{
    "0": {
        "acceleration": [
            -0.008313171565532684,
            -0.0004962578532285988,
            -0.5567476153373718
        ],
        "angular_velocity": [
            0.0319129042327404,
            -0.012007690966129303,
            -0.0002834576880559325
        ],
        "forward_vector": [
            -0.9869210124015808,
            -0.1604628711938858,
            0.01544759701937437
        ],
        "right_vector": [
            0.16048367321491241,
            -0.9870385527610779,
            0.00010811140964506194
        ],
        "location": [
            1257.159423828125,
            4099.244140625,
            364.2222595214844
        ],
        "rotation": [
            -0.006195066496729851,
            0.8851173520088196,
            -170.76512145996094
        ],
        "velocity": [
            0.0017312730196863413,
            3.1024850613903254e-05,
            0.11474189162254333
        ],
        "speed": 0.0017315509839590279,
        "speed_limit": 30.0,
        "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.1610107421875,
                        "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": 0.0008285469957627356,
        "expert_target_speed": 10.0,
        "target_point": [
            50.99800688193722,
            -0.0009303629670114333
        ],
        "target_point_next": [
            101.99797780661558,
            -0.001190672431686579
        ]
    },
    "5": {
        "acceleration": [
            -0.0025946495588868856,
            -0.0021090975496917963,
            -0.20673543214797974
        ],
        "angular_velocity": [
            -0.02246391773223877,
            -0.002062381012365222,
            0.0004936277982778847
        ],
        "forward_vector": [
            -0.9869213700294495,
            -0.16046437621116638,
            0.015408620238304138
        ],
        "right_vector": [
            0.16048423945903778,
            -0.9870384335517883,
            5.3257212130120024e-05
        ],
        "location": [
            1257.15966796875,
            4099.244140625,
            364.2385559082031
        ],
        "rotation": [
            -0.0030517757404595613,
            0.8828838467597961,
            -170.76504516601562
        ],
        "velocity": [
            0.0005478003295138478,
            -6.798319373046979e-05,
            0.03259703889489174
        ],
        "speed": 0.0005520026409767211,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00114917755127,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "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": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -1.7602025764063e-05,
        "expert_target_speed": 1.0121491975768044,
        "target_point": [
            50.9982478567551,
            -0.0010424967491733383
        ],
        "target_point_next": [
            101.99821878100892,
            -0.0013757622574566142
        ]
    },
    "10": {
        "acceleration": [
            -0.0006953717092983425,
            0.004422306548804045,
            -0.05017861723899841
        ],
        "angular_velocity": [
            -0.0021518387366086245,
            -0.002203309442847967,
            0.0002447887964081019
        ],
        "forward_vector": [
            -0.9869215488433838,
            -0.16046512126922607,
            0.015391694381833076
        ],
        "right_vector": [
            0.1604844629764557,
            -0.9870383739471436,
            2.1835438019479625e-05
        ],
        "location": [
            1257.15966796875,
            4099.244140625,
            364.2428283691406
        ],
        "rotation": [
            -0.0012512266403064132,
            0.881913959980011,
            -170.76499938964844
        ],
        "velocity": [
            0.00014802634541410953,
            3.976939115091227e-05,
            0.00848301313817501
        ],
        "speed": 0.00015327557995053069,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000968933105469,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "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": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.0026578695978969336,
        "expert_target_speed": 0.9875027994672136,
        "target_point": [
            50.9982478557377,
            -0.0010911324683355872
        ],
        "target_point_next": [
            101.99821877965049,
            -0.0014730353390284279
        ]
    },
    "15": {
        "acceleration": [
            -7.320924758911133,
            -1.2403581142425537,
            0.11531428247690201
        ],
        "angular_velocity": [
            -0.3182927668094635,
            1.7481476068496704,
            0.4811575710773468
        ],
        "forward_vector": [
            -0.9868643879890442,
            -0.16067247092723846,
            0.016827264800667763
        ],
        "right_vector": [
            0.1606959104537964,
            -0.9870039820671082,
            4.10069442295935e-05
        ],
        "location": [
            1257.1412353515625,
            4099.2412109375,
            364.2436218261719
        ],
        "rotation": [
            -0.002349857473745942,
            0.9641767740249634,
            -170.75274658203125
        ],
        "velocity": [
            -0.46496281027793884,
            -0.07842902839183807,
            0.009074906818568707
        ],
        "speed": 0.47153104609987906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.982276916503906,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "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": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": 0.0006648245034739375,
        "expert_target_speed": 1.4339285453998398,
        "target_point": [
            50.97958260393112,
            -0.011915111649299703
        ],
        "target_point_next": [
            101.97955228257376,
            -0.02319178360771801
        ]
    },
    "20": {
        "acceleration": [
            -2.432553768157959,
            -0.40781140327453613,
            0.028648748993873596
        ],
        "angular_velocity": [
            0.0439634770154953,
            0.010662798769772053,
            -0.12086013704538345
        ],
        "forward_vector": [
            -0.986595869064331,
            -0.1618715524673462,
            0.020643554627895355
        ],
        "right_vector": [
            0.16190721094608307,
            -0.9868059754371643,
            5.69797120988369e-05
        ],
        "location": [
            1256.8953857421875,
            4099.20068359375,
            364.2469482421875
        ],
        "rotation": [
            -0.0032653927337378263,
            1.1828725337982178,
            -170.6824493408203
        ],
        "velocity": [
            -1.2986621856689453,
            -0.21681445837020874,
            0.020420989021658897
        ],
        "speed": 1.3166366172352981,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.851279258728027,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "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": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.00577573524788022,
        "expert_target_speed": 2.2459620149811714,
        "target_point": [
            50.730362116056234,
            -0.07462591713388989
        ],
        "target_point_next": [
            101.73027960970877,
            -0.1484502114606805
        ]
    },
    "25": {
        "acceleration": [
            -2.5516557693481445,
            -0.43448150157928467,
            0.041181594133377075
        ],
        "angular_velocity": [
            0.013174236752092838,
            -0.014654104597866535,
            0.21502834558486938
        ],
        "forward_vector": [
            -0.9864789247512817,
            -0.16262727975845337,
            0.020291602239012718
        ],
        "right_vector": [
            0.16266167163848877,
            -0.9866818785667419,
            4.5264368964126334e-05
        ],
        "location": [
            1256.4967041015625,
            4099.1337890625,
            364.2532653808594
        ],
        "rotation": [
            -0.002593991346657276,
            1.162703037261963,
            -170.6386260986328
        ],
        "velocity": [
            -1.8846395015716553,
            -0.3167420029640198,
            0.02858169563114643
        ],
        "speed": 1.911070785535145,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.8069486618042,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.839041233062744,
                "transform": {
                    "location": {
                        "x": 1187.4888916015625,
                        "y": 4090.95751953125,
                        "z": 365.28570556640625
                    },
                    "rotation": {
                        "roll": -0.01055908016860485,
                        "pitch": -0.9708225727081299,
                        "yaw": 9.27219295501709
                    }
                },
                "velocity": {
                    "x": 6.744354248046875,
                    "y": 1.1339844465255737,
                    "z": -0.015988634899258614
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.007563774473965168,
        "expert_target_speed": 2.8158414635229496,
        "target_point": [
            50.326037010411085,
            -0.1146047702936146
        ],
        "target_point_next": [
            101.32588306874952,
            -0.22746048163062582
        ]
    },
    "30": {
        "acceleration": [
            -2.309298515319824,
            -0.4030323028564453,
            0.013933777809143066
        ],
        "angular_velocity": [
            0.000843438261654228,
            -0.06771066039800644,
            0.35699018836021423
        ],
        "forward_vector": [
            -0.9862861633300781,
            -0.1637522131204605,
            0.020612088963389397
        ],
        "right_vector": [
            0.16378819942474365,
            -0.9864955544471741,
            5.857727592228912e-05
        ],
        "location": [
            1255.933349609375,
            4099.0390625,
            364.2618713378906
        ],
        "rotation": [
            -0.0033569438382983208,
            1.1810693740844727,
            -170.57322692871094
        ],
        "velocity": [
            -2.5640242099761963,
            -0.43376424908638,
            0.0384959802031517
        ],
        "speed": 2.6004560317624152,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.726015090942383,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.5671586990356445,
                "transform": {
                    "location": {
                        "x": 1189.129150390625,
                        "y": 4091.240478515625,
                        "z": 365.2818908691406
                    },
                    "rotation": {
                        "roll": -0.015747075900435448,
                        "pitch": -0.9436588883399963,
                        "yaw": 9.75521469116211
                    }
                },
                "velocity": {
                    "x": 6.470300197601318,
                    "y": 1.1225454807281494,
                    "z": -0.05179264768958092
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.01493758149445057,
        "expert_target_speed": 3.467239894549797,
        "target_point": [
            49.75461169671265,
            -0.17320770211077896
        ],
        "target_point_next": [
            100.7542957766516,
            -0.3442577889878038
        ]
    },
    "35": {
        "acceleration": [
            -1.858353614807129,
            -0.3307366371154785,
            0.013711154460906982
        ],
        "angular_velocity": [
            0.021888576447963715,
            -0.1853952258825302,
            0.30084294080734253
        ],
        "forward_vector": [
            -0.986067533493042,
            -0.1651514619588852,
            0.01989566907286644
        ],
        "right_vector": [
            0.16518503427505493,
            -0.9862626194953918,
            4.473235094337724e-05
        ],
        "location": [
            1255.2266845703125,
            4098.91943359375,
            364.27276611328125
        ],
        "rotation": [
            -0.0025634823832660913,
            1.1400130987167358,
            -170.4920654296875
        ],
        "velocity": [
            -3.057823657989502,
            -0.5213637351989746,
            0.04627196118235588
        ],
        "speed": 3.101951912544894,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.632079124450684,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.80106782913208,
                "transform": {
                    "location": {
                        "x": 1190.77734375,
                        "y": 4091.524169921875,
                        "z": 365.2617492675781
                    },
                    "rotation": {
                        "roll": -0.006896966136991978,
                        "pitch": -0.8818320035934448,
                        "yaw": 9.770096778869629
                    }
                },
                "velocity": {
                    "x": 6.702463150024414,
                    "y": 1.150037169456482,
                    "z": -0.0944514349102974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.02072002738714218,
        "expert_target_speed": 3.9362446757428833,
        "target_point": [
            49.03759818958131,
            -0.2449497932610658
        ],
        "target_point_next": [
            100.03698876786532,
            -0.4882500798119054
        ]
    },
    "40": {
        "acceleration": [
            -1.2605667114257812,
            -0.2380084991455078,
            0.026181265711784363
        ],
        "angular_velocity": [
            0.02698497846722603,
            -0.2140958458185196,
            0.4374660551548004
        ],
        "forward_vector": [
            -0.985814094543457,
            -0.16676825284957886,
            0.018945155665278435
        ],
        "right_vector": [
            0.1667991280555725,
            -0.9859908819198608,
            5.0590952014317736e-05
        ],
        "location": [
            1254.4117431640625,
            4098.77978515625,
            364.2854309082031
        ],
        "rotation": [
            -0.0028991682920604944,
            1.0855424404144287,
            -170.39828491210938
        ],
        "velocity": [
            -3.423783302307129,
            -0.5894442796707153,
            0.051898155361413956
        ],
        "speed": 3.474152653524833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.5645112991333,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.5007195472717285,
                "transform": {
                    "location": {
                        "x": 1192.296875,
                        "y": 4091.784912109375,
                        "z": 365.24029541015625
                    },
                    "rotation": {
                        "roll": -0.0075683495961129665,
                        "pitch": -0.9740259051322937,
                        "yaw": 9.74685287475586
                    }
                },
                "velocity": {
                    "x": 5.421082019805908,
                    "y": 0.9289913773536682,
                    "z": -0.08220183849334717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.036039985716342926,
        "expert_target_speed": 4.284733701496641,
        "target_point": [
            48.21031346305916,
            -0.3269843689134593
        ],
        "target_point_next": [
            99.20923743156816,
            -0.6537693747486308
        ]
    },
    "45": {
        "acceleration": [
            -1.3332557678222656,
            -0.2911949157714844,
            0.012402534484863281
        ],
        "angular_velocity": [
            -0.059258345514535904,
            -0.08348622173070908,
            0.07904095947742462
        ],
        "forward_vector": [
            -0.9859777092933655,
            -0.16591179370880127,
            0.01792382448911667
        ],
        "right_vector": [
            0.1659364253282547,
            -0.9861364960670471,
            -0.00011429003643570468
        ],
        "location": [
            1253.524169921875,
            4098.6318359375,
            364.2991638183594
        ],
        "rotation": [
            0.006549389101564884,
            1.0270144939422607,
            -170.4482421875
        ],
        "velocity": [
            -3.685706615447998,
            -0.622205913066864,
            0.0549461655318737
        ],
        "speed": 3.737856799479149,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.590973854064941,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.482181549072266,
                "transform": {
                    "location": {
                        "x": 1193.622802734375,
                        "y": 4092.014404296875,
                        "z": 365.2194519042969
                    },
                    "rotation": {
                        "roll": -0.005676271393895149,
                        "pitch": -0.9070422649383545,
                        "yaw": 9.503490447998047
                    }
                },
                "velocity": {
                    "x": 5.403229236602783,
                    "y": 0.9234186410903931,
                    "z": -0.08202432096004486
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "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": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.03388748690485954,
        "expert_target_speed": 4.543666653873743,
        "target_point": [
            47.31076181258915,
            -0.28355400892385507
        ],
        "target_point_next": [
            98.30995138636318,
            -0.5658609412828088
        ]
    },
    "50": {
        "acceleration": [
            -1.2100934982299805,
            -0.21785497665405273,
            0.009158700704574585
        ],
        "angular_velocity": [
            -0.03290533646941185,
            -0.03153576701879501,
            0.19177627563476562
        ],
        "forward_vector": [
            -0.9858645796775818,
            -0.16657564043998718,
            0.017988424748182297
        ],
        "right_vector": [
            0.1666022688150406,
            -0.9860242009162903,
            -1.8825638107955456e-05
        ],
        "location": [
            1252.554931640625,
            4098.46728515625,
            364.31390380859375
        ],
        "rotation": [
            0.0010788041399791837,
            1.0307164192199707,
            -170.40965270996094
        ],
        "velocity": [
            -4.03807258605957,
            -0.6864069700241089,
            0.0609281063079834
        ],
        "speed": 4.095996183931756,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.74966812133789,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.5287556648254395,
                "transform": {
                    "location": {
                        "x": 1195.045166015625,
                        "y": 4092.25244140625,
                        "z": 365.19683837890625
                    },
                    "rotation": {
                        "roll": -0.0006103548221290112,
                        "pitch": -0.8041044473648071,
                        "yaw": 9.471013069152832
                    }
                },
                "velocity": {
                    "x": 6.439227104187012,
                    "y": 1.0729304552078247,
                    "z": -0.09911857545375824
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.894137382507324,
                "transform": {
                    "location": {
                        "x": 1218.9013671875,
                        "y": 4092.951171875,
                        "z": 364.80487060546875
                    },
                    "rotation": {
                        "roll": 0.005399784073233604,
                        "pitch": 0.820257842540741,
                        "yaw": -170.4452667236328
                    }
                },
                "velocity": {
                    "x": -7.783792972564697,
                    "y": -1.3104029893875122,
                    "z": 0.11320026218891144
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.044309839606285095,
        "expert_target_speed": 4.900881504389283,
        "target_point": [
            46.327453107834515,
            -0.31620387917974657
        ],
        "target_point_next": [
            97.32644089544576,
            -0.6328725149497831
        ]
    },
    "55": {
        "acceleration": [
            -0.8803272247314453,
            -0.1608729362487793,
            0.019018203020095825
        ],
        "angular_velocity": [
            0.002607379574328661,
            -0.12910377979278564,
            0.14833420515060425
        ],
        "forward_vector": [
            -0.9857520461082458,
            -0.167288675904274,
            0.01753276214003563
        ],
        "right_vector": [
            0.16731394827365875,
            -0.9859036803245544,
            -2.5615094273234718e-05
        ],
        "location": [
            1251.5123291015625,
            4098.2900390625,
            364.329833984375
        ],
        "rotation": [
            0.0014678623992949724,
            1.004604697227478,
            -170.3682861328125
        ],
        "velocity": [
            -4.284337043762207,
            -0.7314004898071289,
            0.06503238528966904
        ],
        "speed": 4.346319199166485,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.005440711975098,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.488165855407715,
                "transform": {
                    "location": {
                        "x": 1196.9720458984375,
                        "y": 4092.57373046875,
                        "z": 365.1662292480469
                    },
                    "rotation": {
                        "roll": -0.002838135464116931,
                        "pitch": -0.6835926175117493,
                        "yaw": 9.464119911193848
                    }
                },
                "velocity": {
                    "x": 8.371710777282715,
                    "y": 1.3954087495803833,
                    "z": -0.12749895453453064
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02519702911377,
                "transform": {
                    "location": {
                        "x": 1216.9581298828125,
                        "y": 4092.626708984375,
                        "z": 364.83319091796875
                    },
                    "rotation": {
                        "roll": 0.005757760722190142,
                        "pitch": 0.8308582901954651,
                        "yaw": -170.54359436035156
                    }
                },
                "velocity": {
                    "x": -7.916871547698975,
                    "y": -1.3090190887451172,
                    "z": 0.11574889719486237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.05309899151325226,
        "expert_target_speed": 5.151034560057337,
        "target_point": [
            45.269651346207745,
            -0.3499540758768891
        ],
        "target_point_next": [
            96.26839723083516,
            -0.7034403995128393
        ]
    },
    "60": {
        "acceleration": [
            0.49986839294433594,
            0.07260441780090332,
            0.006414353847503662
        ],
        "angular_velocity": [
            0.0683465227484703,
            -0.42365315556526184,
            0.18839602172374725
        ],
        "forward_vector": [
            -0.9856456518173218,
            -0.16803663969039917,
            0.016323676332831383
        ],
        "right_vector": [
            0.1680583655834198,
            -0.9857770800590515,
            -4.119379082112573e-05
        ],
        "location": [
            1250.4320068359375,
            4098.10498046875,
            364.3464660644531
        ],
        "rotation": [
            0.002360544865950942,
            0.9353192448616028,
            -170.32501220703125
        ],
        "velocity": [
            -4.29701042175293,
            -0.7369843125343323,
            0.06454505771398544
        ],
        "speed": 4.359752795924901,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.36215877532959,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014843940734863,
                "transform": {
                    "location": {
                        "x": 1199.0194091796875,
                        "y": 4092.914794921875,
                        "z": 365.13665771484375
                    },
                    "rotation": {
                        "roll": -0.00015258847270160913,
                        "pitch": -0.8417593240737915,
                        "yaw": 9.455066680908203
                    }
                },
                "velocity": {
                    "x": 7.906418323516846,
                    "y": 1.3084194660186768,
                    "z": -0.11959043145179749
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.097358703613281,
                "transform": {
                    "location": {
                        "x": 1214.955078125,
                        "y": 4092.295654296875,
                        "z": 364.8624572753906
                    },
                    "rotation": {
                        "roll": 0.0031406572088599205,
                        "pitch": 0.8403795957565308,
                        "yaw": -170.618408203125
                    }
                },
                "velocity": {
                    "x": -7.988611698150635,
                    "y": -1.3173507452011108,
                    "z": 0.11787349730730057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.06485700607299805,
        "expert_target_speed": 5.205792968882667,
        "target_point": [
            44.173316755037646,
            -0.3849940201714066
        ],
        "target_point_next": [
            95.17178128761158,
            -0.7769757870934892
        ]
    },
    "65": {
        "acceleration": [
            0.4450511932373047,
            0.13793706893920898,
            0.02018168568611145
        ],
        "angular_velocity": [
            0.07364355027675629,
            -0.16143456101417542,
            -0.00943152979016304
        ],
        "forward_vector": [
            -0.9855601191520691,
            -0.1686638742685318,
            0.014958061277866364
        ],
        "right_vector": [
            0.16868138313293457,
            -0.9856706261634827,
            -9.196332393912598e-05
        ],
        "location": [
            1249.375732421875,
            4097.923828125,
            364.3626403808594
        ],
        "rotation": [
            0.005269699729979038,
            0.857065737247467,
            -170.28875732421875
        ],
        "velocity": [
            -4.169870376586914,
            -0.7145890593528748,
            0.06492912024259567
        ],
        "speed": 4.230656743495496,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.00881576538086,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.88341760635376,
                "transform": {
                    "location": {
                        "x": 1200.9571533203125,
                        "y": 4093.23486328125,
                        "z": 365.1077575683594
                    },
                    "rotation": {
                        "roll": -0.0009460424189455807,
                        "pitch": -0.8657196164131165,
                        "yaw": 9.376798629760742
                    }
                },
                "velocity": {
                    "x": 7.777973651885986,
                    "y": 1.2798793315887451,
                    "z": -0.11535124480724335
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "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": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9965033531188965,
                "transform": {
                    "location": {
                        "x": 1212.9757080078125,
                        "y": 4091.96923828125,
                        "z": 364.8916320800781
                    },
                    "rotation": {
                        "roll": 0.002843722002580762,
                        "pitch": 0.8264255523681641,
                        "yaw": -170.6529541015625
                    }
                },
                "velocity": {
                    "x": -7.890369892120361,
                    "y": -1.2933250665664673,
                    "z": 0.1159270852804184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.07362479716539383,
        "expert_target_speed": 5.138082847327426,
        "target_point": [
            43.10136840924862,
            -0.41334736920242054
        ],
        "target_point_next": [
            94.09957449840209,
            -0.8376233101071016
        ]
    },
    "70": {
        "acceleration": [
            0.13593673706054688,
            0.16198992729187012,
            -0.012955814599990845
        ],
        "angular_velocity": [
            0.013479243963956833,
            0.017924632877111435,
            -1.6712442636489868
        ],
        "forward_vector": [
            -0.986469566822052,
            -0.163299098610878,
            0.0145318154245615
        ],
        "right_vector": [
            0.16330194473266602,
            -0.9865756630897522,
            -0.000999573152512312
        ],
        "location": [
            1248.345947265625,
            4097.7568359375,
            364.37835693359375
        ],
        "rotation": [
            0.0572773776948452,
            0.8326410055160522,
            -170.60055541992188
        ],
        "velocity": [
            -4.085582733154297,
            -0.633895754814148,
            0.0618046373128891
        ],
        "speed": 4.1344661199990425,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.916770935058594,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.176604270935059,
                "transform": {
                    "location": {
                        "x": 1202.9500732421875,
                        "y": 4093.56298828125,
                        "z": 365.07757568359375
                    },
                    "rotation": {
                        "roll": -0.0022888260427862406,
                        "pitch": -0.8284609317779541,
                        "yaw": 9.342016220092773
                    }
                },
                "velocity": {
                    "x": 8.06731128692627,
                    "y": 1.3269691467285156,
                    "z": -0.12042578309774399
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9932332038879395,
                "transform": {
                    "location": {
                        "x": 1264.9954833984375,
                        "y": 4100.44921875,
                        "z": 364.1296691894531
                    },
                    "rotation": {
                        "roll": -0.013122565113008022,
                        "pitch": 1.1849831342697144,
                        "yaw": -170.99118041992188
                    }
                },
                "velocity": {
                    "x": -2.952545642852783,
                    "y": -0.48972365260124207,
                    "z": 0.045721568167209625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.748021602630615,
                "transform": {
                    "location": {
                        "x": 1211.0245361328125,
                        "y": 4091.649658203125,
                        "z": 364.9202575683594
                    },
                    "rotation": {
                        "roll": 0.0016982833622023463,
                        "pitch": 0.8209272027015686,
                        "yaw": -170.69210815429688
                    }
                },
                "velocity": {
                    "x": -7.64542818069458,
                    "y": -1.25160813331604,
                    "z": 0.1129010021686554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.0572412833571434,
        "expert_target_speed": 5.096216680042957,
        "target_point": [
            42.05974806896756,
            -0.1753481186810344
        ],
        "target_point_next": [
            93.05950791394807,
            -0.3220796426075463
        ]
    },
    "75": {
        "acceleration": [
            -2.080659866333008,
            -0.4229891300201416,
            0.031233876943588257
        ],
        "angular_velocity": [
            -0.293109267950058,
            0.5809686183929443,
            -0.8948081135749817
        ],
        "forward_vector": [
            -0.9874377846717834,
            -0.15717120468616486,
            0.01624429225921631
        ],
        "right_vector": [
            0.15718355774879456,
            -0.987569272518158,
            -0.0005220798193477094
        ],
        "location": [
            1247.2906494140625,
            4097.59326171875,
            364.3938293457031
        ],
        "rotation": [
            0.02991691790521145,
            0.9307703375816345,
            -170.9560546875
        ],
        "velocity": [
            -4.427055835723877,
            -0.6802370548248291,
            0.0663868859410286
        ],
        "speed": 4.479011701633921,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.999942779541016,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.985491752624512,
                "transform": {
                    "location": {
                        "x": 1204.9447021484375,
                        "y": 4093.89013671875,
                        "z": 365.04803466796875
                    },
                    "rotation": {
                        "roll": 0.0007357696304097772,
                        "pitch": -0.8636159300804138,
                        "yaw": 9.312413215637207
                    }
                },
                "velocity": {
                    "x": 7.879914283752441,
                    "y": 1.2887389659881592,
                    "z": -0.11911522597074509
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.90555477142334,
                "transform": {
                    "location": {
                        "x": 1264.022216796875,
                        "y": 4100.28857421875,
                        "z": 364.1435852050781
                    },
                    "rotation": {
                        "roll": -0.010803228244185448,
                        "pitch": 1.3287996053695679,
                        "yaw": -170.8102569580078
                    }
                },
                "velocity": {
                    "x": -4.838310718536377,
                    "y": -0.8059842586517334,
                    "z": 0.07487943768501282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.092108249664307,
                "transform": {
                    "location": {
                        "x": 1209.2049560546875,
                        "y": 4091.3515625,
                        "z": 364.94720458984375
                    },
                    "rotation": {
