },
                    "rotation": {
                        "roll": 0.00010946965630864725,
                        "pitch": 0.8900282382965088,
                        "yaw": -170.70681762695312
                    }
                },
                "velocity": {
                    "x": -6.584077835083008,
                    "y": -1.0730900764465332,
                    "z": 0.10054653137922287
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3594837188720703,
                "transform": {
                    "location": {
                        "x": 1154.4168701171875,
                        "y": 4082.4404296875,
                        "z": 365.80914306640625
                    },
                    "rotation": {
                        "roll": -0.0014648607466369867,
                        "pitch": 0.9597371220588684,
                        "yaw": -170.79275512695312
                    }
                },
                "velocity": {
                    "x": -2.3285441398620605,
                    "y": -0.37892287969589233,
                    "z": 0.03824624791741371
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.8062076568603516,
                "transform": {
                    "location": {
                        "x": 1137.3470458984375,
                        "y": 4079.66796875,
                        "z": 366.0954284667969
                    },
                    "rotation": {
                        "roll": -0.0012512202374637127,
                        "pitch": 0.901940107345581,
                        "yaw": -170.78846740722656
                    }
                },
                "velocity": {
                    "x": -3.7559587955474854,
                    "y": -0.6128721833229065,
                    "z": 0.06616317480802536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053740501403809,
                "transform": {
                    "location": {
                        "x": 1126.2996826171875,
                        "y": 4081.067138671875,
                        "z": 366.289794921875
                    },
                    "rotation": {
                        "roll": 6.255143671296537e-05,
                        "pitch": -0.7834773063659668,
                        "yaw": 9.654108047485352
                    }
                },
                "velocity": {
                    "x": 7.939747333526611,
                    "y": 1.342943549156189,
                    "z": -0.14018477499485016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1337970495223999,
        "expert_target_speed": 6.0804873541241475,
        "target_point": [
            23.54338502985555,
            -0.29767244072050536
        ],
        "target_point_next": [
            60.542340668900025,
            -0.5832910367869264
        ]
    },
    "420": {
        "acceleration": [
            -2.1179580688476562,
            -0.2691495418548584,
            0.04473954439163208
        ],
        "angular_velocity": [
            -0.046544332057237625,
            0.4030771851539612,
            -0.5540432929992676
        ],
        "forward_vector": [
            -0.9861029386520386,
            -0.16536599397659302,
            0.01596919260919094
        ],
        "right_vector": [
            0.16538165509700775,
            -0.9862295389175415,
            -0.0003437634732108563
        ],
        "location": [
            1178.4931640625,
            4086.33056640625,
            365.4239807128906
        ],
        "rotation": [
            0.01969870738685131,
            0.9150062203407288,
            -170.48028564453125
        ],
        "velocity": [
            -5.04429292678833,
            -0.8381513953208923,
            0.08092071115970612
        ],
        "speed": 5.113451759108043,
        "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": 25.048954010009766,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1153.76806640625,
                4082.335205078125,
                365.81988525390625
            ],
            "velocity": [
                -2.842606544494629,
                -0.46228209137916565,
                0.04723268374800682
            ],
            "speed_kmh": 10.369217194318482,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.112029075622559,
                "transform": {
                    "location": {
                        "x": 1204.3046875,
                        "y": 4093.79248046875,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.848480224609375,
                        "yaw": 9.225568771362305
                    }
                },
                "velocity": {
                    "x": 8.006195068359375,
                    "y": 1.3005197048187256,
                    "z": -0.12041913717985153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110834,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1255.1231689453125,
                        "y": 4101.95458984375,
                        "z": 364.27264404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8675159215927124,
                        "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.69645357131958,
                "transform": {
                    "location": {
                        "x": 1209.35546875,
                        "y": 4091.372802734375,
                        "z": 364.954833984375
                    },
                    "rotation": {
                        "roll": 7.258269033627585e-05,
                        "pitch": 1.0391790866851807,
                        "yaw": -170.7187042236328
                    }
                },
                "velocity": {
                    "x": -3.64793062210083,
                    "y": -0.5946267247200012,
                    "z": 0.05283031240105629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5325348973274231,
                "transform": {
                    "location": {
                        "x": 1192.51171875,
                        "y": 4088.63623046875,
                        "z": 365.2225036621094
                    },
                    "rotation": {
                        "roll": 0.0006151341367512941,
                        "pitch": -0.1961425244808197,
                        "yaw": -170.5120391845703
                    }
                },
                "velocity": {
                    "x": -0.5265485644340515,
                    "y": -0.07939743995666504,
                    "z": 0.006006650626659393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.880338191986084,
                "transform": {
                    "location": {
                        "x": 1153.76806640625,
                        "y": 4082.335205078125,
                        "z": 365.81988525390625
                    },
                    "rotation": {
                        "roll": -0.0019226095173507929,
                        "pitch": 0.9631522297859192,
                        "yaw": -170.78404235839844
                    }
                },
                "velocity": {
                    "x": -2.842606544494629,
                    "y": -0.46228209137916565,
                    "z": 0.04723268374800682
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.684932708740234,
                "transform": {
                    "location": {
                        "x": 1136.3154296875,
                        "y": 4079.5,
                        "z": 366.1125183105469
                    },
                    "rotation": {
                        "roll": -0.0013427766971290112,
                        "pitch": 1.0159358978271484,
                        "yaw": -170.76307678222656
                    }
                },
                "velocity": {
                    "x": -4.6231842041015625,
                    "y": -0.753916323184967,
                    "z": 0.07981617003679276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.24486255645752,
                "transform": {
                    "location": {
                        "x": 1128.3416748046875,
                        "y": 4081.4111328125,
                        "z": 366.2535095214844
                    },
                    "rotation": {
                        "roll": -0.0015258811181411147,
                        "pitch": -0.9299575090408325,
                        "yaw": 9.539477348327637
                    }
                },
                "velocity": {
                    "x": 8.129591941833496,
                    "y": 1.3661195039749146,
                    "z": -0.1456403136253357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1303214132785797,
        "expert_target_speed": 6.083887145304324,
        "target_point": [
            22.278047514781626,
            -0.23360841908130459
        ],
        "target_point_next": [
            59.27764789759263,
            -0.417640684437675
        ]
    },
    "425": {
        "acceleration": [
            -0.8281135559082031,
            -0.11153221130371094,
            0.0008952617645263672
        ],
        "angular_velocity": [
            -0.031282443553209305,
            0.11809145659208298,
            -0.3608699142932892
        ],
        "forward_vector": [
            -0.9862533211708069,
            -0.16444317996501923,
            0.016211634501814842
        ],
        "right_vector": [
            0.16446000337600708,
            -0.9863836765289307,
            -0.0002994724200107157
        ],
        "location": [
            1177.2371826171875,
            4086.123046875,
            365.44378662109375
        ],
        "rotation": [
            0.01716076210141182,
            0.9288988709449768,
            -170.5338592529297
        ],
        "velocity": [
            -5.055044651031494,
            -0.8323882818222046,
            0.0800413116812706
        ],
        "speed": 5.123118842622826,
        "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": 24.573902130126953,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1152.98046875,
                4082.206787109375,
                365.8329162597656
            ],
            "velocity": [
                -3.4574289321899414,
                -0.5625064969062805,
                0.05801035836338997
            ],
            "speed_kmh": 12.61212800526571,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.008286476135254,
                "transform": {
                    "location": {
                        "x": 1206.2919921875,
                        "y": 4094.115234375,
                        "z": 364.9825744628906
                    },
                    "rotation": {
                        "roll": 2.6536628865869716e-05,
                        "pitch": -0.853725790977478,
                        "yaw": 9.226095199584961
                    }
                },
                "velocity": {
                    "x": 7.903831481933594,
                    "y": 1.283814787864685,
                    "z": -0.11803562194108963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.099340438842773,
                "transform": {
                    "location": {
                        "x": 1208.259521484375,
                        "y": 4091.194091796875,
                        "z": 364.9710998535156
                    },
                    "rotation": {
                        "roll": 0.001801439211703837,
                        "pitch": 1.0636857748031616,
                        "yaw": -170.7296600341797
                    }
                },
                "velocity": {
                    "x": -5.032385349273682,
                    "y": -0.8195502758026123,
                    "z": 0.0819179117679596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4567115902900696,
                "transform": {
                    "location": {
                        "x": 1192.4715576171875,
                        "y": 4088.62939453125,
                        "z": 365.21868896484375
                    },
                    "rotation": {
                        "roll": -0.0049743675626814365,
                        "pitch": 0.319304496049881,
                        "yaw": -170.5303955078125
                    }
                },
                "velocity": {
                    "x": -0.4503767788410187,
                    "y": -0.07545335590839386,
                    "z": 0.007281093392521143
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.503368854522705,
                "transform": {
                    "location": {
                        "x": 1152.98046875,
                        "y": 4082.206787109375,
                        "z": 365.8329162597656
                    },
                    "rotation": {
                        "roll": -0.0014648507349193096,
                        "pitch": 0.9673323035240173,
                        "yaw": -170.77537536621094
                    }
                },
                "velocity": {
                    "x": -3.4574289321899414,
                    "y": -0.5625064969062805,
                    "z": 0.05801035836338997
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.317409992218018,
                "transform": {
                    "location": {
                        "x": 1135.050537109375,
                        "y": 4079.29296875,
                        "z": 366.1344909667969
                    },
                    "rotation": {
                        "roll": -0.0018310631858184934,
                        "pitch": 1.0241799354553223,
                        "yaw": -170.81541442871094
                    }
                },
                "velocity": {
                    "x": -5.247325897216797,
                    "y": -0.8555977940559387,
                    "z": 0.09147977828979492
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.899767875671387,
                "transform": {
                    "location": {
                        "x": 1130.318359375,
                        "y": 4081.7421875,
                        "z": 366.2185363769531
                    },
                    "rotation": {
                        "roll": 0.001849562511779368,
                        "pitch": -1.024466872215271,
                        "yaw": 9.505122184753418
                    }
                },
                "velocity": {
                    "x": 7.791358470916748,
                    "y": 1.296892523765564,
                    "z": -0.13834363222122192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13139967620372772,
        "expert_target_speed": 6.091939733491735,
        "target_point": [
            21.005247770987047,
            -0.21091609437871517
        ],
        "target_point_next": [
            58.005003991300505,
            -0.3603684271647545
        ]
    },
    "430": {
        "acceleration": [
            -1.596994400024414,
            -0.22153496742248535,
            0.11656910181045532
        ],
        "angular_velocity": [
            -0.05807584896683693,
            0.13433238863945007,
            -0.4311150312423706
        ],
        "forward_vector": [
            -0.9865559339523315,
            -0.1626216173171997,
            0.01617361046373844
        ],
        "right_vector": [
            0.1626386046409607,
            -0.9866856336593628,
            -0.00026700436137616634
        ],
        "location": [
            1175.985107421875,
            4085.91748046875,
            365.463623046875
        ],
        "rotation": [
            0.015300223603844643,
            0.9267200231552124,
            -170.63966369628906
        ],
        "velocity": [
            -5.057879447937012,
            -0.8234122395515442,
            0.08078412711620331
        ],
        "speed": 5.124466043024083,
        "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": 24.28165626525879,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1152.0164794921875,
                4082.05029296875,
                365.8490295410156
            ],
            "velocity": [
                -4.257436275482178,
                -0.6917790770530701,
                0.07100830227136612
            ],
            "speed_kmh": 15.529885990199645,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.088282585144043,
                "transform": {
                    "location": {
                        "x": 1208.2774658203125,
                        "y": 4094.437744140625,
                        "z": 364.95306396484375
                    },
                    "rotation": {
                        "roll": 0.0003388506593182683,
                        "pitch": -0.8345329761505127,
                        "yaw": 9.226496696472168
                    }
                },
                "velocity": {
                    "x": 7.982785701751709,
                    "y": 1.296709418296814,
                    "z": -0.11828985810279846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4876203536987305,
                "transform": {
                    "location": {
                        "x": 1206.933349609375,
                        "y": 4090.97802734375,
                        "z": 364.9908142089844
                    },
                    "rotation": {
                        "roll": 0.0007117591449059546,
                        "pitch": 0.9548603892326355,
                        "yaw": -170.7386474609375
                    }
                },
                "velocity": {
                    "x": -5.415571689605713,
                    "y": -0.8827877044677734,
                    "z": 0.07903182506561279
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8702099919319153,
                "transform": {
                    "location": {
                        "x": 1192.2847900390625,
                        "y": 4088.5986328125,
                        "z": 365.2151794433594
                    },
                    "rotation": {
                        "roll": 0.004468484781682491,
                        "pitch": 1.1334835290908813,
                        "yaw": -170.56210327148438
                    }
                },
                "velocity": {
                    "x": -0.8587186932563782,
                    "y": -0.1402878761291504,
                    "z": 0.013671769760549068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.313857078552246,
                "transform": {
                    "location": {
                        "x": 1152.0164794921875,
                        "y": 4082.05029296875,
                        "z": 365.8490295410156
                    },
                    "rotation": {
                        "roll": -0.000549322459846735,
                        "pitch": 0.9728989005088806,
                        "yaw": -170.7718963623047
                    }
                },
                "velocity": {
                    "x": -4.257436275482178,
                    "y": -0.6917790770530701,
                    "z": 0.07100830227136612
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5473151206970215,
                "transform": {
                    "location": {
                        "x": 1133.4647216796875,
                        "y": 4079.03466796875,
                        "z": 366.1620178222656
                    },
                    "rotation": {
                        "roll": -0.0009155248408205807,
                        "pitch": 1.0466103553771973,
                        "yaw": -170.78729248046875
                    }
                },
                "velocity": {
                    "x": -6.4612321853637695,
                    "y": -1.0522054433822632,
                    "z": 0.11260272562503815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.11897087097168,
                "transform": {
                    "location": {
                        "x": 1132.2921142578125,
                        "y": 4082.069091796875,
                        "z": 366.1838684082031
                    },
                    "rotation": {
                        "roll": 0.0036475583910942078,
                        "pitch": -0.9714987277984619,
                        "yaw": 9.382577896118164
                    }
                },
                "velocity": {
                    "x": 8.009178161621094,
                    "y": 1.3233741521835327,
                    "z": -0.13943824172019958
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13291826844215393,
        "expert_target_speed": 6.095902788657554,
        "target_point": [
            19.736763738852126,
            -0.17131151099584185
        ],
        "target_point_next": [
            56.73673286982534,
            -0.25243283636249814
        ]
    },
    "435": {
        "acceleration": [
            0.026302337646484375,
            0.05046486854553223,
            -0.09474247694015503
        ],
        "angular_velocity": [
            0.017061544582247734,
            -0.00986257940530777,
            -0.44129130244255066
        ],
        "forward_vector": [
            -0.9868819713592529,
            -0.1606779843568802,
            0.01570434309542179
        ],
        "right_vector": [
            0.16069409251213074,
            -0.987004280090332,
            -0.0002393146132817492
        ],
        "location": [
            1174.733642578125,
            4085.714599609375,
            365.48345947265625
        ],
        "rotation": [
            0.013713408261537552,
            0.8998295664787292,
            -170.75259399414062
        ],
        "velocity": [
            -4.973536491394043,
            -0.7995766997337341,
            0.07462882995605469
        ],
        "speed": 5.037398944890633,
        "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": 24.215356826782227,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1150.83056640625,