                        "roll": 0.0010823283810168505,
                        "pitch": 0.7928824424743652,
                        "yaw": -170.7047576904297
                    }
                },
                "velocity": {
                    "x": -6.99827241897583,
                    "y": -1.1453009843826294,
                    "z": 0.10231048613786697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.03175777941942215,
        "expert_target_speed": 5.445133684919626,
        "target_point": [
            40.99213542823936,
            0.08996120789839068
        ],
        "target_point_next": [
            91.9918240096383,
            0.2596638482042213
        ]
    },
    "80": {
        "acceleration": [
            -2.892732620239258,
            -0.5166804790496826,
            0.10680928826332092
        ],
        "angular_velocity": [
            -0.14754772186279297,
            0.5187716484069824,
            0.012983948923647404
        ],
        "forward_vector": [
            -0.9875836372375488,
            -0.15596920251846313,
            0.018764229491353035
        ],
        "right_vector": [
            0.1559988409280777,
            -0.9877572059631348,
            0.00011715839355019853
        ],
        "location": [
            1246.1016845703125,
            4097.40673828125,
            364.4112854003906
        ],
        "rotation": [
            -0.006713863927870989,
            1.0751742124557495,
            -171.025390625
        ],
        "velocity": [
            -5.080161094665527,
            -0.8020620346069336,
            0.07924669235944748
        ],
        "speed": 5.143086646665703,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.850513458251953,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.000665664672852,
                "transform": {
                    "location": {
                        "x": 1206.9080810546875,
                        "y": 4094.21142578125,
                        "z": 365.0184631347656
                    },
                    "rotation": {
                        "roll": 0.0009193414589390159,
                        "pitch": -0.848268449306488,
                        "yaw": 9.287734031677246
                    }
                },
                "velocity": {
                    "x": 7.895187854766846,
                    "y": 1.2895305156707764,
                    "z": -0.11736836284399033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.965658187866211,
                "transform": {
                    "location": {
                        "x": 1262.6937255859375,
                        "y": 4100.06884765625,
                        "z": 364.1656799316406
                    },
                    "rotation": {
                        "roll": -0.0009460481815040112,
                        "pitch": 1.1594791412353516,
                        "yaw": -170.6532440185547
                    }
                },
                "velocity": {
                    "x": -5.884737968444824,
                    "y": -0.9749205708503723,
                    "z": 0.09200025349855423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.09726095199585,
                "transform": {
                    "location": {
                        "x": 1207.4783935546875,
                        "y": 4091.069580078125,
                        "z": 364.97259521484375
                    },
                    "rotation": {
                        "roll": 0.001021488686092198,
                        "pitch": 0.8357487320899963,
                        "yaw": -170.72311401367188
                    }
                },
                "velocity": {
                    "x": -7.004030704498291,
                    "y": -1.1418427228927612,
                    "z": 0.10421992838382721
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.028085313737392426,
        "expert_target_speed": 6.064141563590143,
        "target_point": [
            39.788490463889026,
            0.14080477434918048
        ],
        "target_point_next": [
            90.78793632160158,
            0.372227746515156
        ]
    },
    "85": {
        "acceleration": [
            0.4288482666015625,
            0.04587292671203613,
            -0.013533085584640503
        ],
        "angular_velocity": [
            0.10661029815673828,
            -0.6344832181930542,
            0.38990190625190735
        ],
        "forward_vector": [
            -0.9874812960624695,
            -0.15686650574207306,
            0.01654108427464962
        ],
        "right_vector": [
            0.15689429640769958,
            -0.9876153469085693,
            0.0003882355522364378
        ],
        "location": [
            1244.832275390625,
            4097.203125,
            364.43084716796875
        ],
        "rotation": [
            -0.022247301414608955,
            0.947777509689331,
            -170.97369384765625
        ],
        "velocity": [
            -4.999480247497559,
            -0.8119766116142273,
            0.07551728934049606
        ],
        "speed": 5.064988525448678,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.55512046813965,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1168.4718017578125,
                        "y": 4087.864501953125,
                        "z": 365.66656494140625
                    },
                    "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.100739479064941,
                "transform": {
                    "location": {
                        "x": 1208.9014892578125,
                        "y": 4094.537109375,
                        "z": 364.9889221191406
                    },
                    "rotation": {
                        "roll": -0.0005493136704899371,
                        "pitch": -0.8261728286743164,
                        "yaw": 9.277780532836914
                    }
                },
                "velocity": {
                    "x": 7.994261264801025,
                    "y": 1.3037086725234985,
                    "z": -0.11881612241268158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.337484836578369,
                "transform": {
                    "location": {
                        "x": 1261.055908203125,
                        "y": 4099.798828125,
                        "z": 364.19085693359375
                    },
                    "rotation": {
                        "roll": 0.005259341560304165,
                        "pitch": 1.1806049346923828,
                        "yaw": -170.56991577148438
                    }
                },
                "velocity": {
                    "x": -7.238382816314697,
                    "y": -1.1967065334320068,
                    "z": 0.11132949590682983
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.829583168029785,
                "transform": {
                    "location": {
                        "x": 1205.625,
                        "y": 4090.767333984375,
                        "z": 364.9999084472656
                    },
                    "rotation": {
                        "roll": 0.0002552356745582074,
                        "pitch": 0.8893042206764221,
                        "yaw": -170.7377471923828
                    }
                },
                "velocity": {
                    "x": -7.726687431335449,
                    "y": -1.2598546743392944,
                    "z": 0.1159399002790451
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.031008994206786156,
        "expert_target_speed": 6.007029454680603,
        "target_point": [
            38.50296749712964,
            0.10297122653435764
        ],
        "target_point_next": [
            89.50260138427505,
            0.2883836396262556
        ]
    },
    "90": {
        "acceleration": [
            -0.1597309112548828,
            -0.02998828887939453,
            0.0064598023891448975
        ],
        "angular_velocity": [
            -0.0008999040583148599,
            -0.05875297635793686,
            0.4640946686267853
        ],
        "forward_vector": [
            -0.9872732758522034,
            -0.15827570855617523,
            0.015499923378229141
        ],
        "right_vector": [
            0.15829621255397797,
            -0.9873916506767273,
            9.745988063514233e-05
        ],
        "location": [
            1243.5828857421875,
            4097.001953125,
            364.4496765136719
        ],
        "rotation": [
            -0.005584710743278265,
            0.8881157636642456,
            -170.89207458496094
        ],
        "velocity": [
            -5.013815879821777,
            -0.8074823617935181,
            0.07589340209960938
        ],
        "speed": 5.078422731652089,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.272581100463867,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1170.5201416015625,
                        "y": 4088.19775390625,
                        "z": 365.55596923828125
                    },
                    "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.976375579833984,
                "transform": {
                    "location": {
                        "x": 1210.8822021484375,
                        "y": 4094.85986328125,
                        "z": 364.9599609375
                    },
                    "rotation": {
                        "roll": 0.0011246068170294166,
                        "pitch": -0.8378319144248962,
                        "yaw": 9.258437156677246
                    }
                },
                "velocity": {
                    "x": 7.871902942657471,
                    "y": 1.281618595123291,
                    "z": -0.1147443875670433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.486082077026367,
                "transform": {
                    "location": {
                        "x": 1259.1322021484375,
                        "y": 4099.48046875,
                        "z": 364.2203674316406
                    },
                    "rotation": {
                        "roll": 0.0028903530910611153,
                        "pitch": 1.1833233833312988,
                        "yaw": -170.5730438232422
                    }
                },
                "velocity": {
                    "x": -8.371254920959473,
                    "y": -1.3853815793991089,
                    "z": 0.12808530032634735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.051468849182129,
                "transform": {
                    "location": {
                        "x": 1203.779541015625,
                        "y": 4090.466552734375,
                        "z": 365.028076171875
                    },
                    "rotation": {
                        "roll": -0.0006408767658285797,
                        "pitch": 0.8245881795883179,
                        "yaw": -170.73928833007812
                    }
                },
                "velocity": {
                    "x": -6.958781719207764,
                    "y": -1.1346266269683838,
                    "z": 0.10580175369977951
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.03486676886677742,
        "expert_target_speed": 6.032109717159327,
        "target_point": [
            37.237593453066886,
            0.04724864181904831
        ],
        "target_point_next": [
            88.23743974851405,
            0.15999715206940124
        ]
    },
    "95": {
        "acceleration": [
            -0.2672004699707031,
            0.16206860542297363,
            0.00035256147384643555
        ],
        "angular_velocity": [
            0.15204520523548126,
            -0.005517611745744944,
            -1.195330023765564
        ],
        "forward_vector": [
            -0.9874439239501953,
            -0.1571987420320511,
            0.015588724054396152
        ],
        "right_vector": [
            0.15721231698989868,
            -0.9875648021697998,
            -0.00035820170887745917
        ],
        "location": [
            1242.3184814453125,
            4096.80029296875,
            364.4685363769531
        ],
        "rotation": [
            0.020525941625237465,
            0.8932042717933655,
            -170.95455932617188
        ],
        "velocity": [
            -5.100810527801514,
            -0.7932089567184448,
            0.07574888318777084
        ],
        "speed": 5.162116667564685,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.99205207824707,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1172.576416015625,
                        "y": 4088.531982421875,
                        "z": 365.51776123046875
                    },
                    "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": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.066658973693848,
                "transform": {
                    "location": {
                        "x": 1212.8604736328125,
                        "y": 4095.18212890625,
                        "z": 364.9308166503906
                    },
                    "rotation": {
                        "roll": -0.0010070783318951726,
                        "pitch": -0.8303529024124146,
                        "yaw": 9.251930236816406
                    }
                },
                "velocity": {
                    "x": 7.96091365814209,
                    "y": 1.2966883182525635,
                    "z": -0.1159515380859375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.416487216949463,
                "transform": {
                    "location": {
                        "x": 1257.2515869140625,
                        "y": 4099.16943359375,
                        "z": 364.254638671875
                    },
                    "rotation": {
                        "roll": 0.0037305408623069525,
                        "pitch": 0.5030775666236877,
                        "yaw": -170.60800170898438
                    }
                },
                "velocity": {
                    "x": -5.34349250793457,
                    "y": -0.8824134469032288,
                    "z": 0.08227773755788803
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5574631690979,
                "transform": {
                    "location": {
                        "x": 1202.110107421875,
                        "y": 4090.1943359375,
                        "z": 365.0533142089844
                    },
                    "rotation": {
                        "roll": 0.001343801966868341,
                        "pitch": 0.8146229386329651,
                        "yaw": -170.73971557617188
                    }
                },
                "velocity": {
                    "x": -6.471303939819336,
                    "y": -1.0551245212554932,
                    "z": 0.09623818844556808
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": -0.024602146819233894,
        "expert_target_speed": 6.119402694358892,
        "target_point": [
            35.95713511177407,
            0.08749163247358638
        ],
        "target_point_next": [
            86.95682812626295,
            0.25585675265972796
        ]
    },
    "100": {
        "acceleration": [
            -4.4956207275390625,
            -0.5300712585449219,
            0.06212890148162842
        ],
        "angular_velocity": [
            -0.17723920941352844,
            1.2889360189437866,
            -0.17247101664543152
        ],
        "forward_vector": [
            -0.9880872964859009,
            -0.15250083804130554,
            0.020664410665631294
        ],
        "right_vector": [
            0.1525198072195053,
            -0.9883001446723938,
            -0.0006639554048888385
        ],
        "location": [
            1240.9288330078125,
            4096.5888671875,
            364.4881591796875
        ],
        "rotation": [
            0.03804996982216835,
            1.1840678453445435,
            -171.22622680664062
        ],
        "velocity": [
            -6.256993293762207,
            -0.9333339333534241,
            0.09266529232263565
        ],
        "speed": 6.326221408497667,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.589265823364258,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.511228561401367,
                "transform": {
                    "location": {
                        "x": 1271.1585693359375,
                        "y": 4101.52099609375,
                        "z": 364.2264099121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.882931649684906,
                        "yaw": -170.76528930664062
                    }
                },
                "velocity": {
                    "x": -4.039978504180908,
                    "y": -0.6568433046340942,
                    "z": -1.8969216346740723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.114242553710938,
                "transform": {
                    "location": {
                        "x": 1174.5831298828125,
                        "y": 4088.8671875,
                        "z": 365.4790954589844
                    },
                    "rotation": {
                        "roll": -0.010040278546512127,
                        "pitch": -0.8987435698509216,
                        "yaw": 9.585235595703125
                    }
                },
                "velocity": {
                    "x": 7.995168209075928,
                    "y": 1.3771839141845703,
                    "z": -0.14689932763576508
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.023214340209961,
                "transform": {
                    "location": {
                        "x": 1214.8472900390625,
                        "y": 4095.505615234375,
                        "z": 364.9017028808594
                    },
                    "rotation": {
                        "roll": -6.103791383793578e-05,
                        "pitch": -0.8325795531272888,
                        "yaw": 9.239022254943848
                    }
                },
                "velocity": {
                    "x": 7.918318748474121,
                    "y": 1.287983775138855,
                    "z": -0.11529045552015305
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018366101430729032,
                "transform": {
                    "location": {
                        "x": 1256.7392578125,
                        "y": 4099.0849609375,
                        "z": 364.2715148925781
                    },
                    "rotation": {
                        "roll": 0.0023821769282221794,
                        "pitch": -0.6328716278076172,
                        "yaw": -170.62374877929688
                    }
                },
                "velocity": {
                    "x": 0.0014053423656150699,
                    "y": 0.0003348227764945477,
                    "z": -0.0011340384371578693
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.696867942810059,
                "transform": {
                    "location": {
                        "x": 1200.49267578125,
                        "y": 4089.930908203125,
                        "z": 365.07720947265625
                    },
                    "rotation": {
                        "roll": 0.0012105179484933615,
                        "pitch": 0.8517518639564514,
                        "yaw": -170.74795532226562
                    }
                },
                "velocity": {
                    "x": -6.609253883361816,
                    "y": -1.0751513242721558,
                    "z": 0.0992550253868103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1257.159423828125,
                        "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": 0.008229314349591732,
        "expert_target_speed": 7.150811314114673,
        "target_point": [
            34.55067933338208,
            0.2610026861661172
        ],
        "target_point_next": [
            85.54900069650412,
            0.6711886556104449
        ]
    },
    "105": {
        "acceleration": [
            -0.32950401306152344,
            0.11063575744628906,
            -0.013156086206436157
        ],
        "angular_velocity": [
            0.0938398465514183,
            -0.771853506565094,
            -1.691756010055542
        ],
        "forward_vector": [
            -0.9890215396881104,
            -0.14655165374279022,
            0.018946465104818344
        ],
        "right_vector": [
            0.14656545221805573,
            -0.9892007112503052,
            -0.0006658551283180714
        ],
        "location": [
            1239.3309326171875,
            4096.353515625,
            364.51214599609375
        ],
        "rotation": [
            0.038157541304826736,
            1.0856175422668457,
            -171.5713348388672
        ],
        "velocity": [
            -6.456058025360107,
            -0.9283142685890198,
            0.09520483016967773
        ],
        "speed": 6.52245755893303,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.97280502319336,
        "front_vehicle_info": {
            "id": 5297,
            "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": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.941791296005249,
                "transform": {
                    "location": {
                        "x": 1270.1788330078125,
                        "y": 4101.35498046875,
                        "z": 364.003662109375
                    },
                    "rotation": {
                        "roll": -0.007568361237645149,
                        "pitch": 0.872986912727356,
                        "yaw": -170.53208923339844
                    }
                },
                "velocity": {
                    "x": -3.8808228969573975,
                    "y": -0.6692121624946594,
                    "z": 0.17054876685142517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095769882202148,
                "transform": {
                    "location": {
                        "x": 1176.5799560546875,
                        "y": 4089.209716796875,
                        "z": 365.4454345703125
                    },
                    "rotation": {
                        "roll": -0.009979247115552425,
                        "pitch": -0.8964827656745911,
                        "yaw": 9.802921295166016
                    }
                },
                "velocity": {
                    "x": 7.976734638214111,
                    "y": 1.377209186553955,
                    "z": -0.12839515507221222
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.039406776428223,
                "transform": {
                    "location": {
                        "x": 1216.8275146484375,
                        "y": 4095.827392578125,
                        "z": 364.872802734375
                    },
                    "rotation": {
                        "roll": -0.0008545037708245218,
                        "pitch": -0.8308992981910706,
                        "yaw": 9.23459529876709
                    }
                },
                "velocity": {
                    "x": 7.93440580368042,
                    "y": 1.289947509765625,
                    "z": -0.11533179134130478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.649974524974823,
                "transform": {
                    "location": {
                        "x": 1256.655517578125,
                        "y": 4099.0712890625,
                        "z": 364.26220703125
                    },
                    "rotation": {
                        "roll": 0.001289315172471106,
                        "pitch": 0.6659365892410278,
                        "yaw": -170.6411895751953
                    }
                },
                "velocity": {
                    "x": -0.6413297653198242,
                    "y": -0.10512488335371017,
                    "z": 0.010572166182100773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "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": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.79571008682251,
                "transform": {
                    "location": {
                        "x": 1198.70947265625,
                        "y": 4089.640625,
                        "z": 365.1036682128906
                    },
                    "rotation": {
                        "roll": 0.0006574215367436409,
                        "pitch": 0.9080394506454468,
                        "yaw": -170.75906372070312
                    }
                },
                "velocity": {
                    "x": -7.693851947784424,
                    "y": -1.2505868673324585,
                    "z": 0.11734988540410995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1240.9288330078125,
                        "y": 4096.5888671875,
                        "z": 264.4881591796875
                    },
                    "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": 0.04652957245707512,
        "expert_target_speed": 7.320181763289227,
        "target_point": [
            32.933341654878426,
            0.47050062983387786
        ],
        "target_point_next": [
            83.92826751470753,
            1.1878366294415326
        ]
    },
    "110": {
        "acceleration": [
            -0.21541595458984375,
            0.09282946586608887,
            0.0008945167064666748
        ],
        "angular_velocity": [
            0.04905321076512337,
            -0.34384265542030334,
            -1.0942028760910034
        ],
        "forward_vector": [
            -0.9899560809135437,
            -0.14039097726345062,
            0.016655510291457176
        ],
        "right_vector": [
            0.140399768948555,
            -0.9900947213172913,
            -0.0006455756956711411
        ],
        "location": [
            1237.7071533203125,
            4096.12353515625,
            364.5365905761719
        ],
        "rotation": [
            0.03699389845132828,
            0.9543344974517822,
            -171.92840576171875
        ],
        "velocity": [
            -6.536966323852539,
            -0.9014115929603577,
            0.09591533243656158
        ],
        "speed": 6.598823499617603,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.800716400146484,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1178.6968994140625,
                4086.48779296875,
                365.570068359375
            ],
            "velocity": [
                -7.866108417510986,
                -1.2792669534683228,
                -0.8654724955558777
            ],
            "speed_kmh": 28.85871649370928,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.775329351425171,
                "transform": {
                    "location": {
                        "x": 1269.2259521484375,
                        "y": 4101.189453125,
                        "z": 364.0500793457031
                    },
                    "rotation": {
                        "roll": 0.001562710152938962,
                        "pitch": 0.8640462160110474,
                        "yaw": -170.31324768066406
                    }
                },
                "velocity": {
                    "x": -3.716965436935425,
                    "y": -0.6475345492362976,
                    "z": 0.13408516347408295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.14862060546875,
                "transform": {
                    "location": {
                        "x": 1178.580810546875,
                        "y": 4089.555419921875,
                        "z": 365.4137878417969
                    },
                    "rotation": {
                        "roll": -0.00949096493422985,
                        "pitch": -0.8897687196731567,
                        "yaw": 9.829263687133789
                    }
                },
                "velocity": {
                    "x": 8.02824878692627,
                    "y": 1.3896256685256958,
                    "z": -0.12719634175300598
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025837898254395,
                "transform": {
                    "location": {
                        "x": 1218.8099365234375,
                        "y": 4096.1494140625,
                        "z": 364.8439025878906
                    },
                    "rotation": {
                        "roll": -0.001190182869322598,
                        "pitch": -0.822143018245697,
                        "yaw": 9.236376762390137
                    }
                },
                "velocity": {
                    "x": 7.920645713806152,
                    "y": 1.2900638580322266,
                    "z": -0.1147720143198967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8891215920448303,
                "transform": {
                    "location": {
                        "x": 1256.443115234375,
                        "y": 4099.03662109375,
                        "z": 364.2615966796875
                    },
                    "rotation": {
                        "roll": 0.0032325652427971363,
                        "pitch": 1.156699299812317,
                        "yaw": -170.62245178222656
                    }
                },
                "velocity": {
                    "x": -0.877339243888855,
                    "y": -0.1436239778995514,
                    "z": 0.01361142098903656
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016310691833496,
                "transform": {
                    "location": {
                        "x": 1178.6968994140625,
                        "y": 4086.48779296875,
                        "z": 365.570068359375
                    },
                    "rotation": {
                        "roll": 0.0001527040876680985,
                        "pitch": 0.8961890935897827,
                        "yaw": -170.765625
                    }
                },
                "velocity": {
                    "x": -7.866108417510986,
                    "y": -1.2792669534683228,
                    "z": -0.8654724955558777
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.09190360456705093,
        "expert_target_speed": 10.0,
        "target_point": [
            31.289785012347213,
            0.6760325928457238
        ],
        "target_point_next": [
            82.27924992954199,
            1.7111663252506428
        ]
    },
    "115": {
        "acceleration": [
            1.0380363464355469,
            0.06123185157775879,
            -0.030451714992523193
        ],
        "angular_velocity": [
            -0.17408689856529236,
            -0.4683055579662323,
            -0.5707200765609741
        ],
        "forward_vector": [
            -0.9905231595039368,
            -0.13653519749641418,
            0.014896794222295284
        ],
        "right_vector": [
            0.13654881715774536,
            -0.9906333684921265,
            -0.00010399909660918638
        ],
        "location": [
            1236.0848388671875,
            4095.900634765625,
            364.5606994628906
        ],
        "rotation": [
            0.005959371104836464,
            0.8535550236701965,
            -172.15171813964844
        ],
        "velocity": [
            -6.402603626251221,
            -0.8775351047515869,
            0.09449058026075363
        ],
        "speed": 6.462460913224672,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.06768798828125,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1176.8157958984375,
                4086.17578125,
                365.4180908203125
            ],
            "velocity": [
                -7.005475997924805,
                -1.1994032859802246,
                0.12555496394634247
            ],
            "speed_kmh": 25.59066431700521,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.753774166107178,
                "transform": {
                    "location": {
                        "x": 1268.1832275390625,
                        "y": 4101.0068359375,
                        "z": 364.07568359375
                    },
                    "rotation": {
                        "roll": 0.005891887936741114,
                        "pitch": 0.9958688616752625,
                        "yaw": -170.16656494140625
                    }
                },
                "velocity": {
                    "x": -4.681538105010986,
                    "y": -0.820963442325592,
                    "z": 0.08710763603448868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.631731986999512,
                "transform": {
                    "location": {
                        "x": 1180.563720703125,
                        "y": 4089.8955078125,
                        "z": 365.3826599121094
                    },
                    "rotation": {
                        "roll": -0.005859368946403265,
                        "pitch": -0.8947137594223022,
                        "yaw": 9.70429515838623
                    }
                },
                "velocity": {
                    "x": 7.524024963378906,
                    "y": 1.2722235918045044,
                    "z": -0.11761590838432312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050678253173828,
                "transform": {
                    "location": {
                        "x": 1220.7935791015625,
                        "y": 4096.47216796875,
                        "z": 364.8150939941406
                    },
                    "rotation": {
                        "roll": -0.00024413115170318633,
                        "pitch": -0.824123740196228,
                        "yaw": 9.239374160766602
                    }
                },
                "velocity": {
                    "x": 7.945405006408691,
                    "y": 1.2925063371658325,
                    "z": -0.11566804349422455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.839381217956543,
                "transform": {
                    "location": {
                        "x": 1256.2396240234375,
                        "y": 4099.0029296875,
                        "z": 364.2668151855469
                    },
                    "rotation": {
                        "roll": 0.0022069374099373817,
                        "pitch": 0.8897208571434021,
                        "yaw": -170.63497924804688
                    }
                },
                "velocity": {
                    "x": -0.8282030820846558,
                    "y": -0.1358010321855545,
                    "z": 0.014089726842939854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.108517646789551,
                "transform": {
                    "location": {
                        "x": 1176.8157958984375,
                        "y": 4086.17578125,
                        "z": 365.4180908203125
                    },
                    "rotation": {
                        "roll": -0.0032043515238910913,
                        "pitch": 0.8738679885864258,
                        "yaw": -170.54383850097656
                    }
                },
                "velocity": {
                    "x": -7.005475997924805,
                    "y": -1.1994032859802246,
                    "z": 0.12555496394634247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.14006556570529938,
        "expert_target_speed": 10.0,
        "target_point": [
            29.649356821244698,
            0.7986991707221707
        ],
        "target_point_next": [
            80.63439983155925,
            2.0325644884029455
        ]
    },
    "120": {
        "acceleration": [
            1.8798065185546875,
            0.19255876541137695,
            -0.04655599594116211
        ],
        "angular_velocity": [
            -0.0012914559338241816,
            -0.4166756868362427,
            0.9178953170776367
        ],
        "forward_vector": [
            -0.990350067615509,
            -0.13798388838768005,
            0.012929555028676987
        ],
        "right_vector": [
            0.13800188899040222,
            -0.9904318451881409,
            0.0005059583927504718
        ],
        "location": [
            1234.533447265625,
            4095.6845703125,
            364.58392333984375
        ],
        "rotation": [
            -0.0289917029440403,
            0.740829586982727,
            -172.06813049316406
        ],
        "velocity": [
            -6.003398895263672,
            -0.8460841178894043,
            0.08817018568515778
        ],
        "speed": 6.062726831236731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.79085159301758,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.545166015625,
                4085.96044921875,
                365.46148681640625
            ],
            "velocity": [
                -2.8551313877105713,
                -0.5011329650878906,
                0.11059197783470154
            ],
            "speed_kmh": 10.443189904264235,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.711446762084961,
                "transform": {
                    "location": {
                        "x": 1267.1048583984375,
                        "y": 4100.8212890625,
                        "z": 364.09375
                    },
                    "rotation": {
                        "roll": 0.013238278217613697,
                        "pitch": 0.7973220944404602,
                        "yaw": -170.22824096679688
                    }
                },
                "velocity": {
                    "x": -3.6581225395202637,
                    "y": -0.6240466237068176,
                    "z": 0.05951818451285362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.534021377563477,
                "transform": {
                    "location": {
                        "x": 1182.39453125,
                        "y": 4090.204345703125,
                        "z": 365.35394287109375
                    },
                    "rotation": {
                        "roll": -0.004150391556322575,
                        "pitch": -0.8936414122581482,
                        "yaw": 9.552478790283203
                    }
                },
                "velocity": {
                    "x": 7.429766654968262,
                    "y": 1.2435613870620728,
                    "z": -0.1166095957159996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014618873596191,
                "transform": {
                    "location": {
                        "x": 1222.77490234375,
                        "y": 4096.794921875,
                        "z": 364.7863464355469
                    },
                    "rotation": {
                        "roll": -0.00018310001178178936,
                        "pitch": -0.824123740196228,
                        "yaw": 9.239664077758789
                    }
                },
                "velocity": {
                    "x": 7.909819602966309,
                    "y": 1.2866971492767334,
                    "z": -0.11527058482170105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8501336574554443,
                "transform": {
                    "location": {
                        "x": 1255.9078369140625,
                        "y": 4098.94873046875,
                        "z": 364.27099609375
                    },
                    "rotation": {
                        "roll": 0.0026562113780528307,
                        "pitch": 1.0131628513336182,
                        "yaw": -170.62440490722656
                    }
                },
                "velocity": {
                    "x": -1.8256009817123413,
                    "y": -0.2990313768386841,
                    "z": 0.02748638018965721
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.900886058807373,
                "transform": {
                    "location": {
                        "x": 1175.545166015625,
                        "y": 4085.96044921875,
                        "z": 365.46148681640625
                    },
                    "rotation": {
                        "roll": 0.005775338038802147,
                        "pitch": 0.7787439823150635,
                        "yaw": -170.10585021972656
                    }
                },
                "velocity": {
                    "x": -2.8551313877105713,
                    "y": -0.5011329650878906,
                    "z": 0.11059197783470154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.1660168617963791,
        "expert_target_speed": 10.0,
        "target_point": [
            28.084125521113194,
            0.7555240699542498
        ],
        "target_point_next": [
            79.07091461596373,
            1.9149947177201199
        ]
    },
    "125": {
        "acceleration": [
            7.5388336181640625,
            0.973057746887207,
            -0.10995015501976013
        ],
        "angular_velocity": [
            0.12334383279085159,
            -1.3426260948181152,
            -0.14865094423294067
        ],
        "forward_vector": [
            -0.9899564385414124,
            -0.1408909112215042,
            0.01166448276489973
        ],
        "right_vector": [
            0.1409085988998413,
            -0.9900224208831787,
            0.0007040917407721281
        ],
        "location": [
            1233.0889892578125,
            4095.47900390625,
            364.6052551269531
        ],
        "rotation": [
            -0.0403442345559597,
            0.668340802192688,
            -171.90003967285156
        ],
        "velocity": [
            -5.404557228088379,
            -0.7833045125007629,
            0.07898708432912827
        ],
        "speed": 5.461025983364884,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.52499008178711,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3551025390625,
                4085.927978515625,
                365.4717102050781
            ],
            "velocity": [
                0.00033096387051045895,
                9.596494783181697e-05,
                0.006892005447298288
            ],
            "speed_kmh": 0.024842213494521547,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2967538833618164,
                "transform": {
                    "location": {
                        "x": 1266.3782958984375,
                        "y": 4100.697265625,
                        "z": 364.1051025390625
                    },
                    "rotation": {
                        "roll": 0.010382412001490593,
                        "pitch": 0.6880868673324585,
                        "yaw": -170.27484130859375
                    }
                },
                "velocity": {
                    "x": -2.2639262676239014,
                    "y": -0.38529714941978455,
                    "z": 0.035538844764232635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.395654678344727,
                "transform": {
                    "location": {
                        "x": 1184.3721923828125,
                        "y": 4090.534912109375,
                        "z": 365.32275390625
                    },
                    "rotation": {
                        "roll": -0.003936762921512127,
                        "pitch": -0.869619607925415,
                        "yaw": 9.472193717956543
                    }
                },
                "velocity": {
                    "x": 8.281277656555176,
                    "y": 1.3750016689300537,
                    "z": -0.1297372579574585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.055631637573242,
                "transform": {
                    "location": {
                        "x": 1224.7578125,
                        "y": 4097.11767578125,
                        "z": 364.7575988769531
                    },
                    "rotation": {
                        "roll": -0.0007324264151975513,
                        "pitch": -0.8223205804824829,
                        "yaw": 9.239599227905273
                    }
                },
                "velocity": {
                    "x": 7.950298309326172,
                    "y": 1.2933123111724854,
                    "z": -0.11531506478786469
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4069318771362305,
                "transform": {
                    "location": {
                        "x": 1255.2620849609375,
                        "y": 4098.8427734375,
                        "z": 364.279052734375
                    },
                    "rotation": {
                        "roll": 0.003785466542467475,
                        "pitch": 1.2271732091903687,
                        "yaw": -170.62936401367188
                    }
                },
                "velocity": {
                    "x": -3.361696720123291,
                    "y": -0.5509522557258606,
                    "z": 0.05130278319120407
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.006900615058839321,
                "transform": {
                    "location": {
                        "x": 1175.3551025390625,
                        "y": 4085.927978515625,
                        "z": 365.4717102050781
                    },
                    "rotation": {
                        "roll": 0.01079835556447506,
                        "pitch": 0.7774257659912109,
                        "yaw": -170.00213623046875
                    }
                },
                "velocity": {
                    "x": 0.00033096387051045895,
                    "y": 9.596494783181697e-05,
                    "z": 0.006892005447298288
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.1883920133113861,
        "expert_target_speed": 10.0,
        "target_point": [
            26.62720885127341,
            0.6731451107319804
        ],
        "target_point_next": [
            77.61717986934255,
            1.683041126304298
        ]
    },
    "130": {
        "acceleration": [
            3.662881851196289,
            0.48777103424072266,
            -0.03546491265296936
        ],
        "angular_velocity": [
            0.04146793112158775,
            -0.28461092710494995,
            0.5903975963592529
        ],
        "forward_vector": [
            -0.9895783066749573,
            -0.1438060998916626,
            0.007391146384179592
        ],
        "right_vector": [
            0.1438150256872177,
            -0.9896043539047241,
            0.000689207052346319
        ],
        "location": [
            1231.908447265625,
            4095.30615234375,
            364.62310791015625
        ],
        "rotation": [
            -0.039489734917879105,
            0.4234853684902191,
            -171.73162841796875
        ],
        "velocity": [
            -4.188302993774414,
            -0.6236873269081116,
            0.06120481342077255
        ],
        "speed": 4.234485547195256,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.33264923095703,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3543701171875,
                4085.927978515625,
                365.4708557128906
            ],
            "velocity": [
                8.775576861808077e-05,
                -7.030321285128593e-05,
                -0.0014231823151931167
            ],
            "speed_kmh": 0.0051394227385457006,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5765135288238525,
                "transform": {
                    "location": {
                        "x": 1266.2017822265625,
                        "y": 4100.66748046875,
                        "z": 364.1078186035156
                    },
                    "rotation": {
                        "roll": 0.008156046271324158,
                        "pitch": 0.651401937007904,
                        "yaw": -170.24786376953125
                    }
                },
                "velocity": {
                    "x": -0.5682925581932068,
                    "y": -0.09665387868881226,
                    "z": 0.008333082310855389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.063966751098633,
                "transform": {
                    "location": {
                        "x": 1186.4112548828125,
                        "y": 4090.872314453125,
                        "z": 365.2909240722656
                    },
                    "rotation": {
                        "roll": -0.00112915167119354,
                        "pitch": -0.8897687196731567,
                        "yaw": 9.376644134521484
                    }
                },
                "velocity": {
                    "x": 7.955953121185303,
                    "y": 1.3094772100448608,
                    "z": -0.12507139146327972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014359474182129,
                "transform": {
                    "location": {
                        "x": 1226.740234375,
                        "y": 4097.4404296875,
                        "z": 364.72882080078125
                    },
                    "rotation": {
                        "roll": -0.0003051690000575036,
                        "pitch": -0.8251072764396667,
                        "yaw": 9.232244491577148
                    }
                },
                "velocity": {
                    "x": 7.909729957580566,
                    "y": 1.2856310606002808,
                    "z": -0.1152656152844429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.379218578338623,
                "transform": {
                    "location": {
                        "x": 1254.1654052734375,
                        "y": 4098.6630859375,
                        "z": 364.294921875
                    },
                    "rotation": {
                        "roll": 0.0031403868924826384,
                        "pitch": 1.3470839262008667,
                        "yaw": -170.66162109375
                    }
                },
                "velocity": {
                    "x": -5.307884216308594,
                    "y": -0.8692405223846436,
                    "z": 0.08232299983501434
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014276173897087574,
                "transform": {
                    "location": {
                        "x": 1175.3543701171875,
                        "y": 4085.927978515625,
                        "z": 365.4708557128906
                    },
                    "rotation": {
                        "roll": 0.013013198971748352,
                        "pitch": 0.8839972019195557,
                        "yaw": -170.00201416015625
                    }
                },
                "velocity": {
                    "x": 8.775576861808077e-05,
                    "y": -7.030321285128593e-05,
                    "z": -0.0014231823151931167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.19887462258338928,
        "expert_target_speed": 10.0,
        "target_point": [
            25.435943940753763,
            0.5935974693358377
        ],
        "target_point_next": [
            76.42866301338164,
            1.4536183794612327
        ]
    },
    "135": {
        "acceleration": [
            1.3248968124389648,
            0.20955562591552734,
            -0.021935850381851196
        ],
        "angular_velocity": [
            0.04948217794299126,
            0.6560462713241577,
            0.49962106347084045
        ],
        "forward_vector": [
            -0.9894089102745056,
            -0.14487257599830627,
            0.009050841443240643
        ],
        "right_vector": [
            0.14488084614276886,
            -0.9894490242004395,
            0.00026364202494733036
        ],
        "location": [
            1230.933349609375,
            4095.162353515625,
            364.6369323730469
        ],
        "rotation": [
            -0.015106194652616978,
            0.5185821056365967,
            -171.6697540283203
        ],
        "velocity": [
            -3.7028417587280273,
            -0.5432168245315552,
            0.05483584105968475
        ],
        "speed": 3.7424753317335595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.34706115722656,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3543701171875,
                4085.927978515625,
                365.4705505371094
            ],
            "velocity": [
                9.908675565384328e-06,
                -2.544019253036822e-06,
                -0.0012495201081037521
            ],
            "speed_kmh": 0.004498423146120847,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6030316352844238,
                "transform": {
                    "location": {
                        "x": 1265.9324951171875,
                        "y": 4100.62158203125,
                        "z": 364.11236572265625
                    },
                    "rotation": {
                        "roll": 0.009335448034107685,
                        "pitch": 0.9567933082580566,
                        "yaw": -170.2479705810547
                    }
                },
                "velocity": {
                    "x": -1.580108642578125,
                    "y": -0.2689782679080963,
                    "z": 0.024856166914105415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.954556465148926,
                "transform": {
                    "location": {
                        "x": 1188.3690185546875,
                        "y": 4091.194580078125,
                        "z": 365.2604675292969
                    },
                    "rotation": {
                        "roll": -0.0007934489985927939,
                        "pitch": -0.8782666325569153,
                        "yaw": 9.325606346130371
                    }
                },
                "velocity": {
                    "x": 7.848757743835449,
                    "y": 1.2874387502670288,
                    "z": -0.12032032757997513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.05339527130127,
                "transform": {
                    "location": {
                        "x": 1228.7225341796875,
                        "y": 4097.76220703125,
                        "z": 364.7000427246094
                    },
                    "rotation": {
                        "roll": 0.0003450805088505149,
                        "pitch": -0.8265689611434937,
                        "yaw": 9.231956481933594
                    }
                },
                "velocity": {
                    "x": 7.94826602935791,
                    "y": 1.291870355606079,
                    "z": -0.1153608113527298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.258720874786377,
                "transform": {
                    "location": {
                        "x": 1252.791015625,
                        "y": 4098.4375,
                        "z": 364.31781005859375
                    },
                    "rotation": {
                        "roll": 0.003602654440328479,
                        "pitch": 1.1108278036117554,
                        "yaw": -170.68701171875
                    }
                },
                "velocity": {
                    "x": -6.176363468170166,
                    "y": -1.0076216459274292,
                    "z": 0.09393491595983505
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012495620176196098,
                "transform": {
                    "location": {
                        "x": 1175.3543701171875,
                        "y": 4085.927978515625,
                        "z": 365.4705505371094
                    },
                    "rotation": {
                        "roll": 0.012056623585522175,
                        "pitch": 0.898074209690094,
                        "yaw": -170.0019989013672
                    }
                },
                "velocity": {
                    "x": 9.908675565384328e-06,
                    "y": -2.544019253036822e-06,
                    "z": -0.0012495201081037521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.2150382697582245,
        "expert_target_speed": 10.0,
        "target_point": [
            24.450927011044474,
            0.5651142747856657
        ],
        "target_point_next": [
            75.44454519623343,
            1.3700607133554517
        ]
    },
    "140": {
        "acceleration": [
            -2.464609146118164,
            -0.3654062747955322,
            0.02323232591152191
        ],
        "angular_velocity": [
            -0.22504976391792297,
            1.2707494497299194,
            -0.25580018758773804
        ],
        "forward_vector": [
            -0.9893669486045837,
            -0.14488063752651215,
            0.012750040739774704
        ],
        "right_vector": [
            0.1448952555656433,
            -0.9894469976425171,
            0.00022421985340770334
        ],
        "location": [
            1230.013427734375,
            4095.02734375,
            364.6497497558594
        ],
        "rotation": [
            -0.012847895734012127,
            0.730543315410614,
            -171.6689453125
        ],
        "velocity": [
            -3.823516368865967,
            -0.5605804324150085,
            0.05454936996102333
        ],
        "speed": 3.864392299468648,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.4173698425293,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3543701171875,
                4085.927978515625,
                365.4705505371094
            ],
            "velocity": [
                1.2205839084344916e-05,
                -1.249548040505033e-05,
                -0.0009521284373477101
            ],
            "speed_kmh": 0.003428239154791961,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9728915691375732,
                "transform": {
                    "location": {
                        "x": 1265.446044921875,
                        "y": 4100.5390625,
                        "z": 364.1200256347656
                    },
                    "rotation": {
                        "roll": 0.009014603681862354,
                        "pitch": 0.9588765501976013,
                        "yaw": -170.37469482421875
                    }
                },
                "velocity": {
                    "x": -1.9451611042022705,
                    "y": -0.3282288908958435,
                    "z": 0.03024829737842083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.194900512695312,
                "transform": {
                    "location": {
                        "x": 1190.371826171875,
                        "y": 4091.522705078125,
                        "z": 365.2295227050781
                    },
                    "rotation": {
                        "roll": 0.00010344505426473916,
                        "pitch": -0.8622772097587585,
                        "yaw": 9.292869567871094
                    }
                },
                "velocity": {
                    "x": 8.086730003356934,
                    "y": 1.3213293552398682,
                    "z": -0.12358453124761581
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016934394836426,
                "transform": {
                    "location": {
                        "x": 1230.705078125,
                        "y": 4098.08447265625,
                        "z": 364.6711120605469
                    },
                    "rotation": {
                        "roll": 0.00019919683109037578,
                        "pitch": -0.8279144763946533,
                        "yaw": 9.23198127746582
                    }
                },
                "velocity": {
                    "x": 7.912282466888428,
                    "y": 1.2860342264175415,
                    "z": -0.11466550827026367
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.47027587890625,
                "transform": {
                    "location": {
                        "x": 1251.04833984375,
                        "y": 4098.154296875,
                        "z": 364.34368896484375
                    },
                    "rotation": {
                        "roll": 0.0030638135503977537,
                        "pitch": 1.1714730262756348,
                        "yaw": -170.60609436035156
                    }
                },
                "velocity": {
                    "x": -7.371899127960205,
                    "y": -1.2032204866409302,
                    "z": 0.1112978532910347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009522886830382049,
                "transform": {
                    "location": {
                        "x": 1175.3543701171875,
                        "y": 4085.927978515625,
                        "z": 365.4705505371094
                    },
                    "rotation": {
                        "roll": 0.012056623585522175,
                        "pitch": 0.898074209690094,
                        "yaw": -170.0019989013672
                    }
                },
                "velocity": {
                    "x": 1.2205839084344916e-05,
                    "y": -1.249548040505033e-05,
                    "z": -0.0009521284373477101
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.23271772265434265,
        "expert_target_speed": 10.0,
        "target_point": [
            23.521158879846993,
            0.5644692435228449
        ],
        "target_point_next": [
            74.51478857466954,
            1.3686862124508377
        ]
    },
    "145": {
        "acceleration": [
            -4.806413650512695,
            -0.7067763805389404,
            0.06686434149742126
        ],
        "angular_velocity": [
            -0.17458981275558472,
            1.2108209133148193,
            0.0248433668166399
        ],
        "forward_vector": [
            -0.9892504811286926,
            -0.14498308300971985,
            0.01906219683587551
        ],
        "right_vector": [
            0.1450141817331314,
            -0.9894294738769531,
            0.000252421828918159
        ],
        "location": [
            1228.9215087890625,
            4094.867431640625,
            364.66424560546875
        ],
        "rotation": [
            -0.014465332962572575,
            1.0922496318817139,
            -171.66217041015625
        ],
        "velocity": [
            -4.9026947021484375,
            -0.7189890742301941,
            0.0704776719212532
        ],
        "speed": 4.9551347742858365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.31392288208008,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3543701171875,
                4085.927978515625,
                365.4704895019531
            ],
            "velocity": [
                2.5319604901596904e-05,
                -3.447551307544927e-06,
                5.563380182138644e-05
            ],
            "speed_kmh": 0.0002203978658723851,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1151.4774169921875,
                        "y": 4085.1015625,
                        "z": 366.0880126953125
                    },
                    "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": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1058545112609863,
                "transform": {
                    "location": {
                        "x": 1264.980712890625,
                        "y": 4100.4609375,
                        "z": 364.1271667480469
                    },
                    "rotation": {
                        "roll": 0.0058874948881566525,
                        "pitch": 0.9159078001976013,
                        "yaw": -170.49598693847656
                    }
                },
                "velocity": {
                    "x": -2.0762693881988525,
                    "y": -0.35031530261039734,
                    "z": 0.03174228593707085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00212287902832,
                "transform": {
                    "location": {
                        "x": 1192.3687744140625,
                        "y": 4091.848876953125,
                        "z": 365.1990661621094
                    },
                    "rotation": {
                        "roll": -0.0013732931111007929,
                        "pitch": -0.8702685236930847,
                        "yaw": 9.274336814880371
                    }
                },
                "velocity": {
                    "x": 7.896698951721191,
                    "y": 1.288873314857483,
                    "z": -0.12214192003011703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051876068115234,
                "transform": {
                    "location": {
                        "x": 1232.6875,
                        "y": 4098.40673828125,
                        "z": 364.64208984375
                    },
                    "rotation": {
                        "roll": 3.443472814979032e-05,
                        "pitch": -0.8328527212142944,
                        "yaw": 9.234895706176758
                    }
                },
                "velocity": {
                    "x": 7.9466681480407715,
                    "y": 1.2922145128250122,
                    "z": -0.11559446156024933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.134472846984863,
                "transform": {
                    "location": {
                        "x": 1249.0067138671875,
                        "y": 4097.81982421875,
                        "z": 364.37432861328125
                    },
                    "rotation": {
                        "roll": 0.001850988483056426,
                        "pitch": 1.202304482460022,
                        "yaw": -170.67544555664062
                    }
                },
                "velocity": {
                    "x": -9.014039993286133,
                    "y": -1.472200632095337,
                    "z": 0.13532821834087372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.122163176769391e-05,
                "transform": {
                    "location": {
                        "x": 1175.3543701171875,
                        "y": 4085.927978515625,
                        "z": 365.4704895019531
                    },
                    "rotation": {
                        "roll": 0.011887287721037865,
                        "pitch": 0.8973023891448975,
                        "yaw": -170.00186157226562
                    }
                },
                "velocity": {
                    "x": 2.5319604901596904e-05,
                    "y": -3.447551307544927e-06,
                    "z": 5.563380182138644e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1159.7352294921875,
                        "y": 4083.405029296875,
                        "z": 365.7879943847656
                    },
                    "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": 5291,
                "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": 0.2526983618736267,
        "expert_target_speed": 10.0,
        "target_point": [
            22.417659043021665,
            0.5618045061162631
        ],
        "target_point_next": [
            73.41138348445902,
            1.3599911863824747
        ]
    },
    "150": {
        "acceleration": [
            0.6291103363037109,
            0.08870840072631836,
            0.0007304549217224121
        ],
        "angular_velocity": [
            0.18328548967838287,
            -1.0069783926010132,
            0.04110221564769745
        ],
        "forward_vector": [
            -0.9892396926879883,
            -0.14510750770568848,
            0.01867281086742878
        ],
        "right_vector": [
            0.14513729512691498,
            -0.9894115328788757,
            0.00024283780658151954
        ],
        "location": [
            1227.6185302734375,
            4094.67626953125,
            364.6834411621094
        ],
        "rotation": [
            -0.013916008174419403,
            1.0699354410171509,
            -171.655029296875
        ],
        "velocity": [
            -5.232491970062256,
            -0.7679013609886169,
            0.07602059841156006
        ],
        "speed": 5.288538996450169,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.99711990356445,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.3543701171875,
                4085.927978515625,
                365.4704895019531
            ],
            "velocity": [
                2.2642016119789332e-05,
                8.334517588082235e-06,
                -0.00038193832733668387
            ],
            "speed_kmh": 0.001377718687585081,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1153.5233154296875,
                        "y": 4085.434326171875,
                        "z": 365.87640380859375
                    },
                    "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": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0841126441955566,
                "transform": {
                    "location": {
                        "x": 1264.3485107421875,
                        "y": 4100.353515625,
                        "z": 364.1371765136719
                    },
                    "rotation": {
                        "roll": 0.006998457945883274,
                        "pitch": 1.0111274719238281,
                        "yaw": -170.42230224609375
                    }
                },
                "velocity": {
                    "x": -3.040558338165283,
                    "y": -0.5143573880195618,
                    "z": 0.04681260138750076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0911283493042,
                "transform": {
                    "location": {
                        "x": 1194.349609375,
                        "y": 4092.17236328125,
                        "z": 365.1685791015625
                    },
                    "rotation": {
                        "roll": -0.0005798386409878731,
                        "pitch": -0.8667851090431213,
                        "yaw": 9.262792587280273
                    }
                },
                "velocity": {
                    "x": 7.984907150268555,
                    "y": 1.3009698390960693,
                    "z": -0.12288904935121536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017959594726562,
                "transform": {
                    "location": {
                        "x": 1234.6697998046875,
                        "y": 4098.7294921875,
                        "z": 364.6130065917969