                4081.857421875,
                365.8690185546875
            ],
            "velocity": [
                -5.205183029174805,
                -0.846221387386322,
                0.08885520696640015
            ],
            "speed_kmh": 18.987369344362552,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031679153442383,
                "transform": {
                    "location": {
                        "x": 1210.2672119140625,
                        "y": 4094.7607421875,
                        "z": 364.92376708984375
                    },
                    "rotation": {
                        "roll": -0.00012206910469103605,
                        "pitch": -0.8308104872703552,
                        "yaw": 9.229862213134766
                    }
                },
                "velocity": {
                    "x": 7.926877975463867,
                    "y": 1.2881035804748535,
                    "z": -0.11518272012472153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.942732810974121,
                "transform": {
                    "location": {
                        "x": 1205.4344482421875,
                        "y": 4090.733642578125,
                        "z": 365.0133056640625
                    },
                    "rotation": {
                        "roll": -0.0012207053368911147,
                        "pitch": 1.0777150392532349,
                        "yaw": -170.75482177734375
                    }
                },
                "velocity": {
                    "x": -6.851625919342041,
                    "y": -1.1162735223770142,
                    "z": 0.10340608656406403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7874629497528076,
                "transform": {
                    "location": {
                        "x": 1192.0814208984375,
                        "y": 4088.56494140625,
                        "z": 365.2197265625
                    },
                    "rotation": {
                        "roll": 0.0033431786578148603,
                        "pitch": 0.9522785544395447,
                        "yaw": -170.58087158203125
                    }
                },
                "velocity": {
                    "x": -0.7770761847496033,
                    "y": -0.12678088247776031,
                    "z": 0.013307018205523491
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.274269104003906,
                "transform": {
                    "location": {
                        "x": 1150.83056640625,
                        "y": 4081.857421875,
                        "z": 365.8690185546875
                    },
                    "rotation": {
                        "roll": -0.0004272425430826843,
                        "pitch": 0.9780898690223694,
                        "yaw": -170.7682647705078
                    }
                },
                "velocity": {
                    "x": -5.205183029174805,
                    "y": -0.846221387386322,
                    "z": 0.08885520696640015
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.483412742614746,
                "transform": {
                    "location": {
                        "x": 1131.982666015625,
                        "y": 4078.793701171875,
                        "z": 366.18853759765625
                    },
                    "rotation": {
                        "roll": 0.0008647454087622464,
                        "pitch": 0.9526883959770203,
                        "yaw": -170.76644897460938
                    }
                },
                "velocity": {
                    "x": -5.41153621673584,
                    "y": -0.8798389434814453,
                    "z": 0.09473634511232376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.073407173156738,
                "transform": {
                    "location": {
                        "x": 1134.2950439453125,
                        "y": 4082.399169921875,
                        "z": 366.14898681640625
                    },
                    "rotation": {
                        "roll": 0.0006359365652315319,
                        "pitch": -0.9922693371772766,
                        "yaw": 9.37515640258789
                    }
                },
                "velocity": {
                    "x": 7.96480131149292,
                    "y": 1.3125284910202026,
                    "z": -0.1382346749305725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1263224333524704,
        "expert_target_speed": 6.023350321514525,
        "target_point": [
            18.469260204865932,
            -0.13154187977228204
        ],
        "target_point_next": [
            55.469317358397596,
            -0.13972709756994028
        ]
    },
    "440": {
        "acceleration": [
            0.0060558319091796875,
            0.03320574760437012,
            1.9073486328125e-05
        ],
        "angular_velocity": [
            -0.03332461044192314,
            0.11585590243339539,
            -0.4413250684738159
        ],
        "forward_vector": [
            -0.9871913194656372,
            -0.15870147943496704,
            0.01634429395198822
        ],
        "right_vector": [
            0.15871894359588623,
            -0.9873238205909729,
            -0.00023142863938119262
        ],
        "location": [
            1173.4718017578125,
            4085.5126953125,
            365.50341796875
        ],
        "rotation": [
            0.013261656276881695,
            0.9365008473396301,
            -170.8672332763672
        ],
        "velocity": [
            -5.090169906616211,
            -0.8081423044204712,
            0.08097619563341141
        ],
        "speed": 5.153923133149671,
        "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": 24.263572692871094,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1149.521728515625,
                4081.644287109375,
                365.89111328125
            ],
            "velocity": [
                -5.408113956451416,
                -0.8800409436225891,
                0.09136543422937393
            ],
            "speed_kmh": 19.728038191163684,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076480865478516,
                "transform": {
                    "location": {
                        "x": 1212.253662109375,
                        "y": 4095.084228515625,
                        "z": 364.8946838378906
                    },
                    "rotation": {
                        "roll": -0.0008239650051109493,
                        "pitch": -0.831848680973053,
                        "yaw": 9.234227180480957
                    }
                },
                "velocity": {
                    "x": 7.970978260040283,
                    "y": 1.2959493398666382,
                    "z": -0.11647675931453705
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.657435417175293,
                "transform": {
                    "location": {
                        "x": 1203.885498046875,
                        "y": 4090.482177734375,
                        "z": 365.0360107421875
                    },
                    "rotation": {
                        "roll": 0.002932738047093153,
                        "pitch": 0.6677192449569702,
                        "yaw": -170.44053649902344
                    }
                },
                "velocity": {
                    "x": -4.597451686859131,
                    "y": -0.7424524426460266,
                    "z": 0.06251782923936844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5509040355682373,
                "transform": {
                    "location": {
                        "x": 1191.8138427734375,
                        "y": 4088.521240234375,
                        "z": 365.2239074707031
                    },
                    "rotation": {
                        "roll": 0.0039629037491977215,
                        "pitch": 0.9633708000183105,
                        "yaw": -170.6004180908203
                    }
                },
                "velocity": {
                    "x": -1.5305438041687012,
                    "y": -0.2493923306465149,
                    "z": 0.023288249969482422
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.480010509490967,
                "transform": {
                    "location": {
                        "x": 1149.521728515625,
                        "y": 4081.644287109375,
                        "z": 365.89111328125
                    },
                    "rotation": {
                        "roll": -3.0513378078467213e-05,
                        "pitch": 0.963200032711029,
                        "yaw": -170.803466796875
                    }
                },
                "velocity": {
                    "x": -5.408113956451416,
                    "y": -0.8800409436225891,
                    "z": 0.09136543422937393
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.112943649291992,
                "transform": {
                    "location": {
                        "x": 1130.8548583984375,
                        "y": 4078.60888671875,
                        "z": 366.2086486816406
                    },
                    "rotation": {
                        "roll": -0.002258309395983815,
                        "pitch": 0.9207094311714172,
                        "yaw": -170.8582305908203
                    }
                },
                "velocity": {
                    "x": -4.057960510253906,
                    "y": -0.6664661169052124,
                    "z": 0.07130767405033112
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025723457336426,
                "transform": {
                    "location": {
                        "x": 1136.275634765625,
                        "y": 4082.724365234375,
                        "z": 366.11456298828125
                    },
                    "rotation": {
                        "roll": 0.0018546213395893574,
                        "pitch": -0.9930137991905212,
                        "yaw": 9.303487777709961
                    }
                },
                "velocity": {
                    "x": 7.918955326080322,
                    "y": 1.2974671125411987,
                    "z": -0.13770079612731934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1171235665678978,
        "expert_target_speed": 6.1306224032983,
        "target_point": [
            17.19159486781939,
            -0.09365859833539503
        ],
        "target_point_next": [
            54.1915943698415,
            -0.027831455278624517
        ]
    },
    "445": {
        "acceleration": [
            0.9240627288818359,
            0.19429922103881836,
            -0.0193023681640625
        ],
        "angular_velocity": [
            -0.036219991743564606,
            -0.22128413617610931,
            -0.49731361865997314
        ],
        "forward_vector": [
            -0.9875107407569885,
            -0.15668991208076477,
            0.016456695273518562
        ],
        "right_vector": [
            0.15670791268348694,
            -0.9876450300216675,
            -0.00019838579464703798
        ],
        "location": [
            1172.204345703125,
            4085.3125,
            365.52349853515625
        ],
        "rotation": [
            0.01136820763349533,
            0.9429417252540588,
            -170.98394775390625
        ],
        "velocity": [
            -5.092196464538574,
            -0.7974693775177002,
            0.0818055123090744
        ],
        "speed": 5.1542625312975305,
        "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": 24.490604400634766,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1148.0311279296875,
                4081.402099609375,
                365.91595458984375
            ],
            "velocity": [
                -6.474597454071045,
                -1.0518131256103516,
                0.10872627049684525
            ],
            "speed_kmh": 23.617356668601563,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032222747802734,
                "transform": {
                    "location": {
                        "x": 1214.2410888671875,
                        "y": 4095.407470703125,
                        "z": 364.8655700683594
                    },
                    "rotation": {
                        "roll": -0.0006713901530019939,
                        "pitch": -0.8314183950424194,
                        "yaw": 9.234683990478516
                    }
                },
                "velocity": {
                    "x": 7.927307605743408,
                    "y": 1.2888637781143188,
                    "z": -0.11500377207994461
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5122621655464172,
                "transform": {
                    "location": {
                        "x": 1203.51123046875,
                        "y": 4090.42138671875,
                        "z": 365.0408630371094
                    },
                    "rotation": {
                        "roll": -0.0064697242341935635,
                        "pitch": 0.274826318025589,
                        "yaw": -170.37794494628906
                    }
                },
                "velocity": {
                    "x": -0.5051858425140381,
                    "y": -0.08450473845005035,
                    "z": 0.007665586192160845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.804250717163086,
                "transform": {
                    "location": {
                        "x": 1191.2896728515625,
                        "y": 4088.435546875,
                        "z": 365.2303466796875
                    },
                    "rotation": {
                        "roll": 0.0043730405159294605,
                        "pitch": 1.1574984788894653,
                        "yaw": -170.61944580078125
                    }
                },
                "velocity": {
                    "x": -2.7673747539520264,
                    "y": -0.45131823420524597,
                    "z": 0.042076367884874344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.56037712097168,
                "transform": {
                    "location": {
                        "x": 1148.0311279296875,
                        "y": 4081.402099609375,
                        "z": 365.91595458984375
                    },
                    "rotation": {
                        "roll": 0.0002773176529444754,
                        "pitch": 0.9893255233764648,
                        "yaw": -170.7931671142578
                    }
                },
                "velocity": {
                    "x": -6.474597454071045,
                    "y": -1.0518131256103516,
                    "z": 0.10872627049684525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.261533737182617,
                "transform": {
                    "location": {
                        "x": 1129.8406982421875,
                        "y": 4078.44482421875,
                        "z": 366.2260437011719
                    },
                    "rotation": {
                        "roll": 0.0025337589904665947,
                        "pitch": 0.9912994503974915,
                        "yaw": -170.6566925048828
                    }
                },
                "velocity": {
                    "x": -4.205422878265381,
                    "y": -0.6852917075157166,
                    "z": 0.07391887158155441
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.082242965698242,
                "transform": {
                    "location": {
                        "x": 1138.26416015625,
                        "y": 4083.0498046875,
                        "z": 366.0801086425781
                    },
                    "rotation": {
                        "roll": 0.0006888675852678716,
                        "pitch": -0.9717651009559631,
                        "yaw": 9.312905311584473
                    }
                },
                "velocity": {
                    "x": 7.975075721740723,
                    "y": 1.3044325113296509,
                    "z": -0.13882587850093842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10476164519786835,
        "expert_target_speed": 6.14045401280109,
        "target_point": [
            15.908581202263736,
            -0.057727626152511924
        ],
        "target_point_next": [
            52.90836977703128,
            0.08348775863514213
        ]
    },
    "450": {
        "acceleration": [
            1.807861328125,
            0.3046989440917969,
            -0.038581788539886475
        ],
        "angular_velocity": [
            0.010091772302985191,
            -0.2757471203804016,
            -0.4481064975261688
        ],
        "forward_vector": [
            -0.9878243803977966,
            -0.1547001153230667,
            0.016456695273518562
        ],
        "right_vector": [
            0.15471844375133514,
            -0.9879586100578308,
            -0.00016086465620901436
        ],
        "location": [
            1170.939453125,
            4085.115234375,
            365.5435791015625
        ],
        "rotation": [
            0.00921811442822218,
            0.9429417252540588,
            -171.09938049316406
        ],
        "velocity": [
            -5.081732273101807,
            -0.7858226895332336,
            0.08187621831893921
        ],
        "speed": 5.142131872567029,
        "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": 24.995939254760742,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1146.268798828125,
                4081.115966796875,
                365.9456481933594
            ],
            "velocity": [
                -7.5817718505859375,
                -1.2330666780471802,
                0.1286403089761734
            ],
            "speed_kmh": 27.656873456357946,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079845428466797,
                "transform": {
                    "location": {
                        "x": 1216.229248046875,
                        "y": 4095.73046875,
                        "z": 364.83642578125
                    },
                    "rotation": {
                        "roll": 0.00016146022244356573,
                        "pitch": -0.8308104872703552,
                        "yaw": 9.234650611877441
                    }
                },
                "velocity": {
                    "x": 7.974292278289795,
                    "y": 1.2965359687805176,
                    "z": -0.11646636575460434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.720694899559021,
                "transform": {
                    "location": {
                        "x": 1203.2041015625,
                        "y": 4090.370849609375,
                        "z": 365.04632568359375
                    },
                    "rotation": {
                        "roll": 0.0038486875128000975,
                        "pitch": 0.8626391887664795,
                        "yaw": -170.42466735839844
                    }
                },
                "velocity": {
                    "x": -1.6976059675216675,
                    "y": -0.2797566056251526,
                    "z": 0.025712670758366585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.804864883422852,
                "transform": {
                    "location": {
                        "x": 1190.349609375,
                        "y": 4088.28173828125,
                        "z": 365.2431945800781
                    },
                    "rotation": {
                        "roll": 0.004514953587204218,
                        "pitch": 1.338874101638794,
                        "yaw": -170.6715087890625
                    }
                },
                "velocity": {
                    "x": -4.741758823394775,
                    "y": -0.7728075981140137,
                    "z": 0.0722445696592331
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.682465076446533,
                "transform": {
                    "location": {
                        "x": 1146.268798828125,
                        "y": 4081.115966796875,
                        "z": 365.9456481933594
                    },
                    "rotation": {
                        "roll": -0.0014038170920684934,
                        "pitch": 0.9990585446357727,
                        "yaw": -170.76657104492188
                    }
                },
                "velocity": {
                    "x": -7.5817718505859375,
                    "y": -1.2330666780471802,
                    "z": 0.1286403089761734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.592647552490234,
                "transform": {
                    "location": {
                        "x": 1128.6241455078125,
                        "y": 4078.24658203125,
                        "z": 366.2469787597656
                    },
                    "rotation": {
                        "roll": 9.410478378413245e-05,
                        "pitch": 1.0653865337371826,
                        "yaw": -170.7239990234375
                    }
                },
                "velocity": {
                    "x": -5.519341945648193,
                    "y": -0.8972317576408386,
                    "z": 0.09769117087125778
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052748680114746,
                "transform": {
                    "location": {
                        "x": 1140.2547607421875,
                        "y": 4083.37548828125,