                    },
                    "rotation": {
                        "roll": -6.103795749368146e-05,
                        "pitch": -0.8355096578598022,
                        "yaw": 9.23399543762207
                    }
                },
                "velocity": {
                    "x": 7.913480281829834,
                    "y": 1.2849961519241333,
                    "z": -0.11532305181026459
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.49984359741211,
                "transform": {
                    "location": {
                        "x": 1246.672607421875,
                        "y": 4097.4384765625,
                        "z": 364.4107360839844
                    },
                    "rotation": {
                        "roll": 0.0033549154177308083,
                        "pitch": 1.0207102298736572,
                        "yaw": -170.74046325683594
                    }
                },
                "velocity": {
                    "x": -9.37514591217041,
                    "y": -1.5275635719299316,
                    "z": 0.14215520024299622
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003826996253337711,
                "transform": {
                    "location": {
                        "x": 1175.3543701171875,
                        "y": 4085.927978515625,
                        "z": 365.4704895019531
                    },
                    "rotation": {
                        "roll": 0.011887287721037865,
                        "pitch": 0.8973023891448975,
                        "yaw": -170.00186157226562
                    }
                },
                "velocity": {
                    "x": 2.2642016119789332e-05,
                    "y": 8.334517588082235e-06,
                    "z": -0.00038193832733668387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.18968532979488373,
                "transform": {
                    "location": {
                        "x": 1159.7344970703125,
                        "y": 4083.405029296875,
                        "z": 365.7475280761719
                    },
                    "rotation": {
                        "roll": -0.00015258546045515686,
                        "pitch": 0.9303604960441589,
                        "yaw": -170.7652130126953
                    }
                },
                "velocity": {
                    "x": -0.002964417915791273,
                    "y": -0.0004984323750250041,
                    "z": -0.18966150283813477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.26215535402297974,
        "expert_target_speed": 10.0,
        "target_point": [
            21.100802077133903,
            0.558981150325041
        ],
        "target_point_next": [
            72.09462546157492,
            1.350821426034761
        ]
    },
    "155": {
        "acceleration": [
            -5.3759002685546875,
            -0.793689489364624,
            0.0719963014125824
        ],
        "angular_velocity": [
            -0.13419073820114136,
            0.8059335947036743,
            0.1013307124376297
        ],
        "forward_vector": [
            -0.9891412258148193,
            -0.14523157477378845,
            0.02252638339996338
        ],
        "right_vector": [
            0.1452741175889969,
            -0.9893913865089417,
            0.00025506620295345783
        ],
        "location": [
            1226.1353759765625,
            4094.458740234375,
            364.7041015625
        ],
        "rotation": [
            -0.014617926441133022,
            1.2907758951187134,
            -171.6471710205078
        ],
        "velocity": [
            -6.664649963378906,
            -0.979012668132782,
            0.0959915891289711
        ],
        "speed": 6.73617287031226,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.50581359863281,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.346923828125,
                4085.9267578125,
                365.4705810546875
            ],
            "velocity": [
                -0.11703212559223175,
                -0.020605286583304405,
                0.003068742575123906
            ],
            "speed_kmh": 0.427938610248055,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1155.5770263671875,
                        "y": 4085.76806640625,
                        "z": 365.8023681640625
                    },
                    "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": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.561363697052002,
                "transform": {
                    "location": {
                        "x": 1263.39501953125,
                        "y": 4100.1923828125,
                        "z": 364.1519775390625
                    },
                    "rotation": {
                        "roll": 0.006081674247980118,
                        "pitch": 1.0890053510665894,
                        "yaw": -170.40977478027344
                    }
                },
                "velocity": {
                    "x": -4.497091770172119,
                    "y": -0.759811282157898,
                    "z": 0.06994090974330902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079278945922852,
                "transform": {
                    "location": {
                        "x": 1196.3485107421875,
                        "y": 4092.497802734375,
                        "z": 365.1379089355469
                    },
                    "rotation": {
                        "roll": -0.00018309538427274674,
                        "pitch": -0.8672837018966675,
                        "yaw": 9.250094413757324
                    }
                },
                "velocity": {
                    "x": 7.973437786102295,
                    "y": 1.2977430820465088,
                    "z": -0.12203466892242432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052501678466797,
                "transform": {
                    "location": {
                        "x": 1236.652587890625,
                        "y": 4099.05126953125,
                        "z": 364.5838623046875
                    },
                    "rotation": {
                        "roll": -0.000549315067473799,
                        "pitch": -0.836185872554779,
                        "yaw": 9.226536750793457
                    }
                },
                "velocity": {
                    "x": 7.947484970092773,
                    "y": 1.290934443473816,
                    "z": -0.11725123226642609
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.786175727844238,
                "transform": {
                    "location": {
                        "x": 1244.402099609375,
                        "y": 4097.06884765625,
                        "z": 364.44757080078125
                    },
                    "rotation": {
                        "roll": 0.0009577184682711959,
                        "pitch": 0.6988034248352051,
                        "yaw": -170.7633056640625
                    }
                },
                "velocity": {
                    "x": -8.671117782592773,
                    "y": -1.4113069772720337,
                    "z": 0.12966662645339966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.11887183785438538,
                "transform": {
                    "location": {
                        "x": 1175.346923828125,
                        "y": 4085.9267578125,
                        "z": 365.4705810546875
                    },
                    "rotation": {
                        "roll": 0.01120825856924057,
                        "pitch": 0.8990987539291382,
                        "yaw": -169.99298095703125
                    }
                },
                "velocity": {
                    "x": -0.11703212559223175,
                    "y": -0.020605286583304405,
                    "z": 0.003068742575123906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.041097793728113174,
                "transform": {
                    "location": {
                        "x": 1159.734130859375,
                        "y": 4083.405029296875,
                        "z": 365.7226867675781
                    },
                    "rotation": {
                        "roll": -0.0001220724225277081,
                        "pitch": 0.931774377822876,
                        "yaw": -170.76512145996094
                    }
                },
                "velocity": {
                    "x": -0.0005904979771003127,
                    "y": -0.0002761282667052001,
                    "z": -0.04109262302517891
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.2727716863155365,
        "expert_target_speed": 10.0,
        "target_point": [
            19.601857092112184,
            0.5563172523349418
        ],
        "target_point_next": [
            70.59578873841305,
            1.3411545846492814
        ]
    },
    "160": {
        "acceleration": [
            -2.8804874420166016,
            -0.42794227600097656,
            0.04673168063163757
        ],
        "angular_velocity": [
            0.04722503200173378,
            -0.3357755243778229,
            0.018533924594521523
        ],
        "forward_vector": [
            -0.9891180992126465,
            -0.1453842967748642,
            0.02255522646009922
        ],
        "right_vector": [
            0.14542719721794128,
            -0.9893688559532166,
            0.00026518324739299715
        ],
        "location": [
            1224.3446044921875,
            4094.195556640625,
            364.7299499511719
        ],
        "rotation": [
            -0.015197748318314552,
            1.2924288511276245,
            -171.63832092285156
        ],
        "velocity": [
            -7.559276103973389,
            -1.1115096807479858,
            0.1092274859547615
        ],
        "speed": 7.640556850550854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.78822326660156,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.256103515625,
                4085.910888671875,
                365.4718933105469
            ],
            "velocity": [
                -0.6451665163040161,
                -0.11500291526317596,
                0.009721850976347923
            ],
            "speed_kmh": 2.359469822206301,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034513473510742,
                "transform": {
                    "location": {
                        "x": 1157.599609375,
                        "y": 4086.104248046875,
                        "z": 365.7601013183594
                    },
                    "rotation": {
                        "roll": -0.0751342698931694,
                        "pitch": -0.9938949346542358,
                        "yaw": 9.516371726989746
                    }
                },
                "velocity": {
                    "x": 7.916027545928955,
                    "y": 1.3644893169403076,
                    "z": -0.1675899624824524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.39000940322876,
                "transform": {
                    "location": {
                        "x": 1262.1278076171875,
                        "y": 4099.98046875,
                        "z": 364.171875
                    },
                    "rotation": {
                        "roll": 0.007657769601792097,
                        "pitch": 1.023257851600647,
                        "yaw": -170.47901916503906
                    }
                },
                "velocity": {
                    "x": -5.315974712371826,
                    "y": -0.8864790797233582,
                    "z": 0.08229093253612518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066168785095215,
                "transform": {
                    "location": {
                        "x": 1198.338623046875,
                        "y": 4092.82177734375,
                        "z": 365.10772705078125
                    },
                    "rotation": {
                        "roll": 0.0008193204994313419,
                        "pitch": -0.8559865951538086,
                        "yaw": 9.242765426635742
                    }
                },
                "velocity": {
                    "x": 7.960693836212158,
                    "y": 1.2946343421936035,
                    "z": -0.11978266388177872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016550064086914,
                "transform": {
                    "location": {
                        "x": 1238.634765625,
                        "y": 4099.373046875,
                        "z": 364.5545349121094
                    },
                    "rotation": {
                        "roll": 0.00011797362094512209,
                        "pitch": -0.8437469005584717,
                        "yaw": 9.229597091674805
                    }
                },
                "velocity": {
                    "x": 7.9118876457214355,
                    "y": 1.2857444286346436,
                    "z": -0.11819356679916382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.987435340881348,
                "transform": {
                    "location": {
                        "x": 1242.3387451171875,
                        "y": 4096.73291015625,
                        "z": 364.4789123535156
                    },
                    "rotation": {
                        "roll": 0.0005915602669119835,
                        "pitch": 0.625242292881012,
                        "yaw": -170.772216796875
                    }
                },
                "velocity": {
                    "x": -7.883155345916748,
                    "y": -1.2811660766601562,
                    "z": 0.11660550534725189
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6554082632064819,
                "transform": {
                    "location": {
                        "x": 1175.256103515625,
                        "y": 4085.910888671875,
                        "z": 365.4718933105469
                    },
                    "rotation": {
                        "roll": 0.01188853569328785,
                        "pitch": 0.9118984937667847,
                        "yaw": -169.98292541503906
                    }
                },
                "velocity": {
                    "x": -0.6451665163040161,
                    "y": -0.11500291526317596,
                    "z": 0.009721850976347923
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.006097897887229919,
                "transform": {
                    "location": {
                        "x": 1159.734130859375,
                        "y": 4083.405029296875,
                        "z": 365.71820068359375
                    },
                    "rotation": {
                        "roll": 0.00038021960062906146,
                        "pitch": 0.931357741355896,
                        "yaw": -170.7650909423828
                    }
                },
                "velocity": {
                    "x": -7.134973566280678e-05,
                    "y": -9.455661711399443e-06,
                    "z": -0.006097473204135895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.2687302231788635,
        "expert_target_speed": 8.301015469774855,
        "target_point": [
            17.7919350407212,
            0.5533194438914628
        ],
        "target_point_next": [
            68.78598733207158,
            1.3302784472001985
        ]
    },
    "165": {
        "acceleration": [
            -3.3582496643066406,
            -0.5000042915344238,
            0.036068856716156006
        ],
        "angular_velocity": [
            0.03104907087981701,
            -0.13434776663780212,
            0.04234829172492027
        ],
        "forward_vector": [
            -0.9891177415847778,
            -0.1455548256635666,
            0.021445415914058685
        ],
        "right_vector": [
            0.14559346437454224,
            -0.9893444776535034,
            0.00024282443337142467
        ],
        "location": [
            1222.35400390625,
            4093.90283203125,
            364.7590026855469
        ],
        "rotation": [
            -0.013916015625,
            1.2288260459899902,
            -171.62864685058594
        ],
        "velocity": [
            -8.341750144958496,
            -1.2280720472335815,
            0.12026388198137283
        ],
        "speed": 8.431663918474904,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.996177673339844,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1175.0399169921875,
                4085.871826171875,
                365.4753112792969
            ],
            "velocity": [
                -1.105117917060852,
                -0.19457599520683289,
                0.017937297001481056
            ],
            "speed_kmh": 4.040135466770639,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.251482963562012,
                "transform": {
                    "location": {
                        "x": 1159.6065673828125,
                        "y": 4086.453125,
                        "z": 365.7210388183594
                    },
                    "rotation": {
                        "roll": -0.0502624474465847,
                        "pitch": -0.9515955448150635,
                        "yaw": 9.892230987548828
                    }
                },
                "velocity": {
                    "x": 8.129520416259766,
                    "y": 1.405871033668518,
                    "z": -0.1462561935186386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.245694637298584,
                "transform": {
                    "location": {
                        "x": 1260.756591796875,
                        "y": 4099.75244140625,
                        "z": 364.19287109375
                    },
                    "rotation": {
                        "roll": 0.005604967940598726,
                        "pitch": 1.0062848329544067,
                        "yaw": -170.53575134277344
                    }
                },
                "velocity": {
                    "x": -6.160457611083984,
                    "y": -1.0238386392593384,
                    "z": 0.09602540731430054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.066977500915527,
                "transform": {
                    "location": {
                        "x": 1200.3287353515625,
                        "y": 4093.145263671875,
                        "z": 365.0777282714844
                    },
                    "rotation": {
                        "roll": 0.00015329579764511436,
                        "pitch": -0.847196102142334,
                        "yaw": 9.235821723937988
                    }
                },
                "velocity": {
                    "x": 7.961525917053223,
                    "y": 1.2946540117263794,
                    "z": -0.11870018392801285
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053593635559082,
                "transform": {
                    "location": {
                        "x": 1240.617431640625,
                        "y": 4099.6953125,
                        "z": 364.5250549316406
                    },
                    "rotation": {
                        "roll": 0.00041880804928950965,
                        "pitch": -0.8439927697181702,
                        "yaw": 9.237347602844238
                    }
                },
                "velocity": {
                    "x": 7.94828462600708,
                    "y": 1.2927029132843018,
                    "z": -0.11859561502933502
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.362027168273926,
                "transform": {
                    "location": {
                        "x": 1240.8927001953125,
                        "y": 4096.498046875,
                        "z": 364.50323486328125
                    },
                    "rotation": {
                        "roll": 0.0006804527365602553,
                        "pitch": 0.25605010986328125,
                        "yaw": -170.77508544921875
                    }
                },
                "velocity": {
                    "x": -5.292065143585205,
                    "y": -0.8596878051757812,
                    "z": 0.07947742193937302
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1222598552703857,
                "transform": {
                    "location": {
                        "x": 1175.0399169921875,
                        "y": 4085.871826171875,
                        "z": 365.4753112792969
                    },
                    "rotation": {
                        "roll": 0.009568026289343834,
                        "pitch": 0.9148764610290527,
                        "yaw": -170.11056518554688
                    }
                },
                "velocity": {
                    "x": -1.105117917060852,
                    "y": -0.19457599520683289,
                    "z": 0.017937297001481056
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014863695250824094,
                "transform": {
                    "location": {
                        "x": 1159.734130859375,
                        "y": 4083.405029296875,
                        "z": 365.71771240234375
                    },
                    "rotation": {
                        "roll": 0.0012635713210329413,
                        "pitch": 0.9303263425827026,
                        "yaw": -170.76499938964844
                    }
                },
                "velocity": {
                    "x": 3.497287616482936e-05,
                    "y": -0.00016637472435832024,
                    "z": -0.0014766146196052432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.27477896213531494,
        "expert_target_speed": 8.890421681558854,
        "target_point": [
            15.78001965184514,
            0.5505188090542972
        ],
        "target_point_next": [
            66.77420236764867,
            1.3188699872558711
        ]
    },
    "170": {
        "acceleration": [
            -2.7291107177734375,
            -0.4088711738586426,
            0.04473179578781128
        ],
        "angular_velocity": [
            0.011477175168693066,
            -0.10171698778867722,
            0.042626526206731796
        ],
        "forward_vector": [
            -0.9891015291213989,
            -0.14573770761489868,
            0.02094401605427265
        ],
        "right_vector": [
            0.14577484130859375,
            -0.9893177151679993,
            0.0002497496025171131
        ],
        "location": [
            1220.1719970703125,
            4093.58154296875,
            364.7906799316406
        ],
        "rotation": [
            -0.014312738552689552,
            1.2000914812088013,
            -171.61814880371094
        ],
        "velocity": [
            -9.083653450012207,
            -1.338878870010376,
            0.13115374743938446
        ],
        "speed": 9.18179484787582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.14162063598633,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1174.6947021484375,
                4085.810546875,
                365.48077392578125
            ],
            "velocity": [
                -1.5967156887054443,
                -0.28188568353652954,
                0.025075949728488922
            ],
            "speed_kmh": 5.837763077399496,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.083019256591797,
                "transform": {
                    "location": {
                        "x": 1161.617919921875,
                        "y": 4086.79833984375,
                        "z": 365.6863708496094
                    },
                    "rotation": {
                        "roll": -0.004302975721657276,
                        "pitch": -0.9327101111412048,
                        "yaw": 9.741190910339355
                    }
                },
                "velocity": {
                    "x": 7.9665207862854,
                    "y": 1.3607686758041382,
                    "z": -0.1343790590763092
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.881106853485107,
                "transform": {
                    "location": {
                        "x": 1258.9566650390625,
                        "y": 4099.45361328125,
                        "z": 364.2207336425781
                    },
                    "rotation": {
                        "roll": 0.00425616092979908,
                        "pitch": 1.101600170135498,
                        "yaw": -170.57943725585938
                    }
                },
                "velocity": {
                    "x": -7.774008750915527,
                    "y": -1.289345622062683,
                    "z": 0.11925572901964188
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.090031623840332,
                "transform": {
                    "location": {
                        "x": 1202.3231201171875,
                        "y": 4093.46923828125,
                        "z": 365.04779052734375
                    },
                    "rotation": {
                        "roll": 0.00019015891302842647,
                        "pitch": -0.8487533926963806,
                        "yaw": 9.235227584838867
                    }
                },
                "velocity": {
                    "x": 7.984293460845947,
                    "y": 1.298256516456604,
                    "z": -0.11919073760509491
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016557693481445,
                "transform": {
                    "location": {
                        "x": 1242.599609375,
                        "y": 4100.017578125,
                        "z": 364.4954528808594
                    },
                    "rotation": {
                        "roll": 0.0005830310401506722,
                        "pitch": -0.8475034832954407,
                        "yaw": 9.23485279083252
                    }
                },
                "velocity": {
                    "x": 7.911806583404541,
                    "y": 1.2861900329589844,
                    "z": -0.11926128715276718
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.226166248321533,
                "transform": {
                    "location": {
                        "x": 1239.465576171875,
                        "y": 4096.2666015625,
                        "z": 364.5187072753906
                    },
                    "rotation": {
                        "roll": 1.8652328435564414e-05,
                        "pitch": 0.976983368396759,
                        "yaw": -170.76199340820312
                    }
                },
                "velocity": {
                    "x": -6.144937515258789,
                    "y": -0.9982790946960449,
                    "z": 0.09126494824886322
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6216007471084595,
                "transform": {
                    "location": {
                        "x": 1174.6947021484375,
                        "y": 4085.810546875,
                        "z": 365.48077392578125
                    },
                    "rotation": {
                        "roll": 0.00843612290918827,
                        "pitch": 0.9137495160102844,
                        "yaw": -170.16864013671875
                    }
                },
                "velocity": {
                    "x": -1.5967156887054443,
                    "y": -0.28188568353652954,
                    "z": 0.025075949728488922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019116984913125634,
                "transform": {
                    "location": {
                        "x": 1159.734130859375,
                        "y": 4083.405029296875,
                        "z": 365.7175598144531
                    },
                    "rotation": {
                        "roll": 0.001588048180565238,
                        "pitch": 0.9303878545761108,
                        "yaw": -170.76499938964844
                    }
                },
                "velocity": {
                    "x": 4.59328293800354e-06,
                    "y": -2.192258762079291e-06,
                    "z": -0.0019116917392238975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.27801766991615295,
        "expert_target_speed": 9.409005965744997,
        "target_point": [
            13.574586139701024,
            0.5478423194548534
        ],
        "target_point_next": [
            64.56890868994982,
            1.3068561710984135
        ]
    },
    "175": {
        "acceleration": [
            -0.025920867919921875,
            -0.012240409851074219,
            0.02621591091156006
        ],
        "angular_velocity": [
            0.10891705006361008,
            -0.9624924063682556,
            0.04871372506022453
        ],
        "forward_vector": [
            -0.9891075491905212,
            -0.14593257009983063,
            0.01923239603638649
        ],
        "right_vector": [
            0.1459648162126541,
            -0.9892897009849548,
            0.0002763849915936589
        ],
        "location": [
            1217.8272705078125,
            4093.235595703125,
            364.824951171875
        ],
        "rotation": [
            -0.015838623046875,
            1.1020030975341797,
            -171.60714721679688
        ],
        "velocity": [
            -9.469686508178711,
            -1.3975454568862915,
            0.13895916938781738
        ],
        "speed": 9.572256571323473,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.241695404052734,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1174.2320556640625,
                4085.729248046875,
                365.4880676269531
            ],
            "velocity": [
                -2.096385955810547,
                -0.35972610116004944,
                0.033175285905599594
            ],
            "speed_kmh": 7.658222676279972,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.297731399536133,
                "transform": {
                    "location": {
                        "x": 1163.6373291015625,
                        "y": 4087.142333984375,
                        "z": 365.6529846191406
                    },
                    "rotation": {
                        "roll": 0.000838600448332727,
                        "pitch": -0.9197942018508911,
                        "yaw": 9.662654876708984
                    }
                },
                "velocity": {
                    "x": 8.1792573928833,
                    "y": 1.3907076120376587,
                    "z": -0.13422702252864838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.964865684509277,
                "transform": {
                    "location": {
                        "x": 1256.8729248046875,
                        "y": 4099.10888671875,
                        "z": 364.2525939941406
                    },
                    "rotation": {
                        "roll": 0.0049777887761592865,
                        "pitch": 1.0583581924438477,
                        "yaw": -170.606201171875
                    }
                },
                "velocity": {
                    "x": -8.844472885131836,
                    "y": -1.4579966068267822,
                    "z": 0.13548511266708374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050430297851562,
                "transform": {
                    "location": {
                        "x": 1204.313232421875,
                        "y": 4093.792724609375,
                        "z": 365.01800537109375
                    },
                    "rotation": {
                        "roll": 0.0006006824551150203,
                        "pitch": -0.8500101566314697,
                        "yaw": 9.235189437866211
                    }
                },
                "velocity": {
                    "x": 7.945215702056885,
                    "y": 1.2918756008148193,
                    "z": -0.1184699758887291
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052727699279785,
                "transform": {
                    "location": {
                        "x": 1244.582275390625,
                        "y": 4100.34033203125,
                        "z": 364.4658508300781
                    },
                    "rotation": {
                        "roll": -0.0007324251346290112,
                        "pitch": -0.8511030077934265,
                        "yaw": 9.239744186401367
                    }
                },
                "velocity": {
                    "x": 7.94736909866333,
                    "y": 1.2928577661514282,
                    "z": -0.11948397010564804
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.450046539306641,
                "transform": {
                    "location": {
                        "x": 1237.776611328125,
                        "y": 4095.99169921875,
                        "z": 364.5418395996094
                    },
                    "rotation": {
                        "roll": 4.804202399100177e-05,
                        "pitch": 1.2029874324798584,
                        "yaw": -170.77626037597656
                    }
                },
                "velocity": {
                    "x": -7.353163719177246,
                    "y": -1.1926939487457275,
                    "z": 0.10797061771154404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.127284049987793,
                "transform": {
                    "location": {
                        "x": 1174.2320556640625,
                        "y": 4085.729248046875,
                        "z": 365.4880676269531
                    },
                    "rotation": {
                        "roll": 0.01005755178630352,
                        "pitch": 0.9137290120124817,
                        "yaw": -170.1380157470703
                    }
                },
                "velocity": {
                    "x": -2.096385955810547,
                    "y": -0.35972610116004944,
                    "z": 0.033175285905599594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001260876888409257,
                "transform": {
                    "location": {
                        "x": 1159.734130859375,
                        "y": 4083.405029296875,
                        "z": 365.7175598144531
                    },
                    "rotation": {
                        "roll": 0.001588048180565238,
                        "pitch": 0.9303878545761108,
                        "yaw": -170.76499938964844
                    }
                },
                "velocity": {
                    "x": 2.1054147509858012e-05,
                    "y": -1.7936639778781682e-05,
                    "z": -0.001260573510080576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.8621196150779724,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29423654079437256,
        "expert_target_speed": 9.661452834459288,
        "target_point": [
            11.20458100688395,
            0.5452268882533131
        ],
        "target_point_next": [
            62.19904847176588,
            1.2944413828396417
        ]
    },
    "180": {
        "acceleration": [
            -1.7513084411621094,
            -0.26590585708618164,
            0.030346214771270752
        ],
        "angular_velocity": [
            0.03166702017188072,
            -0.36735790967941284,
            0.04875214770436287
        ],
        "forward_vector": [
            -0.9890221357345581,
            -0.1461336761713028,
            0.02191082015633583
        ],
        "right_vector": [
            0.14617487788200378,
            -0.9892587065696716,
            0.000282227381831035
        ],
        "location": [
            1215.262451171875,
            4092.856689453125,
            364.86187744140625
        ],
        "rotation": [
            -0.016174321994185448,
            1.255497932434082,
            -171.59503173828125
        ],
        "velocity": [
            -10.66739559173584,
            -1.5765272378921509,
            0.15573735535144806
        ],
        "speed": 10.783263274278388,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.25277328491211,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1173.6375732421875,
                4085.62744140625,
                365.49761962890625
            ],
            "velocity": [
                -2.634312152862549,
                -0.4473828077316284,
                0.04126552492380142
            ],
            "speed_kmh": 9.620460145773082,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13006591796875,
                "transform": {
                    "location": {
                        "x": 1165.6611328125,
                        "y": 4087.483154296875,
                        "z": 365.6201477050781
                    },
                    "rotation": {
                        "roll": 0.020116833969950676,
                        "pitch": -0.9227858185768127,
                        "yaw": 9.527079582214355
                    }
                },
                "velocity": {
                    "x": 8.01829719543457,
                    "y": 1.337130069732666,
                    "z": -0.13027046620845795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.300527572631836,
                "transform": {
                    "location": {
                        "x": 1254.7156982421875,
                        "y": 4098.75439453125,
                        "z": 364.28521728515625
                    },
                    "rotation": {
                        "roll": 0.00382544775493443,
                        "pitch": 0.8373196721076965,
                        "yaw": -170.6893310546875
                    }
                },
                "velocity": {
                    "x": -8.190009117126465,
                    "y": -1.3440982103347778,
                    "z": 0.12611494958400726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094427108764648,
                "transform": {
                    "location": {
                        "x": 1206.305419921875,
                        "y": 4094.116455078125,
                        "z": 364.9881591796875
                    },
                    "rotation": {
                        "roll": -0.0002746650134213269,
                        "pitch": -0.8479884266853333,
                        "yaw": 9.236379623413086
                    }
                },
                "velocity": {
                    "x": 7.988473892211914,
                    "y": 1.2999417781829834,
                    "z": -0.11908399313688278
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016961097717285,
                "transform": {
                    "location": {
                        "x": 1246.564453125,
                        "y": 4100.6630859375,
                        "z": 364.4361267089844
                    },
                    "rotation": {
                        "roll": 0.0017252734396606684,
                        "pitch": -0.8516221046447754,
                        "yaw": 9.238199234008789
                    }
                },
                "velocity": {
                    "x": 7.912320613861084,
                    "y": 1.2856158018112183,
                    "z": -0.11851976811885834
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.485194206237793,
                "transform": {
                    "location": {
                        "x": 1235.8125,
                        "y": 4095.67236328125,
                        "z": 364.5715637207031
                    },
                    "rotation": {
                        "roll": 7.573323091492057e-05,
                        "pitch": 1.1089972257614136,
                        "yaw": -170.85252380371094
                    }
                },
                "velocity": {
                    "x": -8.374835968017578,
                    "y": -1.358467936515808,
                    "z": 0.12332019209861755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6723499298095703,
                "transform": {
                    "location": {
                        "x": 1173.6375732421875,
                        "y": 4085.62744140625,
                        "z": 365.49761962890625
                    },
                    "rotation": {
                        "roll": 0.009181301109492779,
                        "pitch": 0.9160717725753784,
                        "yaw": -170.19825744628906
                    }
                },
                "velocity": {
                    "x": -2.634312152862549,
                    "y": -0.4473828077316284,
                    "z": 0.04126552492380142
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003204901295248419,
                "transform": {
                    "location": {
                        "x": 1159.734130859375,
                        "y": 4083.405029296875,
                        "z": 365.717529296875
                    },
                    "rotation": {
                        "roll": 0.0006138441967777908,
                        "pitch": 0.9309410452842712,
                        "yaw": -170.76487731933594
                    }
                },
                "velocity": {
                    "x": 3.5808530810754746e-05,
                    "y": -4.631224783224752e-06,
                    "z": -0.0003184497181791812
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.28437158465385437,
        "expert_target_speed": 10.0,
        "target_point": [
            8.612039344811118,
            0.5429195031658451
        ],
        "target_point_next": [
            59.60666393517451,
            1.2813619678877473
        ]
    },
    "185": {
        "acceleration": [
            1.6486358642578125,
            0.23491382598876953,
            -0.024049878120422363
        ],
        "angular_velocity": [
            0.2138177454471588,
            -1.2721668481826782,
            0.04478687420487404
        ],
        "forward_vector": [
            -0.9890851974487305,
            -0.1463569849729538,
            0.01703382469713688
        ],
        "right_vector": [
            0.14638294279575348,
            -0.9892279505729675,
            0.0002811890735756606
        ],
        "location": [
            1212.6048583984375,
            4092.463623046875,
            364.90179443359375
        ],
        "rotation": [
            -0.0161132849752903,
            0.9760134816169739,
            -171.58290100097656
        ],
        "velocity": [
            -10.482867240905762,
            -1.5514848232269287,
            0.1541113257408142
        ],
        "speed": 10.597056702082833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.30463409423828,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.910400390625,
                4085.50341796875,
                365.5091857910156
            ],
            "velocity": [
                -3.180586099624634,
                -0.5397663712501526,
                0.05047304928302765
            ],
            "speed_kmh": 11.615244323286985,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.340950012207031,
                "transform": {
                    "location": {
                        "x": 1167.6932373046875,
                        "y": 4087.821533203125,
                        "z": 365.58734130859375
                    },
                    "rotation": {
                        "roll": 0.01463638711720705,
                        "pitch": -0.9051434397697449,
                        "yaw": 9.434843063354492
                    }
                },
                "velocity": {
                    "x": 8.227487564086914,
                    "y": 1.3646717071533203,
                    "z": -0.1325378268957138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9758195877075195,
                "transform": {
                    "location": {
                        "x": 1252.7413330078125,
                        "y": 4098.4306640625,
                        "z": 364.3153076171875
                    },
                    "rotation": {
                        "roll": 0.00270843761973083,
                        "pitch": 0.8158729076385498,
                        "yaw": -170.67819213867188
                    }
                },
                "velocity": {
                    "x": -7.869988918304443,
                    "y": -1.2894738912582397,
                    "z": 0.11930656433105469
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053567886352539,
                "transform": {
                    "location": {
                        "x": 1208.2974853515625,
                        "y": 4094.4404296875,
                        "z": 364.95855712890625
                    },
                    "rotation": {
                        "roll": -0.0010375982383266091,
                        "pitch": -0.8341299891471863,
                        "yaw": 9.244538307189941
                    }
                },
                "velocity": {
                    "x": 7.948072910308838,
                    "y": 1.2938648462295532,
                    "z": -0.11836845427751541
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053343772888184,
                "transform": {
                    "location": {
                        "x": 1248.5472412109375,
                        "y": 4100.9853515625,
                        "z": 364.4062805175781
                    },
                    "rotation": {
                        "roll": 0.0012881152797490358,
                        "pitch": -0.8580971360206604,
                        "yaw": 9.23358154296875
                    }
                },
                "velocity": {
                    "x": 7.948427677154541,
                    "y": 1.2901363372802734,
                    "z": -0.11991608142852783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.726500511169434,
                "transform": {
                    "location": {
                        "x": 1233.5654296875,
                        "y": 4095.30810546875,
                        "z": 364.6046447753906
                    },
                    "rotation": {
                        "roll": -0.0021972639951854944,
                        "pitch": 1.0992915630340576,
                        "yaw": -170.8055877685547
                    }
                },
                "velocity": {
                    "x": -9.599698066711426,
                    "y": -1.559124231338501,
                    "z": 0.1405247300863266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.226456642150879,
                "transform": {
                    "location": {
                        "x": 1172.910400390625,
                        "y": 4085.50341796875,
                        "z": 365.5091857910156
                    },
                    "rotation": {
                        "roll": 0.008917063474655151,
                        "pitch": 0.9185852408409119,
                        "yaw": -170.25914001464844
                    }
                },
                "velocity": {
                    "x": -3.180586099624634,
                    "y": -0.5397663712501526,
                    "z": 0.05047304928302765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.916233241558075,
                "transform": {
                    "location": {
                        "x": 1159.661865234375,
                        "y": 4083.39208984375,
                        "z": 365.7183532714844
                    },
                    "rotation": {
                        "roll": -0.0015258833300322294,
                        "pitch": 0.9801457524299622,
                        "yaw": -170.72808837890625
                    }
                },
                "velocity": {
                    "x": -0.9011052250862122,
                    "y": -0.16517986357212067,
                    "z": 0.014435624703764915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3204001784324646,
        "expert_target_speed": 10.0,
        "target_point": [
            56.92043048404728,
            1.268923012956348
        ],
        "target_point_next": [
            93.91672121475,
            1.796908364760652
        ]
    },
    "190": {
        "acceleration": [
            9.383602142333984,
            1.381072998046875,
            -0.11171847581863403
        ],
        "angular_velocity": [
            0.38037148118019104,
            -2.625035047531128,
            0.02161400206387043
        ],
        "forward_vector": [
            -0.9891284108161926,
            -0.14656388759613037,
            0.012001821771264076
        ],
        "right_vector": [
            0.14657755196094513,
            -0.9891991019248962,
            0.00026416650507599115
        ],
        "location": [
            1210.05322265625,
            4092.0859375,
            364.9402770996094
        ],
        "rotation": [
            -0.015136715956032276,
            0.6876702308654785,
            -171.571533203125
        ],
        "velocity": [
            -9.605355262756348,
            -1.4237346649169922,
            0.1410556137561798
        ],
        "speed": 9.710297118000426,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.62395095825195,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1172.025146484375,
                4085.352783203125,
                365.5232238769531
            ],
            "velocity": [
                -3.906843900680542,
                -0.6623991131782532,
                0.06157710775732994
            ],
            "speed_kmh": 14.26708368663775,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.155692100524902,
                "transform": {
                    "location": {
                        "x": 1169.7265625,
                        "y": 4088.15869140625,
                        "z": 365.55487060546875
                    },
                    "rotation": {
                        "roll": 0.012356025166809559,
                        "pitch": -0.9144529700279236,
                        "yaw": 9.399035453796387
                    }
                },
                "velocity": {
                    "x": 8.046192169189453,
                    "y": 1.3258228302001953,
                    "z": -0.1276675909757614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.844620704650879,
                "transform": {
                    "location": {
                        "x": 1250.67431640625,
                        "y": 4098.0927734375,
                        "z": 364.3468017578125
                    },
                    "rotation": {
                        "roll": 0.0030180413741618395,
                        "pitch": 0.9542661905288696,
                        "yaw": -170.72840881347656
                    }
                },
                "velocity": {
                    "x": -8.728075981140137,
                    "y": -1.4249643087387085,
                    "z": 0.13220207393169403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088939666748047,
                "transform": {
                    "location": {
                        "x": 1210.288818359375,
                        "y": 4094.764892578125,
                        "z": 364.9291687011719
                    },
                    "rotation": {
                        "roll": -0.0009765655267983675,
                        "pitch": -0.8282082080841064,
                        "yaw": 9.243717193603516
                    }
                },
                "velocity": {
                    "x": 7.983091354370117,
                    "y": 1.2990589141845703,
                    "z": -0.11676094681024551
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01646614074707,
                "transform": {
                    "location": {
                        "x": 1250.5294189453125,
                        "y": 4101.3076171875,
                        "z": 364.37628173828125
                    },
                    "rotation": {
                        "roll": -0.0002441333344904706,
                        "pitch": -0.8596475720405579,
                        "yaw": 9.233930587768555
                    }
                },
                "velocity": {
                    "x": 7.911717414855957,
                    "y": 1.2862368822097778,
                    "z": -0.11850109696388245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.362031936645508,
                "transform": {
                    "location": {
                        "x": 1231.090576171875,
                        "y": 4094.90625,
                        "z": 364.6416320800781
                    },
                    "rotation": {
                        "roll": -0.0016479531768709421,
                        "pitch": 0.9983755350112915,
                        "yaw": -170.77073669433594
                    }
                },
                "velocity": {
                    "x": -10.22673225402832,
                    "y": -1.6624016761779785,
                    "z": 0.14855317771434784
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.963078737258911,
                "transform": {
                    "location": {
                        "x": 1172.025146484375,
                        "y": 4085.352783203125,
                        "z": 365.5232238769531
                    },
                    "rotation": {
                        "roll": 0.006855880841612816,
                        "pitch": 0.9245480298995972,
                        "yaw": -170.3096466064453
                    }
                },
                "velocity": {
                    "x": -3.906843900680542,
                    "y": -0.6623991131782532,
                    "z": 0.06157710775732994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.083683967590332,
                "transform": {
                    "location": {
                        "x": 1159.3870849609375,
                        "y": 4083.34375,
                        "z": 365.7232666015625
                    },
                    "rotation": {
                        "roll": 0.0029080063104629517,
                        "pitch": 0.958371102809906,
                        "yaw": -170.55418395996094
                    }
                },
                "velocity": {
                    "x": -1.0680149793624878,
                    "y": -0.18287096917629242,
                    "z": 0.016525400802493095
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.5003342628479004,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.366301029920578,
        "expert_target_speed": 9.74040897123462,
        "target_point": [
            54.34124486055353,
            1.2580298186534282
        ],
        "target_point_next": [
            91.33763959680597,
            1.778676418365567
        ]
    },
    "195": {
        "acceleration": [
            3.4019088745117188,
            0.1820969581604004,
            -0.04554837942123413
        ],
        "angular_velocity": [
            -0.20631515979766846,
            0.08204617351293564,
            1.948238730430603
        ],
        "forward_vector": [
            -0.9885831475257874,
            -0.15052299201488495,
            0.006790108513087034
        ],
        "right_vector": [
            0.15053439140319824,
            -0.9886040091514587,
            0.001196796540170908
        ],
        "location": [
            1207.84375,
            4091.75244140625,
            364.9739074707031
        ],
        "rotation": [
            -0.0685729831457138,
            0.3890475630760193,
            -171.34255981445312
        ],
        "velocity": [
            -8.313138961791992,
            -1.2967681884765625,
            0.12375758588314056
        ],
        "speed": 8.413672630469337,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.49646759033203,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1170.934326171875,
                4085.167724609375,
                365.5404968261719
            ],
            "velocity": [
                -4.8080902099609375,
                -0.8143311738967896,
                0.07706625014543533
            ],
            "speed_kmh": 17.557818911105873,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1130.7738037109375,
                        "y": 4081.735107421875,
                        "z": 366.3893737792969
                    },
                    "rotation": {
                        "roll": 1.3342181581776913e-08,
                        "pitch": -0.9844282865524292,
                        "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": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.350221633911133,
                "transform": {
                    "location": {
                        "x": 1171.7633056640625,
                        "y": 4088.49365234375,
                        "z": 365.5224914550781
                    },
                    "rotation": {
                        "roll": 0.011995755136013031,
                        "pitch": -0.9090571403503418,
                        "yaw": 9.32865047454834
                    }
                },
                "velocity": {
                    "x": 8.239246368408203,
                    "y": 1.3505686521530151,
                    "z": -0.1303616464138031
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.020355224609375,
                "transform": {
                    "location": {
                        "x": 1248.3427734375,
                        "y": 4097.7119140625,
                        "z": 364.38214111328125
                    },
                    "rotation": {
                        "roll": 0.002587434370070696,
                        "pitch": 1.024617075920105,
                        "yaw": -170.71763610839844
                    }
                },
                "velocity": {
                    "x": -9.88851261138916,
                    "y": -1.613366961479187,
                    "z": 0.1479402482509613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05727481842041,
                "transform": {
                    "location": {
                        "x": 1212.2808837890625,
                        "y": 4095.0888671875,
                        "z": 364.8999938964844
                    },
                    "rotation": {
                        "roll": -0.0005493141943588853,
                        "pitch": -0.8298884034156799,
                        "yaw": 9.240225791931152
                    }
                },
                "velocity": {
                    "x": 7.95190954208374,
                    "y": 1.2936506271362305,
                    "z": -0.11524783074855804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.94742488861084,
                "transform": {
                    "location": {
                        "x": 1252.50537109375,
                        "y": 4101.62890625,
                        "z": 364.3463439941406
                    },
                    "rotation": {
                        "roll": 0.0003082945186179131,
                        "pitch": -0.8703914284706116,
                        "yaw": 9.235784530639648
                    }
                },
                "velocity": {
                    "x": 7.843506336212158,
                    "y": 1.2754219770431519,
                    "z": -0.11945845931768417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.81876277923584,
                "transform": {
                    "location": {
                        "x": 1228.57470703125,
                        "y": 4094.497314453125,
                        "z": 364.6801452636719
                    },
                    "rotation": {
                        "roll": -0.0013122527161613107,
                        "pitch": 0.761975884437561,
                        "yaw": -170.76832580566406
                    }
                },
                "velocity": {
                    "x": -9.690529823303223,
                    "y": -1.575363278388977,
                    "z": 0.1412755399942398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.877171993255615,
                "transform": {
                    "location": {
                        "x": 1170.934326171875,
                        "y": 4085.167724609375,
                        "z": 365.5404968261719
                    },
                    "rotation": {
                        "roll": 0.00600964343175292,
                        "pitch": 0.933884859085083,
                        "yaw": -170.3496551513672
                    }
                },
                "velocity": {
                    "x": -4.8080902099609375,
                    "y": -0.8143311738967896,
                    "z": 0.07706625014543533
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.172994613647461,
                "transform": {
                    "location": {
                        "x": 1158.9588623046875,
                        "y": 4083.267333984375,
                        "z": 365.72998046875
                    },
                    "rotation": {
                        "roll": 0.001240077894181013,
                        "pitch": 0.9903295636177063,
                        "yaw": -170.5926055908203
                    }
                },
                "velocity": {
                    "x": -2.140772581100464,
                    "y": -0.37111398577690125,
                    "z": 0.03567935898900032
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.42031991481781006,
        "expert_target_speed": 8.867881641851756,
        "target_point": [
            52.111340592713006,
            1.0437400802588614
        ],
        "target_point_next": [
            89.10952058688657,
            1.4165315516392027
        ]
    },
    "200": {
        "acceleration": [
            3.2953262329101562,
            0.3197026252746582,
            -0.032190680503845215
        ],
        "angular_velocity": [
            -0.012376069091260433,
            0.236024409532547,
            1.6761150360107422
        ],
        "forward_vector": [
            -0.9873396754264832,
            -0.158415749669075,
            0.008052977733314037
        ],
        "right_vector": [
            0.15843188762664795,
            -0.9873688817024231,
            0.0014029069570824504
        ],
        "location": [
            1205.8746337890625,
            4091.438720703125,
            365.0029602050781
        ],
        "rotation": [
            -0.0803832858800888,
            0.4614065885543823,
            -170.88475036621094
        ],
        "velocity": [
            -7.49923849105835,
            -1.229151964187622,
            0.1129237562417984
        ],
        "speed": 7.59930210590666,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.704376220703125,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1169.7496337890625,
                4084.966796875,
                365.5597229003906
            ],
            "velocity": [
                -4.2483906745910645,
                -0.7189458012580872,
                0.06777869910001755
            ],
            "speed_kmh": 15.513577679610606,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1132.8258056640625,
                        "y": 4082.069091796875,
                        "z": 366.2529296875
                    },
                    "rotation": {
                        "roll": 1.3342181581776913e-08,
                        "pitch": -0.9844282865524292,
                        "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": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.158344268798828,
                "transform": {
                    "location": {
                        "x": 1173.7984619140625,
                        "y": 4088.827392578125,
                        "z": 365.4901428222656
                    },
                    "rotation": {
                        "roll": 0.00515573238953948,
                        "pitch": -0.9128410816192627,
                        "yaw": 9.301873207092285
                    }
                },
                "velocity": {
                    "x": 8.050105094909668,
                    "y": 1.3184059858322144,
                    "z": -0.12728247046470642
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.677494049072266,
                "transform": {
                    "location": {
                        "x": 1245.8594970703125,
                        "y": 4097.3076171875,
                        "z": 364.41925048828125
                    },
                    "rotation": {
                        "roll": 0.0021264110691845417,
                        "pitch": 0.8512669205665588,
                        "yaw": -170.763671875
                    }
                },
                "velocity": {
                    "x": -9.550796508789062,
                    "y": -1.5542125701904297,
                    "z": 0.14351695775985718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087884902954102,
                "transform": {
                    "location": {
                        "x": 1214.2725830078125,
                        "y": 4095.412353515625,
                        "z": 364.8708190917969
                    },
                    "rotation": {
                        "roll": -0.00018310027371626347,
                        "pitch": -0.8298064470291138,
                        "yaw": 9.236380577087402
                    }
                },
                "velocity": {
                    "x": 7.982198238372803,
                    "y": 1.2980725765228271,
                    "z": -0.11578663438558578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.509064197540283,
                "transform": {
                    "location": {
                        "x": 1254.4110107421875,
                        "y": 4101.93896484375,
                        "z": 364.3176574707031
                    },
                    "rotation": {
                        "roll": 0.0008069962495937943,
                        "pitch": -0.9027119278907776,
                        "yaw": 9.23643684387207
                    }
                },
                "velocity": {
                    "x": 7.410848140716553,
                    "y": 1.2051663398742676,
                    "z": -0.11377976089715958
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.635645866394043,
                "transform": {
                    "location": {
                        "x": 1226.3096923828125,
                        "y": 4094.12890625,
                        "z": 364.7149658203125
                    },
                    "rotation": {
                        "roll": 0.0002589579380583018,
                        "pitch": 0.5295718312263489,
                        "yaw": -170.7648468017578
                    }
                },
                "velocity": {
                    "x": -8.522835731506348,
                    "y": -1.38576078414917,
                    "z": 0.12376874685287476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.309327125549316,
                "transform": {
                    "location": {
                        "x": 1169.7496337890625,
                        "y": 4084.966796875,
                        "z": 365.5597229003906
                    },
                    "rotation": {
                        "roll": 0.005351135041564703,
                        "pitch": 0.8971111178398132,
                        "yaw": -170.36868286132812
                    }
                },
                "velocity": {
                    "x": -4.2483906745910645,
                    "y": -0.7189458012580872,
                    "z": 0.06777869910001755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.48740291595459,
                "transform": {
                    "location": {
                        "x": 1158.256103515625,
                        "y": 4083.1484375,
                        "z": 365.74139404296875
                    },
                    "rotation": {
                        "roll": 0.00485812546685338,
                        "pitch": 1.0141191482543945,
                        "yaw": -170.32293701171875
                    }
                },
                "velocity": {
                    "x": -3.4360499382019043,
                    "y": -0.5935967564582825,
                    "z": 0.05641051009297371
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.4515032172203064,
        "expert_target_speed": 8.252205087931461,
        "target_point": [
            50.12406734369498,
            0.6295127493054835
        ],
        "target_point_next": [
            87.12404496035798,
            0.7066666788043463
        ]
    },
    "205": {
        "acceleration": [
            0.3362560272216797,
            -0.16951799392700195,
            0.012369602918624878
        ],
        "angular_velocity": [
            -0.09928526729345322,
            0.8168942332267761,
            1.5663425922393799
        ],
        "forward_vector": [
            -0.9861922860145569,
            -0.16528692841529846,
            0.01024562120437622
        ],
        "right_vector": [
            0.16530819237232208,
            -0.9862411618232727,
            0.0012585434596985579
        ],
        "location": [
            1204.064208984375,
            4091.13623046875,
            365.0297546386719
        ],
        "rotation": [
            -0.072113037109375,
            0.5870410799980164,
            -170.485595703125
        ],
        "velocity": [
            -7.093330383300781,
            -1.2159212827682495,
            0.10756070911884308
        ],
        "speed": 7.196790985748217,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.757564544677734,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.873291015625,
                4084.819091796875,
                365.5741271972656
            ],
            "velocity": [
                -2.8511879444122314,
                -0.47443336248397827,
                0.04514734074473381
            ],
            "speed_kmh": 10.406676605842934,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1134.87939453125,
                        "y": 4082.403076171875,
                        "z": 366.15533447265625
                    },