                        "z": 366.0458984375
                    },
                    "rotation": {
                        "roll": 0.0005234864074736834,
                        "pitch": -0.9796403050422668,
                        "yaw": 9.264779090881348
                    }
                },
                "velocity": {
                    "x": 7.946535587310791,
                    "y": 1.2963494062423706,
                    "z": -0.13714458048343658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09824095666408539,
        "expert_target_speed": 6.140664962740278,
        "target_point": [
            14.628483083714752,
            -0.024862353931174308
        ],
        "target_point_next": [
            51.627912074289995,
            0.1908938366636317
        ]
    },
    "455": {
        "acceleration": [
            -0.13500213623046875,
            0.008188486099243164,
            -0.07350265979766846
        ],
        "angular_velocity": [
            0.04086463153362274,
            -0.09984301030635834,
            -0.2956167459487915
        ],
        "forward_vector": [
            -0.9880656599998474,
            -0.1532519906759262,
            0.015495394356548786
        ],
        "right_vector": [
            0.15326961874961853,
            -0.98818439245224,
            -5.0634258514037356e-05
        ],
        "location": [
            1169.693115234375,
            4084.923095703125,
            365.56353759765625
        ],
        "rotation": [
            0.002901477739214897,
            0.8878562450408936,
            -171.18350219726562
        ],
        "velocity": [
            -4.933910846710205,
            -0.7578420639038086,
            0.07534963637590408
        ],
        "speed": 4.991773315877494,
        "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": 25.74701690673828,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1144.282958984375,
                4080.792724609375,
                365.9793395996094
            ],
            "velocity": [
                -8.571474075317383,
                -1.3953677415847778,
                0.14682237803936005
            ],
            "speed_kmh": 31.2679793712909,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02885627746582,
                "transform": {
                    "location": {
                        "x": 1218.2161865234375,
                        "y": 4096.0537109375,
                        "z": 364.8074645996094
                    },
                    "rotation": {
                        "roll": 0.00011486442963359877,
                        "pitch": -0.8238164186477661,
                        "yaw": 9.23401165008545
                    }
                },
                "velocity": {
                    "x": 7.9240031242370605,
                    "y": 1.2882131338119507,
                    "z": -0.11494588851928711
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.253533363342285,
                "transform": {
                    "location": {
                        "x": 1202.675048828125,
                        "y": 4090.28369140625,
                        "z": 365.0543212890625
                    },
                    "rotation": {
                        "roll": 0.005370340775698423,
                        "pitch": 0.9286187887191772,
                        "yaw": -170.51800537109375
                    }
                },
                "velocity": {
                    "x": -2.223538637161255,
                    "y": -0.364972859621048,
                    "z": 0.03291468694806099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.843168258666992,
                "transform": {
                    "location": {
                        "x": 1189.0384521484375,
                        "y": 4088.067626953125,
                        "z": 365.26513671875
                    },
                    "rotation": {
                        "roll": 0.002595873549580574,
                        "pitch": 1.1637002229690552,
                        "yaw": -170.71665954589844
                    }
                },
                "velocity": {
                    "x": -5.766578674316406,
                    "y": -0.9386277794837952,
                    "z": 0.09035609662532806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.68554973602295,
                "transform": {
                    "location": {
                        "x": 1144.282958984375,
                        "y": 4080.792724609375,
                        "z": 365.9793395996094
                    },
                    "rotation": {
                        "roll": 0.0006234227912500501,
                        "pitch": 0.9986282587051392,
                        "yaw": -170.75051879882812
                    }
                },
                "velocity": {
                    "x": -8.571474075317383,
                    "y": -1.3953677415847778,
                    "z": 0.14682237803936005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.382594585418701,
                "transform": {
                    "location": {
                        "x": 1127.176025390625,
                        "y": 4078.010498046875,
                        "z": 366.2726135253906
                    },
                    "rotation": {
                        "roll": -9.154967119684443e-05,
                        "pitch": 1.064635157585144,
                        "yaw": -170.75743103027344
                    }
                },
                "velocity": {
                    "x": -6.2983927726745605,
                    "y": -1.027358889579773,
                    "z": 0.11089113354682922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056404113769531,
                "transform": {
                    "location": {
                        "x": 1142.24072265625,
                        "y": 4083.69970703125,
                        "z": 366.0118713378906
                    },
                    "rotation": {
                        "roll": -0.0013427792582660913,
                        "pitch": -0.9729945659637451,
                        "yaw": 9.281220436096191
                    }
                },
                "velocity": {
                    "x": 7.950234413146973,
                    "y": 1.296644926071167,
                    "z": -0.134687602519989
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08102487027645111,
        "expert_target_speed": 6.014447628865325,
        "target_point": [
            13.367443129196012,
            -0.002226951695771806
        ],
        "target_point_next": [
            50.3665154734274,
            0.2678508680744516
        ]
    },
    "460": {
        "acceleration": [
            1.8369007110595703,
            0.3062140941619873,
            -0.023832619190216064
        ],
        "angular_velocity": [
            0.008912579156458378,
            -0.38170307874679565,
            -0.2697419226169586
        ],
        "forward_vector": [
            -0.9882727861404419,
            -0.15205040574073792,
            0.014053715392947197
        ],
        "right_vector": [
            0.15206529200077057,
            -0.988370418548584,
            -1.014862209558487e-05
        ],
        "location": [
            1168.50634765625,
            4084.7412109375,
            365.5826416015625
        ],
        "rotation": [
            0.0005815306212753057,
            0.8052451014518738,
            -171.25335693359375
        ],
        "velocity": [
            -4.537313938140869,
            -0.6911686658859253,
            0.07318960130214691
        ],
        "speed": 4.589654877869352,
        "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": 26.6571102142334,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1142.1998291015625,
                4080.453857421875,
                366.0153503417969
            ],
            "velocity": [
                -7.938762187957764,
                -1.291680932044983,
                0.13594873249530792
            ],
            "speed_kmh": 28.959503332666223,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083274841308594,
                "transform": {
                    "location": {
                        "x": 1220.2042236328125,
                        "y": 4096.376953125,
                        "z": 364.7785949707031
                    },
                    "rotation": {
                        "roll": -6.103774649091065e-05,
                        "pitch": -0.8217400312423706,
                        "yaw": 9.229610443115234
                    }
                },
                "velocity": {
                    "x": 7.977824687957764,
                    "y": 1.2963147163391113,
                    "z": -0.1149684488773346
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.35668644309043884,
                "transform": {
                    "location": {
                        "x": 1202.48486328125,
                        "y": 4090.252685546875,
                        "z": 365.0568542480469
                    },
                    "rotation": {
                        "roll": 0.0027161655016243458,
                        "pitch": 0.6439365148544312,
                        "yaw": -170.6108856201172
                    }
                },
                "velocity": {
                    "x": -0.351768434047699,
                    "y": -0.0586504265666008,
                    "z": 0.006657256744801998
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.3165602684021,
                "transform": {
                    "location": {
                        "x": 1187.420166015625,
                        "y": 4087.8046875,
                        "z": 365.29010009765625
                    },
                    "rotation": {
                        "roll": 0.0005113210645504296,
                        "pitch": 1.1927422285079956,
                        "yaw": -170.68836975097656
                    }
                },
                "velocity": {
                    "x": -7.2206339836120605,
                    "y": -1.1755341291427612,
                    "z": 0.11233554780483246
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.044305801391602,
                "transform": {
                    "location": {
                        "x": 1142.1998291015625,
                        "y": 4080.453857421875,
                        "z": 366.0153503417969
                    },
                    "rotation": {
                        "roll": -0.0012512218672782183,
                        "pitch": 0.9630907773971558,
                        "yaw": -170.74366760253906
                    }
                },
                "velocity": {
                    "x": -7.938762187957764,
                    "y": -1.291680932044983,
                    "z": 0.13594873249530792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.808230400085449,
                "transform": {
                    "location": {
                        "x": 1125.636962890625,
                        "y": 4077.759521484375,
                        "z": 366.3004150390625
                    },
                    "rotation": {
                        "roll": -0.0015869161579757929,
                        "pitch": 0.9920780658721924,
                        "yaw": -170.9491424560547
                    }
                },
                "velocity": {
                    "x": -5.733621597290039,
                    "y": -0.9224023222923279,
                    "z": 0.10146240144968033
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066210746765137,
                "transform": {
                    "location": {
                        "x": 1144.23046875,
                        "y": 4084.023681640625,
                        "z": 365.97796630859375
                    },
                    "rotation": {
                        "roll": 2.6390651328256354e-05,
                        "pitch": -0.9608777761459351,
                        "yaw": 9.239834785461426
                    }
                },
                "velocity": {
                    "x": 7.96016263961792,
                    "y": 1.296642780303955,
                    "z": -0.13524112105369568
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06876363605260849,
        "expert_target_speed": 5.6460451718008215,
        "target_point": [
            12.16681154270442,
            0.014768220928237596
        ],
        "target_point_next": [
            49.16552708664561,
            0.32995778440390655
        ]
    },
    "465": {
        "acceleration": [
            1.1163997650146484,
            0.0024521350860595703,
            -0.004716217517852783
        ],
        "angular_velocity": [
            -0.15342041850090027,
            0.048001307994127274,
            0.007872379384934902
        ],
        "forward_vector": [
            -0.9883678555488586,
            -0.1514938622713089,
            0.013363558799028397
        ],
        "right_vector": [
            0.15151050686836243,
            -0.9884556531906128,
            0.00023593485821038485
        ],
        "location": [
            1167.4248046875,
            4084.575927734375,
            365.60009765625
        ],
        "rotation": [
            -0.013519278727471828,
            0.7656983137130737,
            -171.28570556640625
        ],
        "velocity": [
            -4.165615558624268,
            -0.6448400020599365,
            0.06766515225172043
        ],
        "speed": 4.2152309083262836,
        "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": 27.426746368408203,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1140.3604736328125,
                4080.154541015625,
                366.04705810546875
            ],
            "velocity": [
                -6.823872089385986,
                -1.1108683347702026,
                0.11760972440242767
            ],
            "speed_kmh": 24.892923828392313,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028068542480469,
                "transform": {
                    "location": {
                        "x": 1222.19140625,
                        "y": 4096.7001953125,
                        "z": 364.749755859375
                    },
                    "rotation": {
                        "roll": 0.0002512287755962461,
                        "pitch": -0.8228738307952881,
                        "yaw": 9.22914981842041
                    }
                },
                "velocity": {
                    "x": 7.92333984375,
                    "y": 1.2874172925949097,
                    "z": -0.11454372107982635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3120262622833252,
                "transform": {
                    "location": {
                        "x": 1202.273681640625,
                        "y": 4090.21826171875,
                        "z": 365.0604248046875
                    },
                    "rotation": {
                        "roll": 0.002569137839600444,
                        "pitch": 0.922977089881897,
                        "yaw": -170.6783905029297
                    }
                },
                "velocity": {
                    "x": -1.2949203252792358,
                    "y": -0.21032412350177765,
                    "z": 0.018926363438367844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.655924797058105,
                "transform": {
                    "location": {
                        "x": 1185.510986328125,
                        "y": 4087.49365234375,
                        "z": 365.31964111328125
                    },
                    "rotation": {
                        "roll": 0.0016055775340646505,
                        "pitch": 1.2184442281723022,
                        "yaw": -170.7362823486328
                    }
                },
                "velocity": {
                    "x": -8.542762756347656,
                    "y": -1.3886570930480957,
                    "z": 0.13363875448703766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.914700984954834,
                "transform": {
                    "location": {
                        "x": 1140.3604736328125,
                        "y": 4080.154541015625,
                        "z": 366.04705810546875
                    },
                    "rotation": {
                        "roll": -0.00042725118692032993,
                        "pitch": 0.9403940439224243,
                        "yaw": -170.74899291992188
                    }
                },
                "velocity": {
                    "x": -6.823872089385986,
                    "y": -1.1108683347702026,
                    "z": 0.11760972440242767
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3585972785949707,
                "transform": {
                    "location": {
                        "x": 1124.6929931640625,
                        "y": 4077.606689453125,
                        "z": 366.3178405761719
                    },
                    "rotation": {
                        "roll": -0.005249022040516138,
                        "pitch": 0.8917221426963806,
                        "yaw": -171.10755920410156
                    }
                },
                "velocity": {
                    "x": -3.31459379196167,
                    "y": -0.5387179255485535,
                    "z": 0.05852750688791275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055807113647461,
                "transform": {
                    "location": {
                        "x": 1146.2188720703125,
                        "y": 4084.34814453125,
                        "z": 365.94427490234375
                    },
                    "rotation": {
                        "roll": -0.0007019079639576375,
                        "pitch": -0.9641699194908142,
                        "yaw": 9.265942573547363
                    }
                },
                "velocity": {
                    "x": 7.950045108795166,
                    "y": 1.2940926551818848,
                    "z": -0.13468609750270844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05834292992949486,
        "expert_target_speed": 5.295137161356274,
        "target_point": [
            11.072701867329897,
            0.02212369862749508
        ],
        "target_point_next": [
            48.071233566490754,
            0.3582017678154381
        ]
    },
    "470": {
        "acceleration": [
            -2.021322250366211,
            -0.44567346572875977,
            0.022329986095428467
        ],
        "angular_velocity": [
            -0.1544429212808609,
            0.8924111127853394,
            1.220703363418579
        ],
        "forward_vector": [
            -0.9876758456230164,
            -0.15570597350597382,
            0.01587693765759468
        ],
        "right_vector": [
            0.1557370275259018,
            -0.9877983331680298,
            0.0007301463629119098
        ],
        "location": [
            1166.3699951171875,
            4084.40673828125,
            365.6166687011719
        ],
        "rotation": [
            -0.041839584708213806,
            0.909719705581665,
            -171.04112243652344
        ],
        "velocity": [
            -4.389282703399658,
            -0.7212783098220825,
            0.07055747509002686
        ],
        "speed": 4.448150745038124,
        "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": 27.826759338378906,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1138.9110107421875,
                4079.920654296875,
                366.0723876953125
            ],
            "velocity": [
                -3.7368719577789307,
                -0.6052207946777344,
                0.060893408954143524
            ],
            "speed_kmh": 13.62979789700971,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08263874053955,
                "transform": {
                    "location": {
                        "x": 1224.17919921875,
                        "y": 4097.0234375,
                        "z": 364.7209167480469
                    },
                    "rotation": {
                        "roll": -0.00033570092637091875,
                        "pitch": -0.8214121460914612,
                        "yaw": 9.231839179992676
                    }
                },
                "velocity": {
                    "x": 7.976776123046875,
                    "y": 1.2987267971038818,
                    "z": -0.11579691618680954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.22027325630188,
                "transform": {
                    "location": {
                        "x": 1201.833740234375,
                        "y": 4090.147216796875,
                        "z": 365.067138671875
                    },
                    "rotation": {
                        "roll": 0.0011712100822478533,
                        "pitch": 0.9845649003982544,
                        "yaw": -170.82437133789062
                    }
                },
                "velocity": {
                    "x": -2.1914877891540527,
                    "y": -0.3548843264579773,
                    "z": 0.03243298456072807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.110982894897461,
                "transform": {
                    "location": {
                        "x": 1183.408935546875,
                        "y": 4087.1533203125,
                        "z": 365.35498046875
                    },
                    "rotation": {
                        "roll": -0.004302975721657276,
                        "pitch": 0.9271435141563416,
                        "yaw": -170.48345947265625
                    }
                },
                "velocity": {
                    "x": -8.003962516784668,
                    "y": -1.3072181940078735,
                    "z": 0.12573713064193726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.786055088043213,
                "transform": {
                    "location": {
                        "x": 1138.9110107421875,
                        "y": 4079.920654296875,
                        "z": 366.0723876953125
                    },
                    "rotation": {
                        "roll": 0.00338238594122231,
                        "pitch": 0.8905336856842041,
                        "yaw": -170.55075073242188
                    }
                },
                "velocity": {
                    "x": -3.7368719577789307,
                    "y": -0.6052207946777344,
                    "z": 0.060893408954143524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.921679735183716,
                "transform": {
                    "location": {
                        "x": 1123.8035888671875,
                        "y": 4077.463134765625,
                        "z": 366.3327941894531
                    },
                    "rotation": {
                        "roll": -0.0048828208819031715,
                        "pitch": 1.0129033327102661,
                        "yaw": -171.00743103027344
                    }
                },
                "velocity": {
                    "x": -3.8702502250671387,
                    "y": -0.6293326020240784,
                    "z": 0.0683751255273819
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059679985046387,
                "transform": {
                    "location": {
                        "x": 1148.20654296875,
                        "y": 4084.671875,
                        "z": 365.9107360839844
                    },
                    "rotation": {
                        "roll": -0.0001220733392983675,
                        "pitch": -0.9580364227294922,
                        "yaw": 9.2255859375
                    }
                },
                "velocity": {
                    "x": 7.953922748565674,
                    "y": 1.2943583726882935,
                    "z": -0.13486972451210022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06828971952199936,
        "expert_target_speed": 5.502205875200774,
        "target_point": [
            10.004407031725536,
            -0.02800676133072355
        ],
        "target_point_next": [
            47.00403624400179,
            0.1501350823602321
        ]
    },
    "475": {
        "acceleration": [
            -2.7356624603271484,
            -0.5507552623748779,
            0.14027297496795654
        ],
        "angular_velocity": [
            -0.05245999991893768,
            0.6993616819381714,
            1.4041993618011475
        ],
        "forward_vector": [
            -0.9866759777069092,
            -0.161545068025589,
            0.019330013543367386
        ],
        "right_vector": [
            0.16158998012542725,
            -0.9868576526641846,
            0.0007743025198578835
        ],
        "location": [
            1165.193603515625,
            4084.210205078125,
            365.6349792480469
        ],
        "rotation": [
            -0.0443725623190403,
            1.1075971126556396,
            -170.70166015625
        ],
        "velocity": [
            -5.007804870605469,
            -0.8546753525733948,
            0.08498498797416687
        ],
        "speed": 5.0802145210961624,
        "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": 27.231616973876953,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1138.32080078125,
                4079.826904296875,
                366.0823059082031
            ],
            "velocity": [
                -2.374985456466675,
                -0.38810381293296814,
                0.041469622403383255
            ],
            "speed_kmh": 8.66464002832212,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02882194519043,
                "transform": {
                    "location": {
                        "x": 1226.16650390625,
                        "y": 4097.3466796875,
                        "z": 364.6921081542969
                    },
                    "rotation": {
                        "roll": 5.308617255650461e-05,
                        "pitch": -0.82234787940979,
                        "yaw": 9.232784271240234
                    }
                },
                "velocity": {
                    "x": 7.9243340492248535,
                    "y": 1.2860281467437744,
                    "z": -0.11422335356473923
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6391518115997314,
                "transform": {
                    "location": {
                        "x": 1201.11376953125,
                        "y": 4090.030517578125,
                        "z": 365.0780029296875
                    },
                    "rotation": {
                        "roll": 0.0008057987433858216,
                        "pitch": 1.0551002025604248,
                        "yaw": -170.8323974609375
                    }
                },
                "velocity": {
                    "x": -3.5919439792633057,
                    "y": -0.5817586779594421,
                    "z": 0.054060325026512146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3417983055114746,
                "transform": {
                    "location": {
                        "x": 1182.0732421875,
                        "y": 4086.943115234375,
                        "z": 365.384765625
                    },
                    "rotation": {
                        "roll": -0.006317139137536287,
                        "pitch": -0.17858894169330597,
                        "yaw": -169.80050659179688
                    }
                },
                "velocity": {
                    "x": -3.2997326850891113,
                    "y": -0.526200532913208,
                    "z": 0.04993167892098427
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4068446159362793,
                "transform": {
                    "location": {
                        "x": 1138.32080078125,
                        "y": 4079.826904296875,
                        "z": 366.0823059082031
                    },
                    "rotation": {
                        "roll": 0.005124047864228487,
                        "pitch": 0.9095147848129272,
                        "yaw": -170.38824462890625
                    }
                },
                "velocity": {
                    "x": -2.374985456466675,
                    "y": -0.38810381293296814,
                    "z": 0.041469622403383255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.162156581878662,
                "transform": {
                    "location": {
                        "x": 1122.6749267578125,
                        "y": 4077.280517578125,
                        "z": 366.3523864746094
                    },
                    "rotation": {
                        "roll": -0.003540036268532276,
                        "pitch": 1.070645809173584,
                        "yaw": -170.8829345703125
                    }
                },
                "velocity": {
                    "x": -5.094455242156982,
                    "y": -0.828365683555603,
                    "z": 0.09053044766187668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060144424438477,
                "transform": {
                    "location": {
                        "x": 1150.1954345703125,
                        "y": 4084.995849609375,
                        "z": 365.8772888183594
                    },
                    "rotation": {
                        "roll": 0.0002621511521283537,
                        "pitch": -0.9492459893226624,
                        "yaw": 9.251788139343262
                    }
                },
                "velocity": {
                    "x": 7.95458984375,
                    "y": 1.2932631969451904,
                    "z": -0.13378053903579712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0890442356467247,
        "expert_target_speed": 6.0709984874046095,
        "target_point": [
            8.811376290048639,
            -0.0911587668120113
        ],
        "target_point_next": [
            45.81141153358395,
            -0.13224817596443472
        ]
    },
    "480": {
        "acceleration": [
            0.14204025268554688,
            -0.011380910873413086,
            -0.005566030740737915
        ],
        "angular_velocity": [
            0.09769955277442932,
            -0.5025213956832886,
            -2.9395835399627686
        ],
        "forward_vector": [
            -0.9860807657241821,
            -0.16533085703849792,
            0.0176189374178648
        ],
        "right_vector": [
            0.1653604656457901,
            -0.9862331748008728,
            0.00022739858832210302
        ],
        "location": [
            1163.9366455078125,
            4083.998046875,
            365.6558837890625
        ],
        "rotation": [
            -0.013031002134084702,
            1.0095429420471191,
            -170.4820556640625
        ],
        "velocity": [
            -4.961223125457764,
            -0.8425008058547974,
            0.07984012365341187
        ],
        "speed": 5.03225024302676,
        "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": 26.625530242919922,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1137.6610107421875,
                4079.718017578125,
                366.09307861328125
            ],
            "velocity": [
                -2.887451410293579,
                -0.4718565344810486,
                0.050222139805555344
            ],
            "speed_kmh": 10.534258523051387,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081637382507324,
                "transform": {
                    "location": {
                        "x": 1228.154296875,
                        "y": 4097.669921875,
                        "z": 364.6632080078125
                    },
                    "rotation": {
                        "roll": 7.311194622161565e-06,
                        "pitch": -0.8250731229782104,
                        "yaw": 9.230052947998047
                    }
                },
                "velocity": {
                    "x": 7.976179599761963,
                    "y": 1.296155571937561,
                    "z": -0.11573444306850433
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.048360347747803,
                "transform": {
                    "location": {
                        "x": 1200.03076171875,
                        "y": 4089.85498046875,
                        "z": 365.09423828125
                    },
                    "rotation": {
                        "roll": 7.255018863361329e-05,
                        "pitch": 1.0756522417068481,
                        "yaw": -170.79931640625
                    }
                },
                "velocity": {
                    "x": -4.982558727264404,
                    "y": -0.8090166449546814,
                    "z": 0.07443390041589737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3327128887176514,
                "transform": {
                    "location": {
                        "x": 1181.23876953125,
                        "y": 4086.80419921875,
                        "z": 365.3917236328125
                    },
                    "rotation": {
                        "roll": -0.005828867666423321,
                        "pitch": 0.5601096153259277,
                        "yaw": -170.04150390625
                    }
                },
                "velocity": {
                    "x": -3.2878684997558594,
                    "y": -0.5423292517662048,
                    "z": 0.05268270522356033
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.926182985305786,
                "transform": {
                    "location": {
                        "x": 1137.6610107421875,
                        "y": 4079.718017578125,
                        "z": 366.09307861328125
                    },
                    "rotation": {
                        "roll": 0.0059320954605937,
                        "pitch": 0.9890933036804199,
                        "yaw": -170.48670959472656
                    }
                },
                "velocity": {
                    "x": -2.887451410293579,
                    "y": -0.4718565344810486,
                    "z": 0.050222139805555344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.513576507568359,
                "transform": {
                    "location": {
                        "x": 1121.326171875,
                        "y": 4077.061767578125,
                        "z": 366.3765563964844
                    },
                    "rotation": {
                        "roll": -0.0005188006325624883,
                        "pitch": 1.0462756156921387,
                        "yaw": -170.8125
                    }
                },
                "velocity": {
                    "x": -5.441041946411133,
                    "y": -0.8860784769058228,
                    "z": 0.097244031727314
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058098793029785,
                "transform": {
                    "location": {
                        "x": 1152.1837158203125,
                        "y": 4085.3193359375,
                        "z": 365.8440856933594
                    },
                    "rotation": {
                        "roll": 0.0014843828976154327,
                        "pitch": -0.9504685997962952,
                        "yaw": 9.216667175292969
                    }
                },
                "velocity": {
                    "x": 7.952847003936768,
                    "y": 1.2913235425949097,
                    "z": -0.13291634619235992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1047125980257988,
        "expert_target_speed": 6.025662386185821,
        "target_point": [
            7.536225947836932,
            -0.12631810002238852
        ],
        "target_point_next": [
            44.53583201684848,
            -0.3092035843109704
        ]
    },
    "485": {
        "acceleration": [
            -7.943820953369141,
            -1.26015305519104,
            0.12251019477844238
        ],
        "angular_velocity": [
            -0.2541787922382355,
            2.231917381286621,
            2.7153220176696777
        ],
        "forward_vector": [
            -0.9857969880104065,
            -0.1666954904794693,
            0.020419130101799965
        ],
        "right_vector": [
            0.16673287749290466,
            -0.9860021471977234,
            0.00013046756794210523
        ],
        "location": [
            1162.6412353515625,
            4083.77734375,
            365.67626953125
        ],
        "rotation": [
            -0.007476800587028265,
            1.170011281967163,
            -170.40223693847656
        ],
        "velocity": [
            -5.853307247161865,
            -0.998103678226471,
            0.09456989169120789
        ],
        "speed": 5.9377956079817045,
        "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": 26.11907196044922,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1136.8641357421875,
                4079.586669921875,
                366.10675048828125
            ],
            "velocity": [
                -3.4936633110046387,
                -0.5701718330383301,
                0.06053807958960533
            ],
            "speed_kmh": 12.74544607503952,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028116226196289,
                "transform": {
                    "location": {
                        "x": 1230.1414794921875,
                        "y": 4097.9931640625,
                        "z": 364.6342468261719
                    },
                    "rotation": {
                        "roll": 0.00010719977581175044,
                        "pitch": -0.8270539045333862,
                        "yaw": 9.230186462402344
                    }
                },
                "velocity": {
                    "x": 7.923356533050537,
                    "y": 1.2875736951828003,
                    "z": -0.1149846613407135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.481807231903076,
                "transform": {
                    "location": {
                        "x": 1198.70556640625,
                        "y": 4089.639892578125,
                        "z": 365.1144714355469
                    },
                    "rotation": {
                        "roll": -0.0003662076487671584,
                        "pitch": 0.9671274423599243,
                        "yaw": -170.78887939453125
                    }
                },
                "velocity": {
                    "x": -5.410452365875244,
                    "y": -0.8778920769691467,
                    "z": 0.08076803386211395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9181768894195557,
                "transform": {
                    "location": {
                        "x": 1180.3511962890625,
                        "y": 4086.656494140625,
                        "z": 365.4012756347656
                    },
                    "rotation": {
                        "roll": 0.01121355127543211,
                        "pitch": 1.1165378093719482,
                        "yaw": -170.28746032714844
                    }
                },
                "velocity": {
                    "x": -3.865976572036743,
                    "y": -0.634555459022522,
                    "z": 0.06062617152929306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5404016971588135,
                "transform": {
                    "location": {
                        "x": 1136.8641357421875,
                        "y": 4079.586669921875,
                        "z": 366.10675048828125
                    },
                    "rotation": {
                        "roll": 0.002641633152961731,
                        "pitch": 1.002951741218567,
                        "yaw": -170.58010864257812
                    }
                },
                "velocity": {
                    "x": -3.4936633110046387,
                    "y": -0.5701718330383301,
                    "z": 0.06053807958960533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.168544292449951,
                "transform": {
                    "location": {
                        "x": 1120.0030517578125,
                        "y": 4076.8466796875,
                        "z": 366.4004211425781
                    },
                    "rotation": {
                        "roll": -0.000823975948151201,
                        "pitch": 0.995827853679657,
                        "yaw": -170.7648468017578
                    }
                },
                "velocity": {
                    "x": -5.100426197052002,
                    "y": -0.831475019454956,
                    "z": 0.09029558300971985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06067943572998,
                "transform": {
                    "location": {
                        "x": 1154.17236328125,
                        "y": 4085.641845703125,
                        "z": 365.8110046386719
                    },
                    "rotation": {
                        "roll": -0.0010681221028789878,
                        "pitch": -0.9433583617210388,
                        "yaw": 9.247367858886719
                    }
                },
                "velocity": {
                    "x": 7.955092430114746,
                    "y": 1.2938228845596313,
                    "z": -0.13068662583827972
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11695781350135803,
        "expert_target_speed": 6.827157054459213,
        "target_point": [
            43.22128236738042,
            -0.37288581145219357
        ],
        "target_point_next": [
            43.22128236738042,
            -0.37288581145219357
        ]
    },
    "490": {
        "acceleration": [
            -1.1181926727294922,
            -0.21842241287231445,
            0.023244768381118774
        ],
        "angular_velocity": [
            0.09464669972658157,
            -0.5006030797958374,
            -2.7145025730133057
        ],
        "forward_vector": [
            -0.9856470227241516,
            -0.16746428608894348,
            0.021346494555473328
        ],
        "right_vector": [
            0.16750317811965942,
            -0.9858715534210205,
            3.461318192421459e-05
        ],
        "location": [
            1161.1025390625,
            4083.514892578125,
            365.701171875
        ],
        "rotation": [
            -0.0019836414139717817,
            1.2231570482254028,
            -170.35736083984375
        ],
        "velocity": [
            -6.323861122131348,
            -1.0833861827850342,
            0.10355010628700256
        ],
        "speed": 6.415991358555112,
        "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": 25.547195434570312,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1135.8880615234375,
                4079.427001953125,
                366.1236267089844
            ],
            "velocity": [
                -4.310253143310547,
                -0.702061653137207,
                0.07447931170463562
            ],
            "speed_kmh": 15.723685630333831,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1232.1783447265625,