                    "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": 5332,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.350971221923828,
                "transform": {
                    "location": {
                        "x": 1175.8358154296875,
                        "y": 4089.16064453125,
                        "z": 365.4579162597656
                    },
                    "rotation": {
                        "roll": 0.006664855871349573,
                        "pitch": -0.9059699177742004,
                        "yaw": 9.279792785644531
                    }
                },
                "velocity": {
                    "x": 8.241019248962402,
                    "y": 1.34439218044281,
                    "z": -0.1301102191209793
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.347372055053711,
                "transform": {
                    "location": {
                        "x": 1243.6563720703125,
                        "y": 4096.94873046875,
                        "z": 364.4520568847656
                    },
                    "rotation": {
                        "roll": 0.0018349119927734137,
                        "pitch": 0.6885718107223511,
                        "yaw": -170.7492218017578
                    }
                },
                "velocity": {
                    "x": -8.238194465637207,
                    "y": -1.339959740638733,
                    "z": 0.12357291579246521
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056785583496094,
                "transform": {
                    "location": {
                        "x": 1216.26416015625,
                        "y": 4095.735595703125,
                        "z": 364.8417053222656
                    },
                    "rotation": {
                        "roll": 0.00014422944514080882,
                        "pitch": -0.8286179900169373,
                        "yaw": 9.23336410522461
                    }
                },
                "velocity": {
                    "x": 7.951578617095947,
                    "y": 1.2926360368728638,
                    "z": -0.11521054804325104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.317257404327393,
                "transform": {
                    "location": {
                        "x": 1256.234130859375,
                        "y": 4102.2353515625,
                        "z": 364.2897033691406
                    },
                    "rotation": {
                        "roll": -6.102558472775854e-05,
                        "pitch": -0.8951987028121948,
                        "yaw": 9.233399391174316
                    }
                },
                "velocity": {
                    "x": 7.221617698669434,
                    "y": 1.1739850044250488,
                    "z": -0.11067558079957962
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.665471076965332,
                "transform": {
                    "location": {
                        "x": 1224.1988525390625,
                        "y": 4093.785888671875,
                        "z": 364.7438049316406
                    },
                    "rotation": {
                        "roll": -0.0002441400138195604,
                        "pitch": 0.7477349042892456,
                        "yaw": -170.7630157470703
                    }
                },
                "velocity": {
                    "x": -8.55207347869873,
                    "y": -1.3917611837387085,
                    "z": 0.1242114007472992
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8907434940338135,
                "transform": {
                    "location": {
                        "x": 1168.873291015625,
                        "y": 4084.819091796875,
                        "z": 365.5741271972656
                    },
                    "rotation": {
                        "roll": 0.005930972285568714,
                        "pitch": 0.8594836592674255,
                        "yaw": -170.4097900390625
                    }
                },
                "velocity": {
                    "x": -2.8511879444122314,
                    "y": -0.47443336248397827,
                    "z": 0.04514734074473381
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.634546756744385,
                "transform": {
                    "location": {
                        "x": 1157.2147216796875,
                        "y": 4082.969970703125,
                        "z": 365.7585144042969
                    },
                    "rotation": {
                        "roll": 0.008853890001773834,
                        "pitch": 1.0158061981201172,
                        "yaw": -170.16452026367188
                    }
                },
                "velocity": {
                    "x": -4.5666303634643555,
                    "y": -0.7869841456413269,
                    "z": 0.07461101561784744
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "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": 0.42124608159065247,
        "expert_target_speed": 7.92189501349309,
        "target_point": [
            48.29171549370263,
            0.2812322466402257
        ],
        "target_point_next": [
            85.2913327423667,
            0.10062268222082515
        ]
    },
    "210": {
        "acceleration": [
            -0.5789089202880859,
            -0.2759575843811035,
            -0.014268159866333008
        ],
        "angular_velocity": [
            -0.033670444041490555,
            0.6936228275299072,
            1.501883864402771
        ],
        "forward_vector": [
            -0.9850329756736755,
            -0.17181749641895294,
            0.01374117936939001
        ],
        "right_vector": [
            0.1718488335609436,
            -0.9851226210594177,
            0.0011248127557337284
        ],
        "location": [
            1202.2852783203125,
            4090.826416015625,
            365.0558166503906
        ],
        "rotation": [
            -0.0644531175494194,
            0.7873363494873047,
            -170.1055450439453
        ],
        "velocity": [
            -7.179373741149902,
            -1.2794630527496338,
            0.10721667855978012
        ],
        "speed": 7.29249155079827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.40496063232422,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.426513671875,
                4084.742919921875,
                365.5816345214844
            ],
            "velocity": [
                -9.680956281954423e-05,
                -0.0007722566951997578,
                0.00010966509580612183
            ],
            "speed_kmh": 0.002829560903483327,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050806999206543,
                "transform": {
                    "location": {
                        "x": 1136.8687744140625,
                        "y": 4082.7392578125,
                        "z": 366.1024169921875
                    },
                    "rotation": {
                        "roll": -0.016723627224564552,
                        "pitch": -0.9851044416427612,
                        "yaw": 9.636841773986816
                    }
                },
                "velocity": {
                    "x": 7.930150985717773,
                    "y": 1.3755052089691162,
                    "z": -0.19023624062538147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.545037269592285,
                "transform": {
                    "location": {
                        "x": 1241.6011962890625,
                        "y": 4096.6142578125,
                        "z": 364.48291015625
                    },
                    "rotation": {
                        "roll": -0.00030516923288814723,
                        "pitch": 0.8284882307052612,
                        "yaw": -170.77125549316406
                    }
                },
                "velocity": {
                    "x": -8.433333396911621,
                    "y": -1.3714566230773926,
                    "z": 0.12512649595737457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088404655456543,
                "transform": {
                    "location": {
                        "x": 1218.2562255859375,
                        "y": 4096.06005859375,
                        "z": 364.8126525878906
                    },
                    "rotation": {
                        "roll": 2.5862662369036116e-05,
                        "pitch": -0.8217741847038269,
                        "yaw": 9.239453315734863
                    }
                },
                "velocity": {
                    "x": 7.982627868652344,
                    "y": 1.2986674308776855,
                    "z": -0.11581514030694962
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.0754008293151855,
                "transform": {
                    "location": {
                        "x": 1258.0118408203125,
                        "y": 4102.5244140625,
                        "z": 364.2623596191406
                    },
                    "rotation": {
                        "roll": -0.0005493168137036264,
                        "pitch": -0.8943449258804321,
                        "yaw": 9.233275413513184
                    }
                },
                "velocity": {
                    "x": 6.9829325675964355,
                    "y": 1.1350975036621094,
                    "z": -0.10724614560604095
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.030409812927246,
                "transform": {
                    "location": {
                        "x": 1221.9808349609375,
                        "y": 4093.4248046875,
                        "z": 364.7740173339844
                    },
                    "rotation": {
                        "roll": -0.0002441482793074101,
                        "pitch": 0.9800843000411987,
                        "yaw": -170.75717163085938
                    }
                },
                "velocity": {
                    "x": -8.912267684936523,
                    "y": -1.4501794576644897,
                    "z": 0.1294766515493393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007859891629777849,
                "transform": {
                    "location": {
                        "x": 1168.426513671875,
                        "y": 4084.742919921875,
                        "z": 365.5816345214844
                    },
                    "rotation": {
                        "roll": 0.001663306844420731,
                        "pitch": 0.8173959851264954,
                        "yaw": -170.5851593017578
                    }
                },
                "velocity": {
                    "x": -9.680956281954423e-05,
                    "y": -0.0007722566951997578,
                    "z": 0.00010966509580612183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.172451019287109,
                "transform": {
                    "location": {
                        "x": 1155.96337890625,
                        "y": 4082.754638671875,
                        "z": 365.7794494628906
                    },
                    "rotation": {
                        "roll": 0.010321419686079025,
                        "pitch": 0.9760681390762329,
                        "yaw": -170.08624267578125
                    }
                },
                "velocity": {
                    "x": -5.0962677001953125,
                    "y": -0.8804471492767334,
                    "z": 0.08435283601284027
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 0.4421522915363312,
                "transform": {
                    "location": {
                        "x": 1187.1961669921875,
                        "y": 4084.737060546875,
                        "z": 366.4034729003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.03671874850988388,
                    "y": 0.44062498211860657,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39239442348480225,
        "expert_target_speed": 7.698753282909999,
        "target_point": [
            46.48681118636503,
            -0.03862994317313628
        ],
        "target_point_next": [
            83.48441641321519,
            -0.4646626186227252
        ]
    },
    "215": {
        "acceleration": [
            -1.7470169067382812,
            -0.42149782180786133,
            0.028217583894729614
        ],
        "angular_velocity": [
            0.018028907477855682,
            0.5043649673461914,
            1.178363561630249
        ],
        "forward_vector": [
            -0.9839487075805664,
            -0.1777295619249344,
            0.016034867614507675
        ],
        "right_vector": [
            0.1777658462524414,
            -0.9840724468231201,
            0.0008547644829377532
        ],
        "location": [
            1200.4554443359375,
            4090.49609375,
            365.0827941894531
        ],
        "rotation": [
            -0.048980701714754105,
            0.9187696576118469,
            -169.76112365722656
        ],
        "velocity": [
            -7.467350482940674,
            -1.3698041439056396,
            0.1118604987859726
        ],
        "speed": 7.5919488030238576,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.605472564697266,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.3671875,
                4084.733154296875,
                365.58197021484375
            ],
            "velocity": [
                -0.4892553985118866,
                -0.08125139772891998,
                0.007396773900836706
            ],
            "speed_kmh": 1.7856411776827068,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.133197784423828,
                "transform": {
                    "location": {
                        "x": 1138.862060546875,
                        "y": 4083.0849609375,
                        "z": 366.0615234375
                    },
                    "rotation": {
                        "roll": -0.0156555138528347,
                        "pitch": -0.9723456501960754,
                        "yaw": 9.865407943725586
                    }
                },
                "velocity": {
                    "x": 8.010512351989746,
                    "y": 1.3994944095611572,
                    "z": -0.1483563780784607
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.325823783874512,
                "transform": {
                    "location": {
                        "x": 1239.3826904296875,
                        "y": 4096.25341796875,
                        "z": 364.5160217285156
                    },
                    "rotation": {
                        "roll": 0.000758198497351259,
                        "pitch": 0.9346908330917358,
                        "yaw": -170.7511749267578
                    }
                },
                "velocity": {
                    "x": -9.203983306884766,
                    "y": -1.4963877201080322,
                    "z": 0.1360529363155365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055974960327148,
                "transform": {
                    "location": {
                        "x": 1220.247802734375,
                        "y": 4096.3837890625,
                        "z": 364.7836608886719
                    },
                    "rotation": {
                        "roll": -0.0003662197559606284,
                        "pitch": -0.8209204077720642,
                        "yaw": 9.238582611083984
                    }
                },
                "velocity": {
                    "x": 7.950677871704102,
                    "y": 1.2931196689605713,
                    "z": -0.11530223488807678
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.821427822113037,
                "transform": {
                    "location": {
                        "x": 1259.7244873046875,
                        "y": 4102.80224609375,
                        "z": 364.2361145019531
                    },
                    "rotation": {
                        "roll": -0.00045775968465022743,
                        "pitch": -0.9042350053787231,
                        "yaw": 9.228110313415527
                    }
                },
                "velocity": {
                    "x": 6.73236608505249,
                    "y": 1.0937772989273071,
                    "z": -0.10379992425441742
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.258590698242188,
                "transform": {
                    "location": {
                        "x": 1219.8563232421875,
                        "y": 4093.079345703125,
                        "z": 364.8072509765625
                    },
                    "rotation": {
                        "roll": 0.0004315971164032817,
                        "pitch": 0.6892616748809814,
                        "yaw": -170.76356506347656
                    }
                },
                "velocity": {
                    "x": -8.150713920593262,
                    "y": -1.3252075910568237,
                    "z": 0.11838897317647934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4960114359855652,
                "transform": {
                    "location": {
                        "x": 1168.3671875,
                        "y": 4084.733154296875,
                        "z": 365.58197021484375
                    },
                    "rotation": {
                        "roll": 0.0023702785838395357,
                        "pitch": 0.8856432437896729,
                        "yaw": -170.58792114257812
                    }
                },
                "velocity": {
                    "x": -0.4892553985118866,
                    "y": -0.08125139772891998,
                    "z": 0.007396773900836706
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.853378772735596,
                "transform": {
                    "location": {
                        "x": 1154.751220703125,
                        "y": 4082.54296875,
                        "z": 365.79986572265625
                    },
                    "rotation": {
                        "roll": 0.005785203538835049,
                        "pitch": 0.9373751282691956,
                        "yaw": -170.40115356445312
                    }
                },
                "velocity": {
                    "x": -4.782559871673584,
                    "y": -0.8222153186798096,
                    "z": 0.0797969251871109
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.1790835857391357,
                "transform": {
                    "location": {
                        "x": 1187.2144775390625,
                        "y": 4084.95751953125,
                        "z": 366.4026184082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.09804687649011612,
                    "y": 1.1749999523162842,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34585145115852356,
        "expert_target_speed": 7.781635543364833,
        "target_point": [
            44.62632925051445,
            -0.31786501160484804
        ],
        "target_point_next": [
            81.62070520543631,
            -0.9662815970653718
        ]
    },
    "220": {
        "acceleration": [
            0.251922607421875,
            0.25775671005249023,
            0.015426576137542725
        ],
        "angular_velocity": [
            0.2381812185049057,
            -0.19937436282634735,
            -0.965349018573761
        ],
        "forward_vector": [
            -0.9840520620346069,
            -0.17703096568584442,
            0.01736660860478878
        ],
        "right_vector": [
            0.1770508587360382,
            -0.9842016100883484,
            -0.00039714216836728156
        ],
        "location": [
            1198.53662109375,
            4090.150634765625,
            365.11151123046875
        ],
        "rotation": [
            0.0227580014616251,
            0.9950833916664124,
            -169.80157470703125
        ],
        "velocity": [
            -7.779713153839111,
            -1.3833379745483398,
            0.11876466125249863
        ],
        "speed": 7.9017441560610395,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.84178924560547,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1168.18359375,
                4084.7021484375,
                365.5845642089844
            ],
            "velocity": [
                -1.0086296796798706,
                -0.16694337129592896,
                0.016365690156817436
            ],
            "speed_kmh": 3.6809392761515918,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.094449043273926,
                "transform": {
                    "location": {
                        "x": 1140.8604736328125,
                        "y": 4083.429931640625,
                        "z": 366.02593994140625
                    },
                    "rotation": {
                        "roll": -0.004150391556322575,
                        "pitch": -0.9729945659637451,
                        "yaw": 9.774286270141602
                    }
                },
                "velocity": {
                    "x": 7.979747772216797,
                    "y": 1.3507200479507446,
                    "z": -0.13886985182762146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.728473663330078,
                "transform": {
                    "location": {
                        "x": 1236.9927978515625,
                        "y": 4095.864990234375,
                        "z": 364.55133056640625
                    },
                    "rotation": {
                        "roll": -0.00045777365448884666,
                        "pitch": 0.9091185927391052,
                        "yaw": -170.77622985839844
                    }
                },
                "velocity": {
                    "x": -9.601483345031738,
                    "y": -1.5604113340377808,
                    "z": 0.1408175826072693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089228630065918,
                "transform": {
                    "location": {
                        "x": 1222.2398681640625,
                        "y": 4096.70751953125,
                        "z": 364.7547607421875
                    },
                    "rotation": {
                        "roll": 9.554574353387579e-05,
                        "pitch": -0.8210774660110474,
                        "yaw": 9.235193252563477
                    }
                },
                "velocity": {
                    "x": 7.983577251434326,
                    "y": 1.2979942560195923,
                    "z": -0.11544898897409439
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.560588836669922,
                "transform": {
                    "location": {
                        "x": 1261.3721923828125,
                        "y": 4103.0703125,
                        "z": 364.210693359375
                    },
                    "rotation": {
                        "roll": -0.000518798129633069,
                        "pitch": -0.9000481367111206,
                        "yaw": 9.231415748596191
                    }
                },
                "velocity": {
                    "x": 6.474860191345215,
                    "y": 1.052480697631836,
                    "z": -0.09897121042013168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.359482765197754,
                "transform": {
                    "location": {
                        "x": 1217.8299560546875,
                        "y": 4092.74951171875,
                        "z": 364.83612060546875
                    },
                    "rotation": {
                        "roll": -0.00015258579514920712,
                        "pitch": 0.769960343837738,
                        "yaw": -170.76512145996094
                    }
                },
                "velocity": {
                    "x": -8.250483512878418,
                    "y": -1.3401546478271484,
                    "z": 0.12024814635515213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0224831104278564,
                "transform": {
                    "location": {
                        "x": 1168.18359375,
                        "y": 4084.7021484375,
                        "z": 365.5845642089844
                    },
                    "rotation": {
                        "roll": 0.0021466906182467937,
                        "pitch": 0.920497715473175,
                        "yaw": -170.6502227783203
                    }
                },
                "velocity": {
                    "x": -1.0086296796798706,
                    "y": -0.16694337129592896,
                    "z": 0.016365690156817436
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.813634395599365,
                "transform": {
                    "location": {
                        "x": 1153.4334716796875,
                        "y": 4082.319091796875,
                        "z": 365.82147216796875
                    },
                    "rotation": {
                        "roll": 0.004645667038857937,
                        "pitch": 0.9934167861938477,
                        "yaw": -170.5918731689453
                    }
                },
                "velocity": {
                    "x": -5.733178615570068,
                    "y": -0.9590062499046326,
                    "z": 0.096511110663414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9159823656082153,
                "transform": {
                    "location": {
                        "x": 1187.2481689453125,
                        "y": 4085.361083984375,
                        "z": 366.401123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.15898437798023224,
                    "y": 1.9093749523162842,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.27590304613113403,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3095073997974396,
        "expert_target_speed": 7.739079213911632,
        "target_point": [
            42.67686968209067,
            -0.28660928328185165
        ],
        "target_point_next": [
            79.6716943212846,
            -0.908900435146272
        ]
    },
    "225": {
        "acceleration": [
            2.642850875854492,
            0.7147669792175293,
            -0.04120677709579468
        ],
        "angular_velocity": [
            0.22559671103954315,
            -0.8477941155433655,
            -1.7614789009094238
        ],
        "forward_vector": [
            -0.9853058457374573,
            -0.1702442318201065,
            0.01375631708651781
        ],
        "right_vector": [
            0.1702442467212677,
            -0.9854011535644531,
            -0.0011785082751885056
        ],
        "location": [
            1196.6541748046875,
            4089.82373046875,
            365.1409606933594
        ],
        "rotation": [
            0.06752995401620865,
            0.788203775882721,
            -170.19705200195312
        ],
        "velocity": [
            -7.220944881439209,
            -1.2191071510314941,
            0.11004176735877991
        ],
        "speed": 7.323132337086313,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.254087448120117,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1167.8648681640625,
                4084.649169921875,
                365.5897216796875
            ],
            "velocity": [
                -1.496562123298645,
                -0.247440904378891,
                0.02337058074772358
            ],
            "speed_kmh": 5.461416392135868,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.134775161743164,
                "transform": {
                    "location": {
                        "x": 1142.657958984375,
                        "y": 4083.73876953125,
                        "z": 365.9956970214844
                    },
                    "rotation": {
                        "roll": 0.002145218662917614,
                        "pitch": -1.0678043365478516,
                        "yaw": 9.121910095214844
                    }
                },
                "velocity": {
                    "x": 6.047730445861816,
                    "y": 1.0246156454086304,
                    "z": -0.10287575423717499
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.566120147705078,
                "transform": {
                    "location": {
                        "x": 1234.7421875,
                        "y": 4095.4990234375,
                        "z": 364.58416748046875
                    },
                    "rotation": {
                        "roll": 0.0007597843650728464,
                        "pitch": 0.7155510783195496,
                        "yaw": -170.7567901611328
                    }
                },
                "velocity": {
                    "x": -8.454161643981934,
                    "y": -1.374780297279358,
                    "z": 0.12470540404319763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05594253540039,
                "transform": {
                    "location": {
                        "x": 1224.2313232421875,
                        "y": 4097.03125,
                        "z": 364.7259216308594
                    },
                    "rotation": {
                        "roll": 0.0002932680363301188,
                        "pitch": -0.8212892413139343,
                        "yaw": 9.239775657653809
                    }
                },
                "velocity": {
                    "x": 7.950586795806885,
                    "y": 1.2935125827789307,
                    "z": -0.1149555966258049
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.405280113220215,
                "transform": {
                    "location": {
                        "x": 1262.9725341796875,
                        "y": 4103.33056640625,
                        "z": 364.18597412109375
                    },
                    "rotation": {
                        "roll": -0.000610343471635133,
                        "pitch": -0.9010043740272522,
                        "yaw": 9.235259056091309
                    }
                },
                "velocity": {
                    "x": 6.321491718292236,
                    "y": 1.0279022455215454,
                    "z": -0.09885087609291077
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.827587127685547,
                "transform": {
                    "location": {
                        "x": 1215.6729736328125,
                        "y": 4092.39892578125,
                        "z": 364.8658752441406
                    },
                    "rotation": {
                        "roll": -0.0007324069156311452,
                        "pitch": 0.9896807074546814,
                        "yaw": -170.76681518554688
                    }
                },
                "velocity": {
                    "x": -8.712166786193848,
                    "y": -1.417197823524475,
                    "z": 0.12648572027683258
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5170601606369019,
                "transform": {
                    "location": {
                        "x": 1167.8648681640625,
                        "y": 4084.649169921875,
                        "z": 365.5897216796875
                    },
                    "rotation": {
                        "roll": 0.0005982796428725123,
                        "pitch": 0.9242338538169861,
                        "yaw": -170.6741180419922
                    }
                },
                "velocity": {
                    "x": -1.496562123298645,
                    "y": -0.247440904378891,
                    "z": 0.02337058074772358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.425394058227539,
                "transform": {
                    "location": {
                        "x": 1151.853515625,
                        "y": 4082.054931640625,
                        "z": 365.847412109375
                    },
                    "rotation": {
                        "roll": 0.003949388861656189,
                        "pitch": 1.0572243928909302,
                        "yaw": -170.55645751953125
                    }
                },
                "velocity": {
                    "x": -7.322803020477295,
                    "y": -1.2238188982009888,
                    "z": 0.12368900328874588
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.2896728515625,
                        "y": 4085.859375,
                        "z": 366.4060974121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.35556846857070923,
        "expert_target_speed": 6.922006160988803,
        "target_point": [
            40.767211589920734,
            0.006334262329109386
        ],
        "target_point_next": [
            77.76545015958139,
            -0.36059775436297237
        ]
    },
    "230": {
        "acceleration": [
            11.329765319824219,
            2.0672643184661865,
            -0.1786273717880249
        ],
        "angular_velocity": [
            0.36419373750686646,
            -2.696531057357788,
            -4.167728900909424
        ],
        "forward_vector": [
            -0.9866455793380737,
            -0.16258999705314636,
            0.009748184122145176
        ],
        "right_vector": [
            0.16258682310581207,
            -0.9866935610771179,
            -0.0011214471887797117
        ],
        "location": [
            1194.9703369140625,
            4089.54345703125,
            365.1676940917969
        ],
        "rotation": [
            0.06425725668668747,
            0.5585386753082275,
            -170.6422882080078
        ],
        "velocity": [
            -5.989424228668213,
            -0.9674715399742126,
            0.09225856512784958
        ],
        "speed": 6.067058906226137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.98809051513672,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1167.4296875,
                4084.577392578125,
                365.5967102050781
            ],
            "velocity": [
                -1.981568455696106,
                -0.3277170956134796,
                0.030767859891057014
            ],
            "speed_kmh": 7.231394385551116,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.741938591003418,
                "transform": {
                    "location": {
                        "x": 1144.08740234375,
                        "y": 4083.97900390625,
                        "z": 365.9709777832031
                    },
                    "rotation": {
                        "roll": 0.0037461980246007442,
                        "pitch": -1.0138800144195557,
                        "yaw": 9.161179542541504
                    }
                },
                "velocity": {
                    "x": 5.662664890289307,
                    "y": 0.9458829164505005,
                    "z": -0.09689535200595856
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.402873992919922,
                "transform": {
                    "location": {
                        "x": 1232.682373046875,