                        "y": 4098.26611328125,
                        "z": 364.6109924316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8293147087097168,
                        "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.139957904815674,
                "transform": {
                    "location": {
                        "x": 1197.2120361328125,
                        "y": 4089.3974609375,
                        "z": 365.1371154785156
                    },
                    "rotation": {
                        "roll": -9.155789302894846e-05,
                        "pitch": 1.1155884265899658,
                        "yaw": -170.77261352539062
                    }
                },
                "velocity": {
                    "x": -7.046631336212158,
                    "y": -1.1456780433654785,
                    "z": 0.10680975019931793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.996178150177002,
                "transform": {
                    "location": {
                        "x": 1179.2530517578125,
                        "y": 4086.475341796875,
                        "z": 365.41802978515625
                    },
                    "rotation": {
                        "roll": 0.012332985177636147,
                        "pitch": 1.1854270696640015,
                        "yaw": -170.48793029785156
                    }
                },
                "velocity": {
                    "x": -4.930351734161377,
                    "y": -0.8046294450759888,
                    "z": 0.07746543735265732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.367690563201904,
                "transform": {
                    "location": {
                        "x": 1135.8880615234375,
                        "y": 4079.427001953125,
                        "z": 366.1236267089844
                    },
                    "rotation": {
                        "roll": 0.0012751101749017835,
                        "pitch": 1.013258457183838,
                        "yaw": -170.6564178466797
                    }
                },
                "velocity": {
                    "x": -4.310253143310547,
                    "y": -0.702061653137207,
                    "z": 0.07447931170463562
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.056113243103027,
                "transform": {
                    "location": {
                        "x": 1118.7669677734375,
                        "y": 4076.647705078125,
                        "z": 366.4223327636719
                    },
                    "rotation": {
                        "roll": 0.004649256821721792,
                        "pitch": 0.9988468289375305,
                        "yaw": -170.47784423828125
                    }
                },
                "velocity": {
                    "x": -4.989362716674805,
                    "y": -0.8141037821769714,
                    "z": 0.08817064017057419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05863094329834,
                "transform": {
                    "location": {
                        "x": 1156.160888671875,
                        "y": 4085.96435546875,
                        "z": 365.7781066894531
                    },
                    "rotation": {
                        "roll": -0.0007019020267762244,
                        "pitch": -0.9348137974739075,
                        "yaw": 9.215681076049805
                    }
                },
                "velocity": {
                    "x": 7.953176021575928,
                    "y": 1.2928874492645264,
                    "z": -0.1302167922258377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12453989684581757,
        "expert_target_speed": 7.224229371906821,
        "target_point": [
            41.66005888409478,
            -0.4077348878569165
        ],
        "target_point_next": [
            41.66005888409478,
            -0.4077348878569165
        ]
    },
    "495": {
        "acceleration": [
            -1.1585140228271484,
            -0.23589611053466797,
            0.030409544706344604
        ],
        "angular_velocity": [
            0.02359854243695736,
            -0.19850371778011322,
            3.3521368503570557
        ],
        "forward_vector": [
            -0.9853384494781494,
            -0.1694687455892563,
            0.01971057429909706
        ],
        "right_vector": [
            0.1695031076669693,
            -0.9855296611785889,
            7.348902727244422e-05
        ],
        "location": [
            1159.4881591796875,
            4083.2373046875,
            365.72784423828125
        ],
        "rotation": [
            -0.004211429040879011,
            1.1294058561325073,
            -170.24114990234375
        ],
        "velocity": [
            -6.592460632324219,
            -1.1386117935180664,
            0.10822086036205292
        ],
        "speed": 6.690065321436187,
        "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": 25.123624801635742,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1134.689453125,
                4079.2314453125,
                366.14471435546875
            ],
            "velocity": [
                -5.204953670501709,
                -0.8469478487968445,
                0.09227107465267181
            ],
            "speed_kmh": 18.987185417839427,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1234.239990234375,
                        "y": 4098.5615234375,
                        "z": 364.5852355957031
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.215520858764648,
                "transform": {
                    "location": {
                        "x": 1195.2972412109375,
                        "y": 4089.0859375,
                        "z": 365.1663513183594
                    },
                    "rotation": {
                        "roll": -0.0007934478344395757,
                        "pitch": 1.0714858770370483,
                        "yaw": -170.74542236328125
                    }
                },
                "velocity": {
                    "x": -8.108061790466309,
                    "y": -1.318541407585144,
                    "z": 0.12474387884140015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.235860347747803,
                "transform": {
                    "location": {
                        "x": 1177.9998779296875,
                        "y": 4086.27001953125,
                        "z": 365.43963623046875
                    },
                    "rotation": {
                        "roll": 0.0052521913312375546,
                        "pitch": 0.9853913187980652,
                        "yaw": -170.62913513183594
                    }
                },
                "velocity": {
                    "x": -5.167227268218994,
                    "y": -0.8410071134567261,
                    "z": 0.08187593519687653
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.274218559265137,
                "transform": {
                    "location": {
                        "x": 1134.689453125,
                        "y": 4079.2314453125,
                        "z": 366.14471435546875
                    },
                    "rotation": {
                        "roll": 0.0011250847019255161,
                        "pitch": 1.018907070159912,
                        "yaw": -170.7090301513672
                    }
                },
                "velocity": {
                    "x": -5.204953670501709,
                    "y": -0.8469478487968445,
                    "z": 0.09227107465267181
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.195127010345459,
                "transform": {
                    "location": {
                        "x": 1117.3807373046875,
                        "y": 4076.420166015625,
                        "z": 366.4464416503906
                    },
                    "rotation": {
                        "roll": 0.002708629472181201,
                        "pitch": 1.0554759502410889,
                        "yaw": -170.63954162597656
                    }
                },
                "velocity": {
                    "x": -6.113381385803223,
                    "y": -0.9972144961357117,
                    "z": 0.10830022394657135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058531761169434,
                "transform": {
                    "location": {
                        "x": 1158.1490478515625,
                        "y": 4086.287841796875,
                        "z": 365.7454528808594
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.9349367618560791,
                        "yaw": 9.249411582946777
                    }
                },
                "velocity": {
                    "x": 7.953153610229492,
                    "y": 1.2923873662948608,
                    "z": -0.13049650192260742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1440175175666809,
        "expert_target_speed": 7.457821217938568,
        "target_point": [
            40.02107484433359,
            -0.4921712824944988
        ],
        "target_point_next": [
            40.02107484433359,
            -0.4921712824944988
        ]
    },
    "500": {
        "acceleration": [
            -1.4768409729003906,
            -0.3018617630004883,
            0.024329721927642822
        ],
        "angular_velocity": [
            0.027600552886724472,
            0.02554938569664955,
            -2.48941969871521
        ],
        "forward_vector": [
            -0.9851658344268799,
            -0.17051489651203156,
            0.01931248977780342
        ],
        "right_vector": [
            0.17054854333400726,
            -0.9853492975234985,
            9.638850315241143e-05
        ],
        "location": [
            1157.7999267578125,
            4082.9443359375,
            365.7557373046875
        ],
        "rotation": [
            -0.005523684434592724,
            1.1065930128097534,
            -170.18038940429688
        ],
        "velocity": [
            -6.917553424835205,
            -1.205993890762329,
            0.11378905922174454
        ],
        "speed": 7.021891956588718,
        "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": 24.736608505249023,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1133.3804931640625,
                4079.017333984375,
                366.1676940917969
            ],
            "velocity": [
                -5.443798542022705,
                -0.884009599685669,
                0.09436889737844467
            ],
            "speed_kmh": 19.8572948941505,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110837,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1236.2962646484375,
                        "y": 4098.8935546875,
                        "z": 364.5551452636719
                    },
                    "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": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.574490070343018,
                "transform": {
                    "location": {
                        "x": 1193.3212890625,
                        "y": 4088.764892578125,
                        "z": 365.19635009765625
                    },
                    "rotation": {
                        "roll": -0.0008239684393629432,
                        "pitch": 0.8480157256126404,
                        "yaw": -170.7786865234375
                    }
                },
                "velocity": {
                    "x": -7.475551605224609,
                    "y": -1.2148288488388062,
                    "z": 0.11496402323246002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "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": -9.345098916924144e-09,
                    "y": -1.5193840630089994e-09,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.213232517242432,
                "transform": {
                    "location": {
                        "x": 1176.631103515625,
                        "y": 4086.046875,
                        "z": 365.4606628417969
                    },
                    "rotation": {
                        "roll": 0.00309577165171504,
                        "pitch": 1.0591027736663818,
                        "yaw": -170.71595764160156
                    }
                },
                "velocity": {
                    "x": -6.132120132446289,
                    "y": -0.9959838390350342,
                    "z": 0.0968037024140358
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.515915393829346,
                "transform": {
                    "location": {
                        "x": 1133.3804931640625,
                        "y": 4079.017333984375,
                        "z": 366.1676940917969
                    },
                    "rotation": {
                        "roll": -0.0008544843876734376,
                        "pitch": 1.0013329982757568,
                        "yaw": -170.8016357421875
                    }
                },
                "velocity": {
                    "x": -5.443798542022705,
                    "y": -0.884009599685669,
                    "z": 0.09436889737844467
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.153063774108887,
                "transform": {
                    "location": {
                        "x": 1115.8123779296875,
                        "y": 4076.1640625,
                        "z": 366.4744567871094
                    },
                    "rotation": {
                        "roll": 0.0014828989515081048,
                        "pitch": 1.0187158584594727,
                        "yaw": -170.7005157470703
                    }
                },
                "velocity": {
                    "x": -6.072054862976074,
                    "y": -0.9893651604652405,
                    "z": 0.1072259321808815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059941291809082,
                "transform": {
                    "location": {
                        "x": 1160.137451171875,
                        "y": 4086.61083984375,
                        "z": 365.712890625
                    },
                    "rotation": {
                        "roll": 0.0018387498566880822,
                        "pitch": -0.9290422797203064,
                        "yaw": 9.217761039733887
                    }
                },
                "velocity": {
                    "x": 7.954616069793701,
                    "y": 1.2922353744506836,
                    "z": -0.12985126674175262
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15457451343536377,
        "expert_target_speed": 7.724793186585308,
        "target_point": [
            38.307066413789244,
            -0.5353671648563205
        ],
        "target_point_next": [
            38.307066413789244,
            -0.5353671648563205
        ]
    },
    "505": {
        "acceleration": [
            -2.3860740661621094,
            -0.46126365661621094,
            0.04365697503089905
        ],
        "angular_velocity": [
            -0.03587636724114418,
            0.2712942957878113,
            3.0143239498138428
        ],
        "forward_vector": [
            -0.9847874045372009,
            -0.17261092364788055,
            0.019981246441602707
        ],
        "right_vector": [
            0.17264752089977264,
            -0.9849836826324463,
            0.00010810280218720436
        ],
        "location": [
            1156.0108642578125,
            4082.631591796875,
            365.78509521484375
        ],
        "rotation": [
            -0.0061950706876814365,
            1.1449172496795654,
            -170.05833435058594
        ],
        "velocity": [
            -7.412463188171387,
            -1.3045998811721802,
            0.12191636860370636
        ],
        "speed": 7.526392985085909,
        "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": 24.441804885864258,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1131.87890625,
                4078.773681640625,
                366.1936950683594
            ],
            "velocity": [
                -6.5626749992370605,
                -1.0650650262832642,
                0.1155216172337532
            ],
            "speed_kmh": 23.938352036477596,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.290314197540283,
                "transform": {
                    "location": {
                        "x": 1191.597900390625,
                        "y": 4088.48486328125,
                        "z": 365.22265625
                    },
                    "rotation": {
                        "roll": -0.0004272472870070487,
                        "pitch": 0.7193623185157776,
                        "yaw": -170.77090454101562
                    }
                },
                "velocity": {
                    "x": -6.208138942718506,
                    "y": -1.0089175701141357,
                    "z": 0.0956491231918335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1264241337776184,
                "transform": {
                    "location": {
                        "x": 1119.4710693359375,
                        "y": 4079.89794921875,
                        "z": 366.339599609375
                    },
                    "rotation": {
                        "roll": -0.00012207505642436445,
                        "pitch": -1.0049666166305542,
                        "yaw": 9.234806060791016
                    }
                },
                "velocity": {
                    "x": -0.0021320406813174486,
                    "y": -0.00043559924233704805,
                    "z": -0.12640540301799774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.565366744995117,
                "transform": {
                    "location": {
                        "x": 1174.9036865234375,
                        "y": 4085.765869140625,
                        "z": 365.4863586425781
                    },
                    "rotation": {
                        "roll": 0.0022668540477752686,
                        "pitch": 1.2566386461257935,
                        "yaw": -170.77345275878906
                    }
                },
                "velocity": {
                    "x": -7.466938495635986,
                    "y": -1.210635781288147,
                    "z": 0.1181771457195282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.649542331695557,
                "transform": {
                    "location": {
                        "x": 1131.87890625,
                        "y": 4078.773681640625,
                        "z": 366.1936950683594
                    },
                    "rotation": {
                        "roll": -0.001007066573947668,
                        "pitch": 1.023783802986145,
                        "yaw": -170.83424377441406
                    }
                },
                "velocity": {
                    "x": -6.5626749992370605,
                    "y": -1.0650650262832642,
                    "z": 0.1155216172337532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.738900661468506,
                "transform": {
                    "location": {
                        "x": 1114.3582763671875,
                        "y": 4075.927001953125,
                        "z": 366.5004577636719
                    },
                    "rotation": {
                        "roll": 0.0005681896000169218,
                        "pitch": 0.9811566472053528,
                        "yaw": -170.73434448242188
                    }
                },
                "velocity": {
                    "x": -5.663605690002441,
                    "y": -0.9210793972015381,
                    "z": 0.10080663114786148
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057923316955566,
                "transform": {
                    "location": {
                        "x": 1162.1258544921875,
                        "y": 4086.934814453125,
                        "z": 365.6805114746094
                    },
                    "rotation": {
                        "roll": -0.0009765633149072528,
                        "pitch": -0.921747624874115,
                        "yaw": 9.255674362182617
                    }
                },
                "velocity": {
                    "x": 7.952391147613525,
                    "y": 1.29336678981781,
                    "z": -0.12962396442890167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1704699993133545,
        "expert_target_speed": 8.133859156215195,
        "target_point": [
            36.48964731265086,
            -0.6161364378649195
        ],
        "target_point_next": [
            36.48964731265086,
            -0.6161364378649195
        ]
    },
    "510": {
        "acceleration": [
            -3.1281280517578125,
            -0.5558443069458008,
            0.048968493938446045
        ],
        "angular_velocity": [
            0.0026411486323922873,
            0.3754858374595642,
            -2.191594362258911
        ],
        "forward_vector": [
            -0.9846128821372986,
            -0.17340505123138428,
            0.021639086306095123
        ],
        "right_vector": [
            0.17344515025615692,
            -0.9848435521125793,
            -2.387095992162358e-05
        ],
        "location": [
            1154.0657958984375,
            4082.28857421875,
            365.817138671875
        ],
        "rotation": [
            0.0013680255506187677,
            1.2399251461029053,
            -170.01177978515625
        ],
        "velocity": [
            -8.138270378112793,
            -1.437624454498291,
            0.13511547446250916
        ],
        "speed": 8.26427303635593,
        "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": 24.271066665649414,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1130.09814453125,
                4078.484619140625,
                366.22491455078125
            ],
            "velocity": [
                -7.552746295928955,
                -1.2253284454345703,
                0.13284854590892792
            ],
            "speed_kmh": 27.549540734688964,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.636442184448242,
                "transform": {
                    "location": {
                        "x": 1190.171630859375,
                        "y": 4088.2529296875,
                        "z": 365.2445983886719
                    },
                    "rotation": {
                        "roll": 0.00025692800409160554,
                        "pitch": 0.7533493041992188,
                        "yaw": -170.785888671875
                    }
                },
                "velocity": {
                    "x": -5.563034534454346,
                    "y": -0.902735710144043,
                    "z": 0.08480371534824371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18358950316905975,
                "transform": {
                    "location": {
                        "x": 1119.471923828125,
                        "y": 4079.89794921875,
                        "z": 366.3861389160156
                    },
                    "rotation": {
                        "roll": -0.0004272593359928578,
                        "pitch": -1.0047959089279175,
                        "yaw": 9.23473834991455
                    }
                },
                "velocity": {
                    "x": 0.0032080691307783127,
                    "y": 0.00047654678928665817,
                    "z": 0.18356084823608398
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.83206844329834,
                "transform": {
                    "location": {
                        "x": 1172.8568115234375,
                        "y": 4085.43359375,
                        "z": 365.5191650390625
                    },
                    "rotation": {
                        "roll": -0.0006713902694173157,
                        "pitch": 1.2145578861236572,
                        "yaw": -170.8260498046875
                    }
                },
                "velocity": {
                    "x": -8.717166900634766,
                    "y": -1.4132320880889893,
                    "z": 0.1386317014694214
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.652650356292725,
                "transform": {
                    "location": {
                        "x": 1130.09814453125,
                        "y": 4078.484619140625,
                        "z": 366.22491455078125
                    },
                    "rotation": {
                        "roll": -0.0015869123162701726,
                        "pitch": 1.0387760400772095,
                        "yaw": -170.84060668945312
                    }
                },
                "velocity": {
                    "x": -7.552746295928955,
                    "y": -1.2253284454345703,
                    "z": 0.13284854590892792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.020821571350098,
                "transform": {
                    "location": {
                        "x": 1112.9139404296875,
                        "y": 4075.6923828125,
                        "z": 366.5257263183594
                    },
                    "rotation": {
                        "roll": 0.0006433591479435563,
                        "pitch": 1.0141874551773071,
                        "yaw": -170.7490692138672
                    }
                },
                "velocity": {
                    "x": -5.941699504852295,
                    "y": -0.9672453999519348,
                    "z": 0.10455848276615143
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05936336517334,
                "transform": {
                    "location": {
                        "x": 1164.1141357421875,
                        "y": 4087.258056640625,
                        "z": 365.6482849121094
                    },
                    "rotation": {
                        "roll": 0.00022419790911953896,
                        "pitch": -0.9213241934776306,
                        "yaw": 9.218162536621094
                    }
                },
                "velocity": {
                    "x": 7.954014301300049,
                    "y": 1.2923928499221802,
                    "z": -0.12927071750164032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18117409944534302,
        "expert_target_speed": 8.697943248518623,
        "target_point": [
            34.51405191187483,
            -0.646240877393832
        ],
        "target_point_next": [
            34.51405191187483,
            -0.646240877393832
        ]
    },
    "515": {
        "acceleration": [
            -3.103046417236328,
            -0.5317521095275879,
            0.05113154649734497
        ],
        "angular_velocity": [
            -0.006100906059145927,
            0.09650474786758423,
            2.144361972808838
        ],
        "forward_vector": [
            -0.9844500422477722,
            -0.17418934404850006,
            0.02271885797381401
        ],
        "right_vector": [
            0.1742316037416458,
            -0.9847046732902527,
            -0.00012124700879212469
        ],
        "location": [
            1151.92724609375,
            4081.91064453125,
            365.85260009765625
        ],
        "rotation": [
            0.006948735564947128,
            1.3018066883087158,
            -169.9658966064453
        ],
        "velocity": [
            -8.929396629333496,
            -1.5787326097488403,
            0.1498778760433197
        ],
        "speed": 9.067884031957885,
        "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": 24.12360191345215,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1128.100341796875,
                4078.160888671875,
                366.2602233886719
            ],
            "velocity": [
                -8.526389122009277,
                -1.3846105337142944,
                0.15046735107898712
            ],
            "speed_kmh": 31.101812050907252,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.2005615234375,
                "transform": {
                    "location": {
                        "x": 1188.7437744140625,
                        "y": 4088.021240234375,
                        "z": 365.26678466796875
                    },
                    "rotation": {
                        "roll": -6.103234409238212e-05,
                        "pitch": 0.9006969928741455,
                        "yaw": -170.76683044433594
                    }
                },
                "velocity": {
                    "x": -6.119358539581299,
                    "y": -0.995698094367981,
                    "z": 0.09486512839794159
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1055620908737183,
                "transform": {
                    "location": {
                        "x": 1119.5216064453125,
                        "y": 4079.90625,
                        "z": 366.40570068359375
                    },
                    "rotation": {
                        "roll": -0.0033264216035604477,
                        "pitch": -0.9866275787353516,
                        "yaw": 9.319331169128418
                    }
                },
                "velocity": {
                    "x": 1.0878667831420898,
                    "y": 0.19701150059700012,
                    "z": 0.00014387130795512348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.565827369689941,
                "transform": {
                    "location": {
                        "x": 1170.70458984375,
                        "y": 4085.0849609375,
                        "z": 365.5560607910156
                    },
                    "rotation": {
                        "roll": -0.00149536260869354,
                        "pitch": 0.9009770154953003,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": -8.454658508300781,
                    "y": -1.368938684463501,
                    "z": 0.1347876489162445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.639391899108887,
                "transform": {
                    "location": {
                        "x": 1128.100341796875,
                        "y": 4078.160888671875,
                        "z": 366.2602233886719
                    },
                    "rotation": {
                        "roll": -0.0006713836337439716,
                        "pitch": 1.040852427482605,
                        "yaw": -170.79592895507812
                    }
                },
                "velocity": {
                    "x": -8.526389122009277,
                    "y": -1.3846105337142944,
                    "z": 0.15046735107898712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.697258472442627,
                "transform": {
                    "location": {
                        "x": 1111.459716796875,
                        "y": 4075.45556640625,
                        "z": 366.5515441894531
                    },
                    "rotation": {
                        "roll": 0.00034492206759750843,
                        "pitch": 0.9841345548629761,
                        "yaw": -170.7547149658203
                    }
                },
                "velocity": {
                    "x": -5.62241268157959,
                    "y": -0.9151517152786255,
                    "z": 0.09860309213399887
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059818267822266,
                "transform": {
                    "location": {
                        "x": 1166.1026611328125,
                        "y": 4087.58056640625,
                        "z": 365.61614990234375
                    },
                    "rotation": {
                        "roll": -0.0001830911060096696,
                        "pitch": -0.9155253171920776,
                        "yaw": 9.245079040527344
                    }
                },
                "velocity": {
                    "x": 7.954396724700928,
                    "y": 1.2931066751480103,
                    "z": -0.1269625872373581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.19581104815006256,
        "expert_target_speed": 9.27117554829099,
        "target_point": [
            32.341835802167964,
            -0.6734299098752681
        ],
        "target_point_next": [
            32.341835802167964,
            -0.6734299098752681
        ]
    },
    "520": {
        "acceleration": [
            -2.285137176513672,
            -0.4092860221862793,
            0.053117573261260986
        ],
        "angular_velocity": [
            0.04151471331715584,
            -0.15184637904167175,
            -1.9704669713974
        ],
        "forward_vector": [
            -0.9845104813575745,
            -0.17387591302394867,
            0.02250278741121292
        ],
        "right_vector": [
            0.17391569912433624,
            -0.984760582447052,
            -0.0001917621266329661
        ],
        "location": [
            1149.6048583984375,
            4081.500244140625,
            365.8916320800781
        ],
        "rotation": [
            0.010989942587912083,
            1.2894235849380493,
            -169.98419189453125
        ],
        "velocity": [
            -9.58735179901123,
            -1.6951409578323364,
            0.16152258217334747
        ],
        "speed": 9.736057589441662,
        "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": 23.84947395324707,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1126.04345703125,
                4077.826904296875,
                366.29705810546875
            ],
            "velocity": [
                -7.819432258605957,
                -1.270676612854004,
                0.13921216130256653
            ],
            "speed_kmh": 28.523615799140543,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "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": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.177796363830566,
                "transform": {
                    "location": {
                        "x": 1186.904296875,
                        "y": 4087.7216796875,
                        "z": 365.295654296875
                    },
                    "rotation": {
                        "roll": -0.0019226124277338386,
                        "pitch": 1.1308879852294922,
                        "yaw": -170.7397003173828
                    }
                },
                "velocity": {
                    "x": -8.070303916931152,
                    "y": -1.3155938386917114,
                    "z": 0.12554097175598145
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6881496906280518,
                "transform": {
                    "location": {
                        "x": 1120.0361328125,
                        "y": 4079.993896484375,
                        "z": 366.39678955078125
                    },
                    "rotation": {
                        "roll": -0.005310060456395149,
                        "pitch": -0.9667312502861023,
                        "yaw": 9.492671966552734
                    }
                },
                "velocity": {
                    "x": 2.648592472076416,
                    "y": 0.4565742015838623,
                    "z": -0.0514371432363987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.747425079345703,
                "transform": {
                    "location": {
                        "x": 1168.591064453125,
                        "y": 4084.74267578125,
                        "z": 365.5900573730469
                    },
                    "rotation": {
                        "roll": -0.001556395785883069,
                        "pitch": 0.8714091181755066,
                        "yaw": -170.7980194091797
                    }
                },
                "velocity": {
                    "x": -8.633557319641113,
                    "y": -1.400108814239502,
                    "z": 0.13719172775745392
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.923226356506348,
                "transform": {
                    "location": {
                        "x": 1126.04345703125,
                        "y": 4077.826904296875,
                        "z": 366.29705810546875
                    },
                    "rotation": {
                        "roll": -0.0004577578220050782,
                        "pitch": 0.9909033179283142,
                        "yaw": -170.77230834960938
                    }
                },
                "velocity": {
                    "x": -7.819432258605957,
                    "y": -1.270676612854004,
                    "z": 0.13921216130256653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.239526271820068,
                "transform": {
                    "location": {
                        "x": 1110.121826171875,
                        "y": 4075.23779296875,
                        "z": 366.5752258300781
                    },
                    "rotation": {
                        "roll": 0.0010817877482622862,
                        "pitch": 0.9749547839164734,
                        "yaw": -170.75753784179688
                    }
                },
                "velocity": {
                    "x": -5.170714378356934,
                    "y": -0.8413514494895935,
                    "z": 0.09205649793148041
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057857513427734,
                "transform": {
                    "location": {
                        "x": 1168.0911865234375,
                        "y": 4087.9033203125,
                        "z": 365.5842590332031
                    },
                    "rotation": {
                        "roll": 0.0017516426742076874,
                        "pitch": -0.9071037173271179,
                        "yaw": 9.215072631835938
                    }
                },
                "velocity": {
                    "x": 7.952702045440674,
                    "y": 1.29131019115448,
                    "z": -0.12695424258708954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32130300998687744,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.19857832789421082,
        "expert_target_speed": 9.681616310278512,
        "target_point": [
            29.98367845691623,
            -0.6633344315399219
        ],
        "target_point_next": [
            29.98367845691623,
            -0.6633344315399219
        ]
    },
    "525": {
        "acceleration": [
            -0.45032501220703125,
            -0.05769014358520508,
            0.014217793941497803
        ],
        "angular_velocity": [
            0.15150396525859833,
            -0.5435559749603271,
            1.934719443321228
        ],
        "forward_vector": [
            -0.9845061302185059,
            -0.17411914467811584,
            0.020739736035466194
        ],
        "right_vector": [
            0.17415101826190948,
            -0.984718918800354,
            -0.000272873294306919
        ],
        "location": [
            1147.1646728515625,
            4081.069091796875,
            365.9332580566406
        ],
        "rotation": [
            0.015637852251529694,
            1.1883845329284668,
            -169.9704132080078
        ],
        "velocity": [
            -9.85531997680664,
            -1.7400673627853394,
            0.16695581376552582
        ],
        "speed": 10.00775530637489,
        "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": 23.205617904663086,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1124.2335205078125,
                4077.53271484375,
                366.32940673828125
            ],
            "velocity": [
                -6.718462944030762,
                -1.0927073955535889,
                0.11927537620067596
            ],
            "speed_kmh": 24.508037578676475,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1219.892333984375,
                        "y": 4096.298828125,
                        "z": 364.7909240722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.01715087890625,
                "transform": {
                    "location": {
                        "x": 1184.7691650390625,
                        "y": 4087.374267578125,
                        "z": 365.32904052734375
                    },
                    "rotation": {
                        "roll": -0.00039673782885074615,
                        "pitch": 1.0500527620315552,
                        "yaw": -170.74488830566406
                    }
                },
                "velocity": {
                    "x": -8.898798942565918,
                    "y": -1.4493844509124756,
                    "z": 0.14023171365261078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5312607288360596,
                "transform": {
                    "location": {
                        "x": 1120.808837890625,
                        "y": 4080.12646484375,
                        "z": 366.382568359375
                    },
                    "rotation": {
                        "roll": -0.006835950072854757,
                        "pitch": -0.9826660752296448,
                        "yaw": 9.601729393005371
                    }
                },
                "velocity": {
                    "x": 3.4792819023132324,
                    "y": 0.6004557609558105,
                    "z": -0.062061604112386703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.722084045410156,
                "transform": {
                    "location": {
                        "x": 1166.310302734375,
                        "y": 4084.372802734375,
                        "z": 365.6244812011719
                    },
                    "rotation": {
                        "roll": -0.0030212372075766325,
                        "pitch": 1.1286954879760742,
                        "yaw": -170.77957153320312
                    }
                },
                "velocity": {
                    "x": -9.595181465148926,
                    "y": -1.5580101013183594,
                    "z": 0.154976025223732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.807787895202637,
                "transform": {
                    "location": {
                        "x": 1124.2335205078125,
                        "y": 4077.53271484375,
                        "z": 366.32940673828125
                    },
                    "rotation": {
                        "roll": -3.052012107218616e-05,
                        "pitch": 0.9711298942565918,
                        "yaw": -170.75965881347656
                    }
                },
                "velocity": {
                    "x": -6.718462944030762,
                    "y": -1.0927073955535889,
                    "z": 0.11927537620067596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.424598693847656,
                "transform": {
                    "location": {
                        "x": 1108.805419921875,
                        "y": 4075.023681640625,
                        "z": 366.5982360839844
                    },
                    "rotation": {
                        "roll": 0.00045287571265362203,
                        "pitch": 0.9993659257888794,
                        "yaw": -170.763671875
                    }