                        "y": 4095.164306640625,
                        "z": 364.6144714355469
                    },
                    "rotation": {
                        "roll": -0.00021363013365771621,
                        "pitch": 0.78363436460495,
                        "yaw": -170.7825927734375
                    }
                },
                "velocity": {
                    "x": -8.293130874633789,
                    "y": -1.3481907844543457,
                    "z": 0.12109781056642532
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089035034179688,
                "transform": {
                    "location": {
                        "x": 1226.22314453125,
                        "y": 4097.35546875,
                        "z": 364.697021484375
                    },
                    "rotation": {
                        "roll": 0.00016398807929363102,
                        "pitch": -0.8217400312423706,
                        "yaw": 9.245733261108398
                    }
                },
                "velocity": {
                    "x": 7.983100891113281,
                    "y": 1.2996952533721924,
                    "z": -0.11570527404546738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1264.5255126953125,
                        "y": 4103.57373046875,
                        "z": 364.1588134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8828087449073792,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.431435585021973,
                "transform": {
                    "location": {
                        "x": 1213.5682373046875,
                        "y": 4092.056884765625,
                        "z": 364.8984375
                    },
                    "rotation": {
                        "roll": -0.0005798249621875584,
                        "pitch": 0.7724670171737671,
                        "yaw": -170.7621612548828
                    }
                },
                "velocity": {
                    "x": -8.32116985321045,
                    "y": -1.3535784482955933,
                    "z": 0.12273646891117096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.008720636367798,
                "transform": {
                    "location": {
                        "x": 1167.4296875,
                        "y": 4084.577392578125,
                        "z": 365.5967102050781
                    },
                    "rotation": {
                        "roll": 0.0009665708057582378,
                        "pitch": 0.9245138764381409,
                        "yaw": -170.6634063720703
                    }
                },
                "velocity": {
                    "x": -1.981568455696106,
                    "y": -0.3277170956134796,
                    "z": 0.030767859891057014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.653722286224365,
                "transform": {
                    "location": {
                        "x": 1150.08935546875,
                        "y": 4081.76025390625,
                        "z": 365.8777160644531
                    },
                    "rotation": {
                        "roll": 0.003697367152199149,
                        "pitch": 0.9429622292518616,
                        "yaw": -170.51931762695312
                    }
                },
                "velocity": {
                    "x": -6.561892032623291,
                    "y": -1.0962729454040527,
                    "z": 0.10854636877775192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3311767578125,
                        "y": 4086.357421875,
                        "z": 366.2455139160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.41312918066978455,
        "expert_target_speed": 5.407511999707486,
        "target_point": [
            39.05892964022574,
            0.3203587471921372
        ],
        "target_point_next": [
            76.05890244587226,
            0.240931146082751
        ]
    },
    "235": {
        "acceleration": [
            24.628171920776367,
            3.889134168624878,
            -0.3944694399833679
        ],
        "angular_velocity": [
            0.6130335927009583,
            -4.759490489959717,
            0.047448594123125076
        ],
        "forward_vector": [
            -0.9873819947242737,
            -0.15774434804916382,
            -0.013908651657402515
        ],
        "right_vector": [
            0.157767653465271,
            -0.9874760508537292,
            -0.0005874510970897973
        ],
        "location": [
            1194.2386474609375,
            4089.42529296875,
            365.1837158203125
        ],
        "rotation": [
            0.033661726862192154,
            -0.7969327569007874,
            -170.92312622070312
        ],
        "velocity": [
            -0.30068665742874146,
            -0.04483768343925476,
            0.003512916387990117
        ],
        "speed": 0.3040113218481643,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.820730209350586,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.863525390625,
                4084.48388671875,
                365.60577392578125
            ],
            "velocity": [
                -2.5222859382629395,
                -0.417484313249588,
                0.04015118628740311
            ],
            "speed_kmh": 9.20490618345001,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.159603595733643,
                "transform": {
                    "location": {
                        "x": 1145.55322265625,
                        "y": 4084.22021484375,
                        "z": 365.9456481933594
                    },
                    "rotation": {
                        "roll": 0.0005454901256598532,
                        "pitch": -0.9536992907524109,
                        "yaw": 9.3107328414917
                    }
                },
                "velocity": {
                    "x": 6.076945781707764,
                    "y": 1.0002943277359009,
                    "z": -0.10420242697000504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.770654678344727,
                "transform": {
                    "location": {
                        "x": 1230.5281982421875,
                        "y": 4094.81396484375,
                        "z": 364.64605712890625
                    },
                    "rotation": {
                        "roll": -0.0004272486548870802,
                        "pitch": 0.8620381355285645,
                        "yaw": -170.739990234375
                    }
                },
                "velocity": {
                    "x": -8.655768394470215,
                    "y": -1.4093420505523682,
                    "z": 0.12575697898864746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055910110473633,
                "transform": {
                    "location": {
                        "x": 1228.21484375,
                        "y": 4097.6796875,
                        "z": 364.66802978515625
                    },
                    "rotation": {
                        "roll": 0.0004062314401380718,
                        "pitch": -0.8236661553382874,
                        "yaw": 9.242964744567871
                    }
                },
                "velocity": {
                    "x": 7.950633525848389,
                    "y": 1.2930141687393188,
                    "z": -0.11501186341047287
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1266.06787109375,
                        "y": 4103.779296875,
                        "z": 364.11956787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8828087449073792,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9914727210998535,
                "transform": {
                    "location": {
                        "x": 1211.5189208984375,
                        "y": 4091.723388671875,
                        "z": 364.92889404296875
                    },
                    "rotation": {
                        "roll": -3.0518247513100505e-05,
                        "pitch": 0.7348873615264893,
                        "yaw": -170.76315307617188
                    }
                },
                "velocity": {
                    "x": -7.887029647827148,
                    "y": -1.2825634479522705,
                    "z": 0.11588244885206223
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5569183826446533,
                "transform": {
                    "location": {
                        "x": 1166.863525390625,
                        "y": 4084.48388671875,
                        "z": 365.60577392578125
                    },
                    "rotation": {
                        "roll": 0.0016964706592261791,
                        "pitch": 0.9283319115638733,
                        "yaw": -170.6480255126953
                    }
                },
                "velocity": {
                    "x": -2.5222859382629395,
                    "y": -0.417484313249588,
                    "z": 0.04015118628740311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.189903259277344,
                "transform": {
                    "location": {
                        "x": 1148.6400146484375,
                        "y": 4081.51904296875,
                        "z": 365.9029541015625
                    },
                    "rotation": {
                        "roll": 0.005329487845301628,
                        "pitch": 0.835188627243042,
                        "yaw": -170.5515899658203
                    }
                },
                "velocity": {
                    "x": -4.133307456970215,
                    "y": -0.6827300190925598,
                    "z": 0.07028158009052277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.3726806640625,
                        "y": 4086.85546875,
                        "z": 366.2435607910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39544737339019775,
        "expert_target_speed": 0.512331457662354,
        "target_point": [
            38.31572184324666,
            0.5105446782744858
        ],
        "target_point_next": [
            75.31563951520613,
            0.6124693103418224
        ]
    },
    "240": {
        "acceleration": [
            -0.015252958983182907,
            -0.00634550116956234,
            0.013494744896888733
        ],
        "angular_velocity": [
            -0.6380360722541809,
            3.8214681148529053,
            -0.001847683684900403
        ],
        "forward_vector": [
            -0.987473726272583,
            -0.15776020288467407,
            -0.0027196374721825123
        ],
        "right_vector": [
            0.15776115655899048,
            -0.9874773025512695,
            -0.00014077388914301991
        ],
        "location": [
            1194.2322998046875,
            4089.423583984375,
            365.1813049316406
        ],
        "rotation": [
            0.008065779693424702,
            -0.15582393109798431,
            -170.9230499267578
        ],
        "velocity": [
            0.01168463472276926,
            0.002115630079060793,
            0.001745054847560823
        ],
        "speed": 0.011874619119616925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.521434783935547,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1166.165771484375,
                4084.36865234375,
                365.6170349121094
            ],
            "velocity": [
                -3.0504097938537598,
                -0.504723072052002,
                0.04932921379804611
            ],
            "speed_kmh": 11.132198140960252,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.436614990234375,
                "transform": {
                    "location": {
                        "x": 1147.4393310546875,
                        "y": 4084.53076171875,
                        "z": 365.9129638671875
                    },
                    "rotation": {
                        "roll": -0.0018920913571491838,
                        "pitch": -0.8518679738044739,
                        "yaw": 9.343777656555176
                    }
                },
                "velocity": {
                    "x": 8.323112487792969,
                    "y": 1.3721078634262085,
                    "z": -0.13997241854667664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9592390060424805,
                "transform": {
                    "location": {
                        "x": 1228.484619140625,
                        "y": 4094.4814453125,
                        "z": 364.6756591796875
                    },
                    "rotation": {
                        "roll": -0.0009460469009354711,
                        "pitch": 0.7407134771347046,
                        "yaw": -170.7756805419922
                    }
                },
                "velocity": {
                    "x": -7.855093955993652,
                    "y": -1.2782062292099,
                    "z": 0.11477260291576385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088855743408203,
                "transform": {
                    "location": {
                        "x": 1230.2066650390625,
                        "y": 4098.00341796875,
                        "z": 364.6390075683594
                    },
                    "rotation": {
                        "roll": 0.00016932484868448228,
                        "pitch": -0.8244311213493347,
                        "yaw": 9.2364501953125
                    }
                },
                "velocity": {
                    "x": 7.9831862449646,
                    "y": 1.2980691194534302,
                    "z": -0.11550165712833405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1267.5557861328125,
                        "y": 4103.9775390625,
                        "z": 364.081787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8828087449073792,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5100338459014893,
                "transform": {
                    "location": {
                        "x": 1210.37353515625,
                        "y": 4091.537109375,
                        "z": 364.95440673828125
                    },
                    "rotation": {
                        "roll": -3.051968815270811e-05,
                        "pitch": -0.3643496036529541,
                        "yaw": -170.763671875
                    }
                },
                "velocity": {
                    "x": -1.4903512001037598,
                    "y": -0.24216407537460327,
                    "z": 0.020304707810282707
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0922772884368896,
                "transform": {
                    "location": {
                        "x": 1166.165771484375,
                        "y": 4084.36865234375,
                        "z": 365.6170349121094
                    },
                    "rotation": {
                        "roll": 0.0031092350836843252,
                        "pitch": 0.9327510595321655,
                        "yaw": -170.63497924804688
                    }
                },
                "velocity": {
                    "x": -3.0504097938537598,
                    "y": -0.504723072052002,
                    "z": 0.04932921379804611
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001906402176246047,
                "transform": {
                    "location": {
                        "x": 1148.3489990234375,
                        "y": 4081.470947265625,
                        "z": 365.90863037109375
                    },
                    "rotation": {
                        "roll": 0.0031023994088172913,
                        "pitch": 0.7071089744567871,
                        "yaw": -170.5685577392578
                    }
                },
                "velocity": {
                    "x": 0.0006321110995486379,
                    "y": -2.2442674890044145e-05,
                    "z": -0.0017984163714572787
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4141845703125,
                        "y": 4087.353759765625,
                        "z": 366.2416076660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39377492666244507,
        "expert_target_speed": 0.14768487260370494,
        "target_point": [
            38.30918455267646,
            0.5098219644515076
        ],
        "target_point_next": [
            75.309102321822,
            0.6117113106476051
        ]
    },
    "245": {
        "acceleration": [
            -0.024525634944438934,
            0.004163840785622597,
            -0.002336262259632349
        ],
        "angular_velocity": [
            -0.2823372483253479,
            1.649782419204712,
            6.231261068023741e-05
        ],
        "forward_vector": [
            -0.9874379634857178,
            -0.15775255858898163,
            0.008960841223597527
        ],
        "right_vector": [
            0.15775857865810394,
            -0.987477719783783,
            -3.618962364271283e-05
        ],
        "location": [
            1194.2281494140625,
            4089.422607421875,
            365.1790466308594
        ],
        "rotation": [
            0.0020735959988087416,
            0.5134252905845642,
            -170.92315673828125
        ],
        "velocity": [
            0.00526153901591897,
            0.0011736005544662476,
            0.0013896046439185739
        ],
        "speed": 0.005390837697193364,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.375991821289062,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1165.3184814453125,
                4084.228759765625,
                365.6305847167969
            ],
            "velocity": [
                -3.733234405517578,
                -0.6165938973426819,
                0.06056426092982292
            ],
            "speed_kmh": 13.623465112395301,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06899356842041,
                "transform": {
                    "location": {
                        "x": 1149.4930419921875,
                        "y": 4084.869384765625,
                        "z": 365.8791198730469
                    },
                    "rotation": {
                        "roll": -0.0014343176735565066,
                        "pitch": -0.9360637068748474,
                        "yaw": 9.363966941833496
                    }
                },
                "velocity": {
                    "x": 7.960403919219971,
                    "y": 1.3125760555267334,
                    "z": -0.13331076502799988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.967953205108643,
                "transform": {
                    "location": {
                        "x": 1226.501708984375,
                        "y": 4094.158935546875,
                        "z": 364.7045593261719
                    },
                    "rotation": {
                        "roll": 0.0007523286039941013,
                        "pitch": 0.8036536574363708,
                        "yaw": -170.74215698242188
                    }
                },
                "velocity": {
                    "x": -7.8637919425964355,
                    "y": -1.2790361642837524,
                    "z": 0.11457265913486481
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056009292602539,
                "transform": {
                    "location": {
                        "x": 1232.1982421875,
                        "y": 4098.3271484375,
                        "z": 364.60992431640625
                    },
                    "rotation": {
                        "roll": -0.0002746637037489563,
                        "pitch": -0.8286726474761963,
                        "yaw": 9.237162590026855
                    }
                },
                "velocity": {
                    "x": 7.95068359375,
                    "y": 1.2932909727096558,
                    "z": -0.11542949080467224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1268.9857177734375,
                        "y": 4104.20947265625,
                        "z": 364.0592041015625
                    },
                    "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": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.482869029045105,
                "transform": {
                    "location": {
                        "x": 1210.04345703125,
                        "y": 4091.4833984375,
                        "z": 364.95367431640625
                    },
                    "rotation": {
                        "roll": 0.0004251937789376825,
                        "pitch": 0.3097763955593109,
                        "yaw": -170.75521850585938
                    }
                },
                "velocity": {
                    "x": -1.4634270668029785,
                    "y": -0.23833836615085602,
                    "z": 0.02183382958173752
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7842957973480225,
                "transform": {
                    "location": {
                        "x": 1165.3184814453125,
                        "y": 4084.228759765625,
                        "z": 365.6305847167969
                    },
                    "rotation": {
                        "roll": 0.0021172768902033567,
                        "pitch": 0.9402984380722046,
                        "yaw": -170.62599182128906
                    }
                },
                "velocity": {
                    "x": -3.733234405517578,
                    "y": -0.6165938973426819,
                    "z": 0.06056426092982292
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005675837164744735,
                "transform": {
                    "location": {
                        "x": 1148.347900390625,
                        "y": 4081.470458984375,
                        "z": 365.9072265625
                    },
                    "rotation": {
                        "roll": 0.0028978639747947454,
                        "pitch": 0.8986479640007019,
                        "yaw": -170.5684814453125
                    }
                },
                "velocity": {
                    "x": 0.0002697667514439672,
                    "y": 3.15973702527117e-05,
                    "z": -0.0004983761464245617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4556884765625,
                        "y": 4087.8515625,
                        "z": 366.2396545410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.39656639099121094,
        "expert_target_speed": 0.053797211360381944,
        "target_point": [
            38.30493110079423,
            0.5095854602115368
        ],
        "target_point_next": [
            75.30484867553395,
            0.6115453781500211
        ]
    },
    "250": {
        "acceleration": [
            0.27959635853767395,
            0.04517784342169762,
            -0.011268343776464462
        ],
        "angular_velocity": [
            -0.06630466133356094,
            0.35396382212638855,
            -0.0012971780961379409
        ],
        "forward_vector": [
            -0.9873892664909363,
            -0.15774430334568024,
            0.013383227400481701
        ],
        "right_vector": [
            0.15775877237319946,
            -0.9874776601791382,
            2.556410436227452e-05
        ],
        "location": [
            1194.2259521484375,
            4089.422119140625,
            365.1781921386719
        ],
        "rotation": [
            -0.0014648465439677238,
            0.7668253183364868,
            -170.92318725585938
        ],
        "velocity": [
            0.016272438690066338,
            0.00264594960026443,
            0.0009131049737334251
        ],
        "speed": 0.016486155106910386,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.4303035736084,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1164.276123046875,
                4084.056396484375,
                365.64739990234375
            ],
            "velocity": [
                -4.600944995880127,
                -0.7615196108818054,
                0.07413701713085175
            ],
            "speed_kmh": 16.790865921135396,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9325432777404785,
                "transform": {
                    "location": {
                        "x": 1151.44677734375,
                        "y": 4085.18994140625,
                        "z": 365.8465576171875
                    },
                    "rotation": {
                        "roll": 0.00089477893197909,
                        "pitch": -0.9547715783119202,
                        "yaw": 9.320293426513672
                    }
                },
                "velocity": {
                    "x": 7.827157974243164,
                    "y": 1.2819912433624268,
                    "z": -0.13166794180870056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.876286029815674,
                "transform": {
                    "location": {
                        "x": 1224.670654296875,
                        "y": 4093.86083984375,
                        "z": 364.73101806640625
                    },
                    "rotation": {
                        "roll": -0.0006103455671109259,
                        "pitch": 0.6893367767333984,
                        "yaw": -170.7786865234375
                    }
                },
                "velocity": {
                    "x": -6.78652286529541,
                    "y": -1.103067398071289,
                    "z": 0.09828771650791168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089240074157715,
                "transform": {
                    "location": {
                        "x": 1234.190185546875,
                        "y": 4098.650390625,
                        "z": 364.5807189941406
                    },
                    "rotation": {
                        "roll": 0.0006413252558559179,
                        "pitch": -0.8337406516075134,
                        "yaw": 9.232973098754883
                    }
                },
                "velocity": {
                    "x": 7.98366117477417,
                    "y": 1.2974605560302734,
                    "z": -0.11641272157430649
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1270.3653564453125,
                        "y": 4104.4326171875,
                        "z": 364.0373229980469
                    },
                    "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": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.874843955039978,
                "transform": {
                    "location": {
                        "x": 1209.6162109375,
                        "y": 4091.41357421875,
                        "z": 364.9539794921875
                    },
                    "rotation": {
                        "roll": 0.0009056204580701888,
                        "pitch": 1.0777969360351562,
                        "yaw": -170.74647521972656
                    }
                },
                "velocity": {
                    "x": -1.8502633571624756,
                    "y": -0.3014133870601654,
                    "z": 0.026739349588751793
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.664129734039307,
                "transform": {
                    "location": {
                        "x": 1164.276123046875,
                        "y": 4084.056396484375,
                        "z": 365.64739990234375
                    },
                    "rotation": {
                        "roll": 0.002861693035811186,
                        "pitch": 0.9468827247619629,
                        "yaw": -170.6204376220703
                    }
                },
                "velocity": {
                    "x": -4.600944995880127,
                    "y": -0.7615196108818054,
                    "z": 0.07413701713085175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009831399656832218,
                "transform": {
                    "location": {
                        "x": 1148.3475341796875,
                        "y": 4081.470458984375,
                        "z": 365.9068908691406
                    },
                    "rotation": {
                        "roll": 0.002931739203631878,
                        "pitch": 0.9398612976074219,
                        "yaw": -170.56845092773438
                    }
                },
                "velocity": {
                    "x": 9.763732668943703e-05,
                    "y": 6.279345689108595e-05,
                    "z": 0.0009762623230926692
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.4971923828125,
                        "y": 4088.349609375,
                        "z": 366.2377014160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.39635026454925537,
        "expert_target_speed": 0.0,
        "target_point": [
            38.30268431938269,
            0.5094499312673628
        ],
        "target_point_next": [
            75.30260189412243,
            0.6114098492058471
        ]
    },
    "255": {
        "acceleration": [
            -4.224029541015625,
            -0.67017662525177,
            0.05683460086584091
        ],
        "angular_velocity": [
            -0.21932749450206757,
            1.2498805522918701,
            0.025089845061302185
        ],
        "forward_vector": [
            -0.9874215126037598,
            -0.1573600322008133,
            0.015381325036287308
        ],
        "right_vector": [
            0.15737922489643097,
            -0.98753821849823,
            3.728002411662601e-05
        ],
        "location": [
            1194.2130126953125,
            4089.419921875,
            365.17803955078125
        ],
        "rotation": [
            -0.0021362409461289644,
            0.8813197612762451,
            -170.94522094726562
        ],
        "velocity": [
            -0.24633321166038513,
            -0.038982439786195755,
            0.004248447250574827
        ],
        "speed": 0.24939864029020783,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.686025619506836,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1163.024169921875,
                4083.850341796875,
                365.6680908203125
            ],
            "velocity": [
                -5.1710124015808105,
                -0.8489481806755066,
                0.0835183709859848
            ],
            "speed_kmh": 18.867248510429594,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.141704559326172,
                "transform": {
                    "location": {
                        "x": 1153.438232421875,
                        "y": 4085.51611328125,
                        "z": 365.813232421875
                    },
                    "rotation": {
                        "roll": -0.001007073326036334,
                        "pitch": -0.9352031350135803,
                        "yaw": 9.297273635864258
                    }
                },
                "velocity": {
                    "x": 8.033930778503418,
                    "y": 1.3135859966278076,
                    "z": -0.13338612020015717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.923234224319458,
                "transform": {
                    "location": {
                        "x": 1223.333740234375,
                        "y": 4093.6435546875,
                        "z": 364.7496337890625
                    },
                    "rotation": {
                        "roll": 0.00011282663035672158,
                        "pitch": 0.32248735427856445,
                        "yaw": -170.69105529785156
                    }
                },
                "velocity": {
                    "x": -2.885202169418335,
                    "y": -0.4683234691619873,
                    "z": 0.03975125402212143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055999755859375,
                "transform": {
                    "location": {
                        "x": 1236.181884765625,
                        "y": 4098.97412109375,
                        "z": 364.5514221191406
                    },
                    "rotation": {
                        "roll": 2.2127078409539536e-05,
                        "pitch": -0.8325795531272888,
                        "yaw": 9.233926773071289
                    }
                },
                "velocity": {
                    "x": 7.950764179229736,
                    "y": 1.2926324605941772,
                    "z": -0.11657634377479553
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1271.6964111328125,
                        "y": 4104.6484375,
                        "z": 364.0163879394531
                    },
                    "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": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4548161029815674,
                "transform": {
                    "location": {
                        "x": 1209.0777587890625,
                        "y": 4091.326171875,
                        "z": 364.9621887207031
                    },
                    "rotation": {
                        "roll": 0.00030084478203207254,
                        "pitch": 1.0411666631698608,
                        "yaw": -170.73760986328125
                    }
                },
                "velocity": {
                    "x": -2.4227099418640137,
                    "y": -0.3941043019294739,
                    "z": 0.03577321767807007
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.240902423858643,
                "transform": {
                    "location": {
                        "x": 1163.024169921875,
                        "y": 4083.850341796875,
                        "z": 365.6680908203125
                    },
                    "rotation": {
                        "roll": 0.0023397612385451794,
                        "pitch": 0.9400798678398132,
                        "yaw": -170.63629150390625
                    }
                },
                "velocity": {
                    "x": -5.1710124015808105,
                    "y": -0.8489481806755066,
                    "z": 0.0835183709859848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007931470754556358,
                "transform": {
                    "location": {
                        "x": 1148.3475341796875,
                        "y": 4081.470458984375,
                        "z": 365.9068298339844
                    },
                    "rotation": {
                        "roll": 0.0030209883116185665,
                        "pitch": 0.9524698257446289,
                        "yaw": -170.568359375
                    }
                },
                "velocity": {
                    "x": 4.867538882535882e-05,
                    "y": 6.349887371470686e-06,
                    "z": 0.0007916266331449151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5386962890625,
                        "y": 4088.84765625,
                        "z": 366.2357482910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.18664862215518951,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40222135186195374,