                },
                "velocity": {
                    "x": -5.353476524353027,
                    "y": -0.8704962730407715,
                    "z": 0.0937817171216011
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058645248413086,
                "transform": {
                    "location": {
                        "x": 1170.0789794921875,
                        "y": 4088.226806640625,
                        "z": 365.5526123046875
                    },
                    "rotation": {
                        "roll": 0.0008364628884010017,
                        "pitch": -0.9075272083282471,
                        "yaw": 9.254205703735352
                    }
                },
                "velocity": {
                    "x": 7.953220844268799,
                    "y": 1.2930577993392944,
                    "z": -0.12664932012557983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32742953300476074,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.21867410838603973,
        "expert_target_speed": 9.807271085191845,
        "target_point": [
            27.505535272653045,
            -0.6701433527771039
        ],
        "target_point_next": [
            27.505535272653045,
            -0.6701433527771039
        ]
    },
    "530": {
        "acceleration": [
            0.5375862121582031,
            0.11129140853881836,
            0.01601576805114746
        ],
        "angular_velocity": [
            0.08480218052864075,
            -0.5212802290916443,
            -2.1852118968963623
        ],
        "forward_vector": [
            -0.9846940040588379,
            -0.17333003878593445,
            0.01828640140593052
        ],
        "right_vector": [
            0.1733534336090088,
            -0.9848595857620239,
            -0.0003097291919402778
        ],
        "location": [
            1144.7025146484375,
            4080.634521484375,
            365.9756164550781
        ],
        "rotation": [
            0.01774914376437664,
            1.0477919578552246,
            -170.01683044433594
        ],
        "velocity": [
            -9.811843872070312,
            -1.7280025482177734,
            0.1666516214609146
        ],
        "speed": 9.962844622723516,
        "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": 22.14753532409668,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1122.810791015625,
                4077.299560546875,
                366.3547668457031
            ],
            "velocity": [
                -4.410876274108887,
                -0.716729462146759,
                0.07559005916118622
            ],
            "speed_kmh": 16.08972245001356,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110839,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1221.955322265625,
                        "y": 4096.5888671875,
                        "z": 364.76318359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.947010040283203,
                "transform": {
                    "location": {
                        "x": 1182.422607421875,
                        "y": 4086.9921875,
                        "z": 365.3658142089844
                    },
                    "rotation": {
                        "roll": -0.0002746671380009502,
                        "pitch": 1.0430108308792114,
                        "yaw": -170.74620056152344
                    }
                },
                "velocity": {
                    "x": -9.81689167022705,
                    "y": -1.596204400062561,
                    "z": 0.15422767400741577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.316046714782715,
                "transform": {
                    "location": {
                        "x": 1121.7802734375,
                        "y": 4080.293701171875,
                        "z": 366.3653869628906
                    },
                    "rotation": {
                        "roll": -0.008605966344475746,
                        "pitch": -0.9864158630371094,
                        "yaw": 9.691971778869629
                    }
                },
                "velocity": {
                    "x": 4.2522993087768555,
                    "y": 0.7351876497268677,
                    "z": -0.0755455493927002
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.271147727966309,
                "transform": {
                    "location": {
                        "x": 1163.8131103515625,
                        "y": 4083.966796875,
                        "z": 365.6648254394531
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": 1.1297883987426758,
                        "yaw": -170.75863647460938
                    }
                },
                "velocity": {
                    "x": -10.136618614196777,
                    "y": -1.6487226486206055,
                    "z": 0.16478143632411957
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.469367504119873,
                "transform": {
                    "location": {
                        "x": 1122.810791015625,
                        "y": 4077.299560546875,
                        "z": 366.3547668457031
                    },
                    "rotation": {
                        "roll": -0.004364009015262127,
                        "pitch": 0.9333999156951904,
                        "yaw": -170.9377899169922
                    }
                },
                "velocity": {
                    "x": -4.410876274108887,
                    "y": -0.716729462146759,
                    "z": 0.07559005916118622
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.996508598327637,
                "transform": {
                    "location": {
                        "x": 1107.51611328125,
                        "y": 4074.81396484375,
                        "z": 366.62103271484375
                    },
                    "rotation": {
                        "roll": 0.0005661081522703171,
                        "pitch": 0.9810678362846375,
                        "yaw": -170.76210021972656
                    }
                },
                "velocity": {
                    "x": -4.931166648864746,
                    "y": -0.8007314801216125,
                    "z": 0.08673011511564255
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058818817138672,
                "transform": {
                    "location": {
                        "x": 1172.0677490234375,
                        "y": 4088.55029296875,
                        "z": 365.52093505859375
                    },
                    "rotation": {
                        "roll": 0.0012123294873163104,
                        "pitch": -0.9046858549118042,
                        "yaw": 9.218965530395508
                    }
                },
                "velocity": {
                    "x": 7.953400135040283,
                    "y": 1.2930647134780884,
                    "z": -0.1263820081949234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.326427698135376,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2440708726644516,
        "expert_target_speed": 9.68313087601094,
        "target_point": [
            25.005854560843968,
            -0.6490130043575966
        ],
        "target_point_next": [
            25.005854560843968,
            -0.6490130043575966
        ]
    },
    "535": {
        "acceleration": [
            0.758056640625,
            0.18792152404785156,
            -0.0025263428688049316
        ],
        "angular_velocity": [
            0.14886407554149628,
            -0.1878608763217926,
            1.8528698682785034
        ],
        "forward_vector": [
            -0.9847957491874695,
            -0.17290352284908295,
            0.016786620020866394
        ],
        "right_vector": [
            0.17292101681232452,
            -0.9849356412887573,
            -0.0004142952093388885
        ],
        "location": [
            1142.2723388671875,
            4080.207763671875,
            366.0174255371094
        ],
        "rotation": [
            0.02374071255326271,
            0.9618476629257202,
            -170.04190063476562
        ],
        "velocity": [
            -9.636236190795898,
            -1.6862576007843018,
            0.1657702475786209
        ],
        "speed": 9.782663881633033,
        "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": 20.80206871032715,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1121.703857421875,
                4077.11962890625,
                366.3738708496094
            ],
            "velocity": [
                -4.672665596008301,
                -0.7570258378982544,
                0.08347665518522263
            ],
            "speed_kmh": 17.043580279785875,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.806265830993652,
                "transform": {
                    "location": {
                        "x": 1179.949462890625,
                        "y": 4086.59033203125,
                        "z": 365.40435791015625
                    },
                    "rotation": {
                        "roll": -0.00027465642779134214,
                        "pitch": 0.9122058749198914,
                        "yaw": -170.7787322998047
                    }
                },
                "velocity": {
                    "x": -9.67800235748291,
                    "y": -1.5734986066818237,
                    "z": 0.15240269899368286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.126219272613525,
                "transform": {
                    "location": {
                        "x": 1122.9453125,
                        "y": 4080.494384765625,
                        "z": 366.34478759765625
                    },
                    "rotation": {
                        "roll": -0.010009765625,
                        "pitch": -0.9868393540382385,
                        "yaw": 9.756834030151367
                    }
                },
                "velocity": {
                    "x": 5.050353050231934,
                    "y": 0.8744772672653198,
                    "z": -0.08573193103075027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.703107833862305,
                "transform": {
                    "location": {
                        "x": 1161.3521728515625,
                        "y": 4083.56640625,
                        "z": 365.7074279785156
                    },
                    "rotation": {
                        "roll": 0.0006067012436687946,
                        "pitch": 0.8173550367355347,
                        "yaw": -170.7644500732422
                    }
                },
                "velocity": {
                    "x": -9.576210975646973,
                    "y": -1.556265115737915,
                    "z": 0.1565995216369629
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.734327793121338,
                "transform": {
                    "location": {
                        "x": 1121.703857421875,
                        "y": 4077.11962890625,
                        "z": 366.3738708496094
                    },
                    "rotation": {
                        "roll": -0.0035705624613910913,
                        "pitch": 0.9916477799415588,
                        "yaw": -170.98672485351562
                    }
                },
                "velocity": {
                    "x": -4.672665596008301,
                    "y": -0.7570258378982544,
                    "z": 0.08347665518522263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.011946201324463,
                "transform": {
                    "location": {
                        "x": 1106.3450927734375,
                        "y": 4074.617919921875,
                        "z": 366.6419372558594
                    },
                    "rotation": {
                        "roll": -0.012786869890987873,
                        "pitch": 0.9423406720161438,
                        "yaw": -171.60157775878906
                    }
                },
                "velocity": {
                    "x": -3.9608094692230225,
                    "y": -0.6347646713256836,
                    "z": 0.06909427791833878
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05820369720459,
                "transform": {
                    "location": {
                        "x": 1174.0560302734375,
                        "y": 4088.874267578125,
                        "z": 365.48931884765625
                    },
                    "rotation": {
                        "roll": -0.0004882853827439249,
                        "pitch": -0.900451123714447,
                        "yaw": 9.258072853088379
                    }
                },
                "velocity": {
                    "x": 7.952577114105225,
                    "y": 1.2942866086959839,
                    "z": -0.12646682560443878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3223661482334137,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.26759907603263855,
        "expert_target_speed": 9.535928596136602,
        "target_point": [
            22.5387739958728,
            -0.6381506271119202
        ],
        "target_point_next": [
            22.5387739958728,
            -0.6381506271119202
        ]
    },
    "540": {
        "acceleration": [
            0.9757614135742188,
            0.21866559982299805,
            -0.039906203746795654
        ],
        "angular_velocity": [
            0.00860462337732315,
            -0.13977161049842834,
            -2.5152480602264404
        ],
        "forward_vector": [
            -0.9850988984107971,
            -0.17124024033546448,
            0.016031770035624504
        ],
        "right_vector": [
            0.17125485837459564,
            -0.9852266907691956,
            -0.00046716778888367116
        ],
        "location": [
            1139.8917236328125,
            4079.79248046875,
            366.0586242675781
        ],
        "rotation": [
            0.026770183816552162,
            0.918592095375061,
            -170.13877868652344
        ],
        "velocity": [
            -9.411483764648438,
            -1.6343636512756348,
            0.16214501857757568
        ],
        "speed": 9.552338519799859,
        "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": 19.668928146362305,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1120.4373779296875,
                4076.914794921875,
                366.3963928222656
            ],
            "velocity": [
                -5.332091331481934,
                -0.8637403845787048,
                0.09511007368564606
            ],
            "speed_kmh": 19.448761807259643,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.932942390441895,
                "transform": {
                    "location": {
                        "x": 1177.64697265625,
                        "y": 4086.216064453125,
                        "z": 365.4405517578125
                    },
                    "rotation": {
                        "roll": -0.0003051738895010203,
                        "pitch": 0.8014338612556458,
                        "yaw": -170.76263427734375
                    }
                },
                "velocity": {
                    "x": -8.816165924072266,
                    "y": -1.4329169988632202,
                    "z": 0.13933858275413513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.668732166290283,
                "transform": {
                    "location": {
                        "x": 1124.262451171875,
                        "y": 4080.722412109375,
                        "z": 366.3215026855469
                    },
                    "rotation": {
                        "roll": -0.00982667040079832,
                        "pitch": -0.9912721514701843,
                        "yaw": 9.799055099487305
                    }
                },
                "velocity": {
                    "x": 5.584738254547119,
                    "y": 0.967176616191864,
                    "z": -0.09894940257072449
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.245665550231934,
                "transform": {
                    "location": {
                        "x": 1159.0230712890625,
                        "y": 4083.187744140625,
                        "z": 365.7457580566406
                    },
                    "rotation": {
                        "roll": -9.154254803434014e-05,
                        "pitch": 0.7891327142715454,
                        "yaw": -170.765625
                    }
                },
                "velocity": {
                    "x": -9.124707221984863,
                    "y": -1.483133316040039,
                    "z": 0.14951841533184052
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.4024338722229,
                "transform": {
                    "location": {
                        "x": 1120.4373779296875,
                        "y": 4076.914794921875,
                        "z": 366.3963928222656
                    },
                    "rotation": {
                        "roll": -0.003448491683229804,
                        "pitch": 1.0265910625457764,
                        "yaw": -170.9440460205078
                    }
                },
                "velocity": {
                    "x": -5.332091331481934,
                    "y": -0.8637403845787048,
                    "z": 0.09511007368564606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013271389761939645,
                "transform": {
                    "location": {
                        "x": 1106.0538330078125,
                        "y": 4074.561767578125,
                        "z": 366.64794921875
                    },
                    "rotation": {
                        "roll": -0.01660156436264515,
                        "pitch": 0.7819200158119202,
                        "yaw": -172.5948486328125
                    }
                },
                "velocity": {
                    "x": 0.0004692306974902749,
                    "y": 0.00030774137121625245,
                    "z": -0.001202670275233686
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05991268157959,
                "transform": {
                    "location": {
                        "x": 1176.0443115234375,
                        "y": 4089.197509765625,
                        "z": 365.4578552246094
                    },
                    "rotation": {
                        "roll": 0.0011950302869081497,
                        "pitch": -0.9003623127937317,
                        "yaw": 9.220199584960938
                    }
                },
                "velocity": {
                    "x": 7.954437732696533,
                    "y": 1.2934305667877197,
                    "z": -0.1270841658115387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31707459688186646,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2810092866420746,
        "expert_target_speed": 9.374652363034038,
        "target_point": [
            20.123255685368314,
            -0.6014781185681084
        ],
        "target_point_next": [
            20.123255685368314,
            -0.6014781185681084
        ]
    },
    "545": {
        "acceleration": [
            0.5617332458496094,
            0.15009164810180664,
            5.751848220825195e-05
        ],
        "angular_velocity": [
            0.027836967259645462,
            0.1332065612077713,
            1.9799699783325195
        ],
        "forward_vector": [
            -0.9852590560913086,
            -0.1703299880027771,
            0.01588718593120575
        ],
        "right_vector": [
            0.17034374177455902,
            -0.9853845834732056,
            -0.0004938761703670025
        ],
        "location": [
            1137.5667724609375,
            4079.39013671875,
            366.09869384765625
        ],
        "rotation": [
            0.028300590813159943,
            0.9103070497512817,
            -170.19174194335938
        ],
        "velocity": [
            -9.218352317810059,
            -1.5879656076431274,
            0.1611061990261078
        ],
        "speed": 9.35412498453658,
        "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": 18.737775802612305,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1119.0281982421875,
                4076.684326171875,
                366.42132568359375
            ],
            "velocity": [
                -5.890860557556152,
                -0.9505478739738464,
                0.10377919673919678
            ],
            "speed_kmh": 21.484656883526856,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.676161766052246,
                "transform": {
                    "location": {
                        "x": 1175.4923095703125,
                        "y": 4085.8662109375,
                        "z": 365.4747314453125
                    },
                    "rotation": {
                        "roll": -0.002258304040879011,
                        "pitch": 0.8465062975883484,
                        "yaw": -170.7806396484375
                    }
                },
                "velocity": {
                    "x": -8.562667846679688,
                    "y": -1.3921865224838257,
                    "z": 0.1353140026330948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.429793357849121,
                "transform": {
                    "location": {
                        "x": 1125.752197265625,
                        "y": 4080.977783203125,
                        "z": 366.2949523925781
                    },
                    "rotation": {
                        "roll": -0.008544925600290298,
                        "pitch": -0.986327052116394,
                        "yaw": 9.685018539428711
                    }
                },
                "velocity": {
                    "x": 6.339150905609131,
                    "y": 1.0700081586837769,
                    "z": -0.11177869886159897
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.075839042663574,
                "transform": {
                    "location": {
                        "x": 1156.7667236328125,
                        "y": 4082.821044921875,
                        "z": 365.7820129394531
                    },
                    "rotation": {
                        "roll": -0.0002441424585413188,
                        "pitch": 0.8969950079917908,
                        "yaw": -170.7699432373047
                    }
                },
                "velocity": {
                    "x": -8.95707893371582,
                    "y": -1.4558470249176025,
                    "z": 0.1486784964799881
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.967960357666016,
                "transform": {
                    "location": {
                        "x": 1119.0281982421875,
                        "y": 4076.684326171875,
                        "z": 366.42132568359375
                    },
                    "rotation": {
                        "roll": -0.00872802734375,
                        "pitch": 1.0238453149795532,
                        "yaw": -171.24070739746094
                    }
                },
                "velocity": {
                    "x": -5.890860557556152,
                    "y": -0.9505478739738464,
                    "z": 0.10377919673919678
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001202986459247768,
                "transform": {
                    "location": {
                        "x": 1106.052734375,
                        "y": 4074.5615234375,
                        "z": 366.64678955078125
                    },
                    "rotation": {
                        "roll": -0.029693597927689552,
                        "pitch": 0.9443213939666748,
                        "yaw": -172.59471130371094
                    }
                },
                "velocity": {
                    "x": 0.00023768737446516752,
                    "y": 0.0001276735565625131,
                    "z": 0.0011723397765308619
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057361602783203,
                "transform": {
                    "location": {
                        "x": 1178.0325927734375,
                        "y": 4089.5205078125,
                        "z": 365.4264831542969
                    },
                    "rotation": {
                        "roll": -0.0003356942324899137,
                        "pitch": -0.8970906734466553,
                        "yaw": 9.250646591186523
                    }
                },
                "velocity": {
                    "x": 7.9519829750061035,
                    "y": 1.2926440238952637,
                    "z": -0.12695233523845673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3124329149723053,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.30844777822494507,
        "expert_target_speed": 9.232158853147723,
        "target_point": [
            17.76429486577757,
            -0.5832854658198987
        ],
        "target_point_next": [
            17.76429486577757,
            -0.5832854658198987
        ]
    },
    "550": {
        "acceleration": [
            0.027332305908203125,
            0.04946708679199219,
            0.0009059906005859375
        ],
        "angular_velocity": [
            -0.06958262622356415,
            0.18357665836811066,
            -2.576425552368164
        ],
        "forward_vector": [
            -0.9855355024337769,
            -0.16865192353725433,
            0.0166211798787117
        ],
        "right_vector": [
            0.16866739094257355,
            -0.9856728911399841,
            -0.00047719452413730323
        ],
        "location": [
            1135.273193359375,
            4078.99658203125,
            366.1385803222656
        ],
        "rotation": [
            0.02734501287341118,
            0.95236736536026,
            -170.28919982910156
        ],
        "velocity": [
            -9.153966903686523,
            -1.5647013187408447,
            0.15866722166538239
        ],
        "speed": 9.286732487299156,
        "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": 17.810049057006836,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.646728515625,
                4076.464599609375,
                366.4461975097656
            ],
            "velocity": [
                -4.121838092803955,
                -0.6686071157455444,
                0.06919053941965103
            ],
            "speed_kmh": 15.034632753001189,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.009979248046875,
                "transform": {
                    "location": {
                        "x": 1173.31640625,
                        "y": 4085.512451171875,
                        "z": 365.50933837890625
                    },
                    "rotation": {
                        "roll": -0.00018309867300558835,
                        "pitch": 0.9329354763031006,
                        "yaw": -170.7490692138672
                    }
                },
                "velocity": {
                    "x": -8.892130851745605,
                    "y": -1.4456956386566162,
                    "z": 0.1403789073228836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.58378267288208,
                "transform": {
                    "location": {
                        "x": 1127.494384765625,
                        "y": 4081.271484375,
                        "z": 366.2639465332031
                    },
                    "rotation": {
                        "roll": -0.005645753815770149,
                        "pitch": -0.9744561910629272,
                        "yaw": 9.564529418945312
                    }
                },
                "velocity": {
                    "x": 7.478217601776123,
                    "y": 1.254058837890625,
                    "z": -0.13174645602703094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.247416496276855,
                "transform": {
                    "location": {
                        "x": 1154.5223388671875,
                        "y": 4082.4560546875,
                        "z": 365.8187561035156
                    },
                    "rotation": {
                        "roll": -0.001831062138080597,
                        "pitch": 0.9744493961334229,
                        "yaw": -170.7664337158203
                    }
                },
                "velocity": {
                    "x": -9.126419067382812,
                    "y": -1.4832966327667236,
                    "z": 0.1516856551170349
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.176286697387695,
                "transform": {
                    "location": {
                        "x": 1117.646728515625,
                        "y": 4076.464599609375,
                        "z": 366.4461975097656
                    },
                    "rotation": {
                        "roll": -0.0010986297857016325,
                        "pitch": 0.9674416184425354,
                        "yaw": -170.87649536132812
                    }
                },
                "velocity": {
                    "x": -4.121838092803955,
                    "y": -0.6686071157455444,
                    "z": 0.06919053941965103
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001489589805714786,
                "transform": {
                    "location": {
                        "x": 1106.052490234375,
                        "y": 4074.5615234375,
                        "z": 366.64654541015625
                    },
                    "rotation": {
                        "roll": -0.031402587890625,
                        "pitch": 0.9800705909729004,
                        "yaw": -172.59469604492188
                    }
                },
                "velocity": {
                    "x": 0.000152396853081882,
                    "y": -0.00014522424316965044,
                    "z": 0.001474639866501093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059612274169922,
                "transform": {
                    "location": {
                        "x": 1180.0208740234375,
                        "y": 4089.84423828125,
                        "z": 365.3951721191406
                    },
                    "rotation": {
                        "roll": -0.0019226102158427238,
                        "pitch": -0.8905951380729675,
                        "yaw": 9.224778175354004
                    }
                },
                "velocity": {
                    "x": 7.954045295715332,
                    "y": 1.2940409183502197,
                    "z": -0.12637078762054443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31083518266677856,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3190139830112457,
        "expert_target_speed": 9.045220474378391,
        "target_point": [
            15.438162630297711,
            -0.5541078832338808
        ],
        "target_point_next": [
            15.438162630297711,
            -0.5541078832338808
        ]
    },
    "555": {
        "acceleration": [
            -0.5688095092773438,
            -0.04370689392089844,
            0.024338364601135254
        ],
        "angular_velocity": [
            -0.017319411039352417,
            0.22018714249134064,
            1.933814525604248
        ],
        "forward_vector": [
            -0.9856693148612976,
            -0.16776910424232483,
            0.01759497821331024
        ],
        "right_vector": [
            0.16778740286827087,
            -0.9858230948448181,
            -0.0004413709102664143
        ],
        "location": [
            1132.97607421875,
            4078.605224609375,
            366.1783752441406
        ],
        "rotation": [
            0.02529260516166687,
            1.0081700086593628,
            -170.34036254882812
        ],
        "velocity": [
            -9.240073204040527,
            -1.5667353868484497,
            0.16071879863739014
        ],
        "speed": 9.37195884478965,
        "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": 15.848814010620117,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.281494140625,
                4076.416748046875,
                366.4533996582031
            ],
            "velocity": [
                -0.3948844373226166,
                -0.06518838554620743,
                0.007168035488575697
            ],
            "speed_kmh": 1.441055426541609,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.058537483215332,
                "transform": {
                    "location": {
                        "x": 1171.086669921875,
                        "y": 4085.149169921875,
                        "z": 365.544677734375
                    },
                    "rotation": {
                        "roll": -0.0010986363049596548,
                        "pitch": 0.9251968860626221,
                        "yaw": -170.77008056640625
                    }
                },
                "velocity": {
                    "x": -8.940055847167969,
                    "y": -1.4533437490463257,
                    "z": 0.1424594223499298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.249363899230957,
                "transform": {
                    "location": {
                        "x": 1129.462158203125,
                        "y": 4081.60107421875,
                        "z": 366.2292175292969
                    },
                    "rotation": {
                        "roll": -0.00384522695094347,
                        "pitch": -0.981839656829834,
                        "yaw": 9.507448196411133
                    }
                },
                "velocity": {
                    "x": 8.135054588317871,
                    "y": 1.361104130744934,
                    "z": -0.1424027681350708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.301880836486816,
                "transform": {
                    "location": {
                        "x": 1152.2086181640625,
                        "y": 4082.079833984375,
                        "z": 365.8568420410156
                    },
                    "rotation": {
                        "roll": -0.0008850067970342934,
                        "pitch": 1.0088666677474976,
                        "yaw": -170.7689208984375
                    }
                },
                "velocity": {
                    "x": -9.17996597290039,
                    "y": -1.4931855201721191,
                    "z": 0.1536063700914383
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.40029317140579224,
                "transform": {
                    "location": {
                        "x": 1117.281494140625,
                        "y": 4076.416748046875,
                        "z": 366.4533996582031
                    },
                    "rotation": {
                        "roll": 0.0178469717502594,
                        "pitch": 0.8655761480331421,
                        "yaw": -169.6294708251953
                    }
                },
                "velocity": {
                    "x": -0.3948844373226166,
                    "y": -0.06518838554620743,
                    "z": 0.007168035488575697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007823478081263602,
                "transform": {
                    "location": {
                        "x": 1106.0523681640625,
                        "y": 4074.5615234375,
                        "z": 366.64654541015625
                    },
                    "rotation": {
                        "roll": -0.032623291015625,
                        "pitch": 0.9917433857917786,
                        "yaw": -172.59458923339844
                    }
                },
                "velocity": {
                    "x": 4.0859282307792455e-05,
                    "y": 7.408212695736438e-05,
                    "z": 0.0007777598802931607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057819366455078,
                "transform": {
                    "location": {
                        "x": 1182.0091552734375,
                        "y": 4090.16845703125,
                        "z": 365.3639831542969
                    },
                    "rotation": {
                        "roll": -0.0011901777470484376,
                        "pitch": -0.8916264772415161,
                        "yaw": 9.255208015441895
                    }
                },
                "velocity": {
                    "x": 7.952376365661621,
                    "y": 1.2933709621429443,
                    "z": -0.12393074482679367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.31829118728637695,
        "expert_target_speed": 8.59547151838039,
        "target_point": [
            13.108432901043358,
            -0.5406907200162079
        ],
        "target_point_next": [
            13.108432901043358,
            -0.5406907200162079
        ]
    },
    "560": {
        "acceleration": [
            -0.7869911193847656,
            -0.0860595703125,
            0.025532543659210205
        ],
        "angular_velocity": [
            -0.07748793065547943,
            0.1837179809808731,
            -2.449388265609741
        ],
        "forward_vector": [
            -0.985931396484375,
            -0.16610512137413025,
            0.018665898591279984
        ],
        "right_vector": [
            0.16612644493579865,
            -0.9861043691635132,
            -0.0004131389723625034
        ],
        "location": [
            1130.6424560546875,
            4078.21044921875,
            366.2191467285156
        ],
        "rotation": [
            0.02367524430155754,
            1.0695393085479736,
            -170.43687438964844
        ],
        "velocity": [
            -9.424814224243164,
            -1.5857652425765991,
            0.16651855409145355
        ],
        "speed": 9.557289080385729,
        "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": 13.694808959960938,
        "front_vehicle_info": {
            "id": 110579,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.072509765625,
                4076.380615234375,
                366.4559020996094
            ],
            "velocity": [
                -1.1467366218566895,
                -0.19080428779125214,
                0.020139284431934357
            ],
            "speed_kmh": 4.185635559880754,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 110831,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.214757919311523,
                "transform": {
                    "location": {
                        "x": 1168.844482421875,
                        "y": 4084.784912109375,
                        "z": 365.5805358886719
                    },
                    "rotation": {
                        "roll": -6.102626139181666e-05,
                        "pitch": 0.9350118637084961,
                        "yaw": -170.7520751953125
                    }
                },
                "velocity": {
                    "x": -9.094264030456543,
                    "y": -1.4782123565673828,
                    "z": 0.14494264125823975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 110844,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.217707633972168,
                "transform": {
                    "location": {
                        "x": 1131.5015869140625,
                        "y": 4081.9404296875,
                        "z": 366.1936340332031
                    },
                    "rotation": {
                        "roll": -0.002197266323491931,
                        "pitch": -0.9883692860603333,
                        "yaw": 9.4187593460083
                    }
                },
                "velocity": {
                    "x": 8.10662841796875,
                    "y": 1.3390597105026245,
                    "z": -0.1421658992767334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 110580,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.042742729187012,
                "transform": {
                    "location": {
                        "x": 1149.9586181640625,
                        "y": 4081.71435546875,
                        "z": 365.8956298828125
                    },
                    "rotation": {
                        "roll": 5.135257379151881e-05,
                        "pitch": 0.8829453587532043,
                        "yaw": -170.76544189453125
                    }
                },
                "velocity": {
                    "x": -8.9243745803833,
                    "y": -1.4505293369293213,
                    "z": 0.15069347620010376
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 110579,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.162676453590393,
                "transform": {
                    "location": {
                        "x": 1117.072509765625,
                        "y": 4076.380615234375,
                        "z": 366.4559020996094
                    },
                    "rotation": {
                        "roll": 0.01836336776614189,
                        "pitch": 1.0018247365951538,
                        "yaw": -169.7628631591797
                    }
                },
                "velocity": {
                    "x": -1.1467366218566895,
                    "y": -0.19080428779125214,
                    "z": 0.020139284431934357
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 110578,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009744203998707235,
                "transform": {
                    "location": {
                        "x": 1106.0523681640625,
                        "y": 4074.5615234375,
                        "z": 366.6465148925781
                    },
                    "rotation": {
                        "roll": -0.0324096605181694,
                        "pitch": 0.9944891333580017,
                        "yaw": -172.5945587158203
                    }
                },
                "velocity": {
                    "x": 5.84721565246582e-05,
                    "y": 1.7767771396393073e-06,
                    "z": 0.0009726628195494413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 110840,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058693885803223,
                "transform": {
                    "location": {
                        "x": 1183.9974365234375,
                        "y": 4090.491455078125,
                        "z": 365.3328857421875
                    },
                    "rotation": {
                        "roll": -0.0015563975321128964,
                        "pitch": -0.8914421200752258,
                        "yaw": 9.216182708740234
                    }
                },
                "velocity": {
                    "x": 7.953592777252197,
                    "y": 1.2914217710494995,
                    "z": -0.12303508818149567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3263819217681885,
        "expert_target_speed": 8.26907393928184,
        "target_point": [
            10.742551012331399,
            -0.5202079032152946
        ],
        "target_point_next": [
            10.742551012331399,
            -0.5202079032152946
        ]
    }
}