        "expert_target_speed": 0.12762295307675525,
        "target_point": [
            38.28936143462787,
            0.5240555677424545
        ],
        "target_point_next": [
            75.28923703500249,
            0.6402533267695247
        ]
    },
    "260": {
        "acceleration": [
            -1.6703581809997559,
            -0.25869935750961304,
            0.029731374233961105
        ],
        "angular_velocity": [
            -0.053098563104867935,
            0.22725938260555267,
            0.5765469670295715
        ],
        "forward_vector": [
            -0.9873331189155579,
            -0.15750117599964142,
            0.01914825290441513
        ],
        "right_vector": [
            0.15753084421157837,
            -0.987514078617096,
            4.153756526648067e-05
        ],
        "location": [
            1194.05029296875,
            4089.394287109375,
            365.1797180175781
        ],
        "rotation": [
            -0.002380363643169403,
            1.0971810817718506,
            -170.9364471435547
        ],
        "velocity": [
            -0.9388136267662048,
            -0.14910925924777985,
            0.01450407039374113
        ],
        "speed": 0.9505811890603225,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.88918685913086,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1161.6744384765625,
                4083.628662109375,
                365.6899108886719
            ],
            "velocity": [
                -5.87882137298584,
                -0.9650536775588989,
                0.09611869603395462
            ],
            "speed_kmh": 21.44981029033706,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038681030273438,
                "transform": {
                    "location": {
                        "x": 1155.435546875,
                        "y": 4085.842529296875,
                        "z": 365.78021240234375
                    },
                    "rotation": {
                        "roll": -9.154614963335916e-05,
                        "pitch": -0.9387206435203552,
                        "yaw": 9.276036262512207
                    }
                },
                "velocity": {
                    "x": 7.932499408721924,
                    "y": 1.2956801652908325,
                    "z": -0.13063478469848633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7794920802116394,
                "transform": {
                    "location": {
                        "x": 1223.147216796875,
                        "y": 4093.613037109375,
                        "z": 364.75250244140625
                    },
                    "rotation": {
                        "roll": -0.0010681124404072762,
                        "pitch": 0.44082722067832947,
                        "yaw": -170.66978454589844
                    }
                },
                "velocity": {
                    "x": -0.7690302133560181,
                    "y": -0.1266886591911316,
                    "z": 0.01226200070232153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089385032653809,
                "transform": {
                    "location": {
                        "x": 1238.1737060546875,
                        "y": 4099.29736328125,
                        "z": 364.52203369140625
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.8387745022773743,
                        "yaw": 9.237115859985352
                    }
                },
                "velocity": {
                    "x": 7.983591079711914,
                    "y": 1.2985496520996094,
                    "z": -0.11912786215543747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5299,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1272.98046875,
                        "y": 4104.8564453125,
                        "z": 363.99615478515625
                    },
                    "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": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1270222663879395,
                "transform": {
                    "location": {
                        "x": 1208.3931884765625,
                        "y": 4091.21484375,
                        "z": 364.97283935546875
                    },
                    "rotation": {
                        "roll": 0.0005421248497441411,
                        "pitch": 0.976252555847168,
                        "yaw": -170.74453735351562
                    }
                },
                "velocity": {
                    "x": -3.0861194133758545,
                    "y": -0.502047061920166,
                    "z": 0.045656681060791016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.958280563354492,
                "transform": {
                    "location": {
                        "x": 1161.6744384765625,
                        "y": 4083.628662109375,
                        "z": 365.6899108886719
                    },
                    "rotation": {
                        "roll": 0.0016290255589410663,
                        "pitch": 0.9393216967582703,
                        "yaw": -170.65628051757812
                    }
                },
                "velocity": {
                    "x": -5.87882137298584,
                    "y": -0.9650536775588989,
                    "z": 0.09611869603395462
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016740787541493773,
                "transform": {
                    "location": {
                        "x": 1148.3475341796875,
                        "y": 4081.470458984375,
                        "z": 365.90679931640625
                    },
                    "rotation": {
                        "roll": 0.0031267476733773947,
                        "pitch": 0.9563425183296204,
                        "yaw": -170.56834411621094
                    }
                },
                "velocity": {
                    "x": 5.8808920584851876e-05,
                    "y": 7.253624517034041e-06,
                    "z": 0.0016730297356843948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.5802001953125,
                        "y": 4089.345458984375,
                        "z": 366.2337951660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4157317578792572,
        "expert_target_speed": 2.122744666029526,
        "target_point": [
            38.1247149149341,
            0.5185133396071908
        ],
        "target_point_next": [
            75.12460786765546,
            0.6290477214084014
        ]
    },
    "265": {
        "acceleration": [
            -5.457193851470947,
            -0.8535146713256836,
            0.07351435720920563
        ],
        "angular_velocity": [
            -0.11710091680288315,
            0.9022691249847412,
            0.10298120975494385
        ],
        "forward_vector": [
            -0.9873818755149841,
            -0.15691322088241577,
            0.021335890516638756
        ],
        "right_vector": [
            0.15694934129714966,
            -0.9876066446304321,
            1.8637974790181033e-05
        ],
        "location": [
            1193.69970703125,
            4089.3388671875,
            365.1846008300781
        ],
        "rotation": [
            -0.0010681204730644822,
            1.2225492000579834,
            -170.97015380859375
        ],
        "velocity": [
            -1.9266856908798218,
            -0.303970068693161,
            0.029311608523130417
        ],
        "speed": 1.9505167402774017,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.02434158325195,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1160.2042236328125,
                4083.38671875,
                365.71417236328125
            ],
            "velocity": [
                -5.022899150848389,
                -0.8231164216995239,
                0.08233184367418289
            ],
            "speed_kmh": 18.32602092988246,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02355670928955,
                "transform": {
                    "location": {
                        "x": 1157.4112548828125,
                        "y": 4086.16455078125,
                        "z": 365.7476806640625
                    },
                    "rotation": {
                        "roll": 0.0009624969679862261,
                        "pitch": -0.9320065975189209,
                        "yaw": 9.261642456054688
                    }
                },
                "velocity": {
                    "x": 7.917897701263428,
                    "y": 1.29123854637146,
                    "z": -0.13060283660888672
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7991771697998047,
                "transform": {
                    "location": {
                        "x": 1222.806396484375,
                        "y": 4093.5576171875,
                        "z": 364.7580871582031
                    },
                    "rotation": {
                        "roll": 0.0015823838766664267,
                        "pitch": 0.8674749732017517,
                        "yaw": -170.646728515625
                    }
                },
                "velocity": {
                    "x": -1.7754637002944946,
                    "y": -0.29000934958457947,
                    "z": 0.0257271658629179
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055617332458496,
                "transform": {
                    "location": {
                        "x": 1240.1654052734375,
                        "y": 4099.62158203125,
                        "z": 364.4924011230469
                    },
                    "rotation": {
                        "roll": -6.103806663304567e-05,
                        "pitch": -0.8421280980110168,
                        "yaw": 9.238594055175781
                    }
                },
                "velocity": {
                    "x": 7.950275897979736,
                    "y": 1.2931275367736816,
                    "z": -0.11791112273931503
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.104074954986572,
                "transform": {
                    "location": {
                        "x": 1207.5003662109375,
                        "y": 4091.069580078125,
                        "z": 364.9855041503906
                    },
                    "rotation": {
                        "roll": 0.0012629114789888263,
                        "pitch": 1.053836703300476,
                        "yaw": -170.7510223388672
                    }
                },
                "velocity": {
                    "x": -4.050451278686523,
                    "y": -0.6584959030151367,
                    "z": 0.06049361079931259
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.090561389923096,
                "transform": {
                    "location": {
                        "x": 1160.2042236328125,
                        "y": 4083.38671875,
                        "z": 365.71417236328125
                    },
                    "rotation": {
                        "roll": 0.0014471659669652581,
                        "pitch": 0.9197463989257812,
                        "yaw": -170.71881103515625
                    }
                },
                "velocity": {
                    "x": -5.022899150848389,
                    "y": -0.8231164216995239,
                    "z": 0.08233184367418289
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006521935574710369,
                "transform": {
                    "location": {
                        "x": 1148.3475341796875,
                        "y": 4081.470458984375,
                        "z": 365.9068298339844
                    },
                    "rotation": {
                        "roll": 0.003087335266172886,
                        "pitch": 0.9566020965576172,
                        "yaw": -170.5682830810547
                    }
                },
                "velocity": {
                    "x": 5.488812894327566e-05,
                    "y": -2.5940127670764923e-05,
                    "z": 0.0006493618711829185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6217041015625,
                        "y": 4089.84375,
                        "z": 366.2318420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40789082646369934,
        "expert_target_speed": 3.116939672908509,
        "target_point": [
            37.769464087529784,
            0.5412374398311623
        ],
        "target_point_next": [
            74.76928559461777,
            0.6735431692214231
        ]
    },
    "270": {
        "acceleration": [
            -6.798357963562012,
            -1.0662692785263062,
            0.08654557168483734
        ],
        "angular_velocity": [
            -0.1614135056734085,
            0.8791524171829224,
            -0.10245919227600098
        ],
        "forward_vector": [
            -0.9874247908592224,
            -0.1560172140598297,
            0.025513621047139168
        ],
        "right_vector": [
            0.15606807172298431,
            -0.9877462983131409,
            2.1299347281455994e-06
        ],
        "location": [
            1193.0213623046875,
            4089.231689453125,
            365.194091796875
        ],
        "rotation": [
            -0.0001220760022988543,
            1.4619814157485962,
            -171.02125549316406
        ],
        "velocity": [
            -3.5127580165863037,
            -0.55231773853302,
            0.053595371544361115
        ],
        "speed": 3.555913914507714,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.99728775024414,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.55322265625,
                4083.280517578125,
                365.72576904296875
            ],
            "velocity": [
                -0.16615059971809387,
                -0.025931429117918015,
                0.0027956771664321423
            ],
            "speed_kmh": 0.6054668817633546,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 1119.473388671875,
                        "y": 4079.8984375,
                        "z": 366.7974853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.107159614562988,
                "transform": {
                    "location": {
                        "x": 1159.4053955078125,
                        "y": 4086.489990234375,
                        "z": 365.7148742675781
                    },
                    "rotation": {
                        "roll": -3.051974272239022e-05,
                        "pitch": -0.9283046126365662,
                        "yaw": 9.263765335083008
                    }
                },
                "velocity": {
                    "x": 8.000361442565918,
                    "y": 1.305022120475769,
                    "z": -0.13107377290725708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.949932813644409,
                "transform": {
                    "location": {
                        "x": 1222.23046875,
                        "y": 4093.463623046875,
                        "z": 364.7666015625
                    },
                    "rotation": {
                        "roll": 0.002973364433273673,
                        "pitch": 0.9759998321533203,
                        "yaw": -170.68194580078125
                    }
                },
                "velocity": {
                    "x": -2.9111480712890625,
                    "y": -0.4749385714530945,
                    "z": 0.041883885860443115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089054107666016,
                "transform": {
                    "location": {
                        "x": 1242.1571044921875,
                        "y": 4099.94580078125,
                        "z": 364.4627380371094
                    },
                    "rotation": {
                        "roll": -0.00033568943035788834,
                        "pitch": -0.8431321382522583,
                        "yaw": 9.240215301513672
                    }
                },
                "velocity": {
                    "x": 7.983330726623535,
                    "y": 1.298074722290039,
                    "z": -0.1192677691578865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.081442356109619,
                "transform": {
                    "location": {
                        "x": 1206.343017578125,
                        "y": 4090.881103515625,
                        "z": 365.00238037109375
                    },
                    "rotation": {
                        "roll": 0.00021318400104064494,
                        "pitch": 1.1202534437179565,
                        "yaw": -170.75599670410156
                    }
                },
                "velocity": {
                    "x": -5.0149054527282715,
                    "y": -0.8160682320594788,
                    "z": 0.0762435719370842
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1681852489709854,
                "transform": {
                    "location": {
                        "x": 1159.55322265625,
                        "y": 4083.280517578125,
                        "z": 365.72576904296875
                    },
                    "rotation": {
                        "roll": 0.001126520917750895,
                        "pitch": 0.7888731360435486,
                        "yaw": -170.69004821777344
                    }
                },
                "velocity": {
                    "x": -0.16615059971809387,
                    "y": -0.025931429117918015,
                    "z": 0.0027956771664321423
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.22805559635162354,
                "transform": {
                    "location": {
                        "x": 1148.33251953125,
                        "y": 4081.468017578125,
                        "z": 365.9070129394531
                    },
                    "rotation": {
                        "roll": 0.00408394867554307,
                        "pitch": 0.968343198299408,
                        "yaw": -170.5638885498047
                    }
                },
                "velocity": {
                    "x": -0.22492939233779907,
                    "y": -0.037353940308094025,
                    "z": 0.004561509937047958
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.6632080078125,
                        "y": 4090.341796875,
                        "z": 366.2298889160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4150567352771759,
        "expert_target_speed": 4.6743075603894635,
        "target_point": [
            37.08220694128261,
            0.5749192774926248
        ],
        "target_point_next": [
            74.08189576395397,
            0.7402171537290485
        ]
    },
    "275": {
        "acceleration": [
            -6.779117584228516,
            -1.052546501159668,
            0.1864519715309143
        ],
        "angular_velocity": [
            -0.030443275347352028,
            0.36328721046447754,
            -0.14457295835018158
        ],
        "forward_vector": [
            -0.9874454736709595,
            -0.15549303591251373,
            0.027809370309114456
        ],
        "right_vector": [
            0.15555325150489807,
            -0.9878275394439697,
            1.597218101778708e-06
        ],
        "location": [
            1191.9276123046875,
            4089.060302734375,
            365.2104187011719
        ],
        "rotation": [
            -9.154926374321803e-05,
            1.5935649871826172,
            -171.05111694335938
        ],
        "velocity": [
            -5.171375751495361,
            -0.8108208775520325,
            0.08328460156917572
        ],
        "speed": 5.234554198652304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.98626708984375,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.45849609375,
                4083.26513671875,
                365.7263488769531
            ],
            "velocity": [
                -0.7476087808609009,
                -0.1220100075006485,
                0.012012195773422718
            ],
            "speed_kmh": 2.7273406694091538,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1121.521728515625,
                        "y": 4080.2314453125,
                        "z": 366.62506103515625
                    },
                    "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": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010207176208496,
                "transform": {
                    "location": {
                        "x": 1161.3916015625,
                        "y": 4086.813720703125,
                        "z": 365.6825256347656
                    },
                    "rotation": {
                        "roll": -0.001495358650572598,
                        "pitch": -0.9233322143554688,
                        "yaw": 9.257404327392578
                    }
                },
                "velocity": {
                    "x": 7.904891014099121,
                    "y": 1.2881618738174438,
                    "z": -0.12946854531764984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.488081455230713,
                "transform": {
                    "location": {
                        "x": 1221.296630859375,
                        "y": 4093.311767578125,
                        "z": 364.78021240234375
                    },
                    "rotation": {
                        "roll": 0.0016864781500771642,
                        "pitch": 1.0477031469345093,
                        "yaw": -170.71597290039062
                    }
                },
                "velocity": {
                    "x": -4.429291248321533,
                    "y": -0.7211906909942627,
                    "z": 0.06431867182254791
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05661678314209,
                "transform": {
                    "location": {
                        "x": 1244.1488037109375,
                        "y": 4100.27001953125,
                        "z": 364.4330139160156
                    },
                    "rotation": {
                        "roll": 0.000623456493485719,
                        "pitch": -0.8486646413803101,
                        "yaw": 9.239019393920898
                    }
                },
                "velocity": {
                    "x": 7.951224327087402,
                    "y": 1.2933905124664307,
                    "z": -0.11938820779323578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.214410305023193,
                "transform": {
                    "location": {
                        "x": 1205.083740234375,
                        "y": 4090.676513671875,
                        "z": 365.0230712890625
                    },
                    "rotation": {
                        "roll": 0.0001518042990937829,
                        "pitch": 0.9148764610290527,
                        "yaw": -170.76280212402344
                    }
                },
                "velocity": {
                    "x": -5.146263122558594,
                    "y": -0.8367482423782349,
                    "z": 0.0768335685133934
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.757594645023346,
                "transform": {
                    "location": {
                        "x": 1159.45849609375,
                        "y": 4083.26513671875,
                        "z": 365.7263488769531
                    },
                    "rotation": {
                        "roll": 0.0005315667949616909,
                        "pitch": 0.9031422138214111,
                        "yaw": -170.6870574951172
                    }
                },
                "velocity": {
                    "x": -0.7476087808609009,
                    "y": -0.1220100075006485,
                    "z": 0.012012195773422718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1401280164718628,
                "transform": {
                    "location": {
                        "x": 1148.1468505859375,
                        "y": 4081.436767578125,
                        "z": 365.9101867675781
                    },
                    "rotation": {
                        "roll": 0.0025760785210877657,
                        "pitch": 1.0057590007781982,
                        "yaw": -170.59442138671875
                    }
                },
                "velocity": {
                    "x": -1.1250139474868774,
                    "y": -0.18376871943473816,
                    "z": 0.02155585214495659
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [
            {
                "id": 5291,
                "type": "walker.pedestrian.0020",
                "speed_kmh": 1.9990928173065186,
                "transform": {
                    "location": {
                        "x": 1187.7047119140625,
                        "y": 4090.83984375,
                        "z": 366.2279357910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8803703784942627,
                        "yaw": 85.23467254638672
                    }
                },
                "velocity": {
                    "x": 0.166015625,
                    "y": 1.9921875,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.18767888844013214,
                    "y": 0.18767888844013214,
                    "z": 0.9300000071525574
                }
            }
        ],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.42186295986175537,
        "expert_target_speed": 0.0,
        "target_point": [
            35.97480616836873,
            0.5950817222723428
        ],
        "target_point_next": [
            72.97440381545395,
            0.7796631845202384
        ]
    },
    "280": {
        "acceleration": [
            -8.685035705566406,
            -1.3497531414031982,
            0.13120919466018677
        ],
        "angular_velocity": [
            -0.10299915820360184,
            0.7349604964256287,
            -0.17885524034500122
        ],
        "forward_vector": [
            -0.9876380562782288,
            -0.1549375206232071,
            0.023778222501277924
        ],
        "right_vector": [
            0.15498143434524536,
            -0.987917423248291,
            3.7273855468811234e-06
        ],
        "location": [
            1190.539306640625,
            4088.843017578125,
            365.2327575683594
        ],
        "rotation": [
            -0.00021362387633416802,
            1.3625202178955078,
            -171.08428955078125
        ],
        "velocity": [
            -5.99586296081543,
            -0.9367545247077942,
            0.09133565425872803
        ],
        "speed": 6.068597999904005,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.84398078918457,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1159.1990966796875,
                4083.22314453125,
                365.7301330566406
            ],
            "velocity": [
                -1.3389118909835815,
                -0.21928809583187103,
                0.02127734199166298
            ],
            "speed_kmh": 4.884902926067871,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.207629680633545,
                "transform": {
                    "location": {
                        "x": 1123.5050048828125,
                        "y": 4080.556396484375,
                        "z": 366.3602600097656
                    },
                    "rotation": {
                        "roll": -0.047851551324129105,
                        "pitch": -1.2671502828598022,
                        "yaw": 9.327269554138184
                    }
                },
                "velocity": {
                    "x": 7.058959007263184,
                    "y": 1.2051544189453125,
                    "z": -0.817695677280426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.091135025024414,
                "transform": {
                    "location": {
                        "x": 1163.3780517578125,
                        "y": 4087.13671875,
                        "z": 365.6502685546875
                    },
                    "rotation": {
                        "roll": -0.0011901796096935868,
                        "pitch": -0.9174172878265381,
                        "yaw": 9.249011039733887
                    }
                },
                "velocity": {
                    "x": 7.985270977020264,
                    "y": 1.2980936765670776,
                    "z": -0.12988518178462982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.352722644805908,
                "transform": {
                    "location": {
                        "x": 1220.0390625,
                        "y": 4093.107177734375,
                        "z": 364.79876708984375
                    },
                    "rotation": {
                        "roll": 0.0012592285638675094,
                        "pitch": 0.9847766160964966,
                        "yaw": -170.741943359375
                    }
                },
                "velocity": {
                    "x": -5.282809257507324,
                    "y": -0.858906626701355,
                    "z": 0.07646932452917099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089104652404785,
                "transform": {
                    "location": {
                        "x": 1246.1407470703125,
                        "y": 4100.59423828125,
                        "z": 364.4031066894531
                    },
                    "rotation": {
                        "roll": 0.0005323995719663799,
                        "pitch": -0.8486304879188538,
                        "yaw": 9.239043235778809
                    }
                },
                "velocity": {
                    "x": 7.983296871185303,
                    "y": 1.2985872030258179,
                    "z": -0.11938964575529099
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3675676584243774,
                "transform": {
                    "location": {
                        "x": 1204.3687744140625,
                        "y": 4090.55615234375,
                        "z": 365.0406494140625
                    },
                    "rotation": {
                        "roll": 0.0012572347186505795,
                        "pitch": 0.016843246296048164,
                        "yaw": -171.0792694091797
                    }
                },
                "velocity": {
                    "x": -1.3490476608276367,
                    "y": -0.22347070276737213,
                    "z": 0.0193038173019886
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3569175004959106,
                "transform": {
                    "location": {
                        "x": 1159.1990966796875,
                        "y": 4083.22314453125,
                        "z": 365.7301330566406
                    },
                    "rotation": {
                        "roll": -9.15531418286264e-05,
                        "pitch": 0.9508169293403625,
                        "yaw": -170.65309143066406
                    }
                },
                "velocity": {
                    "x": -1.3389118909835815,
                    "y": -0.21928809583187103,
                    "z": 0.02127734199166298
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.383485198020935,
                "transform": {
                    "location": {
                        "x": 1147.862548828125,
                        "y": 4081.389892578125,
                        "z": 365.9150695800781
                    },
                    "rotation": {
                        "roll": 0.003174457000568509,
                        "pitch": 0.9896191954612732,
                        "yaw": -170.65992736816406
                    }
                },
                "velocity": {
                    "x": -1.3647266626358032,
                    "y": -0.22595402598381042,
                    "z": 0.022299813106656075
                },
                "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": 0.43147584795951843,
        "expert_target_speed": 6.954792122232769,
        "target_point": [
            34.569248902563395,
            0.6164250400403848
        ],
        "target_point_next": [
            71.56873340152087,
            0.8224424514522681
        ]
    },
    "285": {
        "acceleration": [
            -7.752199172973633,
            -1.1786460876464844,
            0.13426512479782104
        ],
        "angular_velocity": [
            -0.06590751558542252,
            0.6475139856338501,
            -0.32755932211875916
        ],
        "forward_vector": [
            -0.9876528978347778,
            -0.1541370004415512,
            0.02799145132303238
        ],
        "right_vector": [
            0.15419714152812958,
            -0.9880400896072388,
            -1.0244082659482956e-05
        ],
        "location": [
            1188.7742919921875,
            4088.5673828125,
            365.25897216796875
        ],
        "rotation": [
            0.0005871727480553091,
            1.604001522064209,
            -171.12974548339844
        ],
        "velocity": [
            -7.915712833404541,
            -1.231239914894104,
            0.12267587333917618
        ],
        "speed": 8.010896416066918,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.449113845825195,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.81298828125,
                4083.159912109375,
                365.73651123046875
            ],
            "velocity": [
                -1.748557686805725,
                -0.28527960181236267,
                0.027948474511504173
            ],
            "speed_kmh": 6.3788297830186425,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4974565505981445,
                "transform": {
                    "location": {
                        "x": 1125.322265625,
                        "y": 4080.87109375,
                        "z": 366.28955078125
                    },
                    "rotation": {
                        "roll": -0.0440063402056694,
                        "pitch": -1.1642398834228516,
                        "yaw": 9.780879974365234
                    }
                },
                "velocity": {
                    "x": 7.387824535369873,
                    "y": 1.273563027381897,
                    "z": -0.09969168156385422
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028979301452637,
                "transform": {
                    "location": {
                        "x": 1165.3671875,
                        "y": 4087.460205078125,
                        "z": 365.6180419921875
                    },
                    "rotation": {
                        "roll": -9.154561848845333e-05,
                        "pitch": -0.9181140065193176,
                        "yaw": 9.244744300842285
                    }
                },
                "velocity": {
                    "x": 7.9236884117126465,
                    "y": 1.289755940437317,
                    "z": -0.1272878497838974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.08884334564209,
                "transform": {
                    "location": {
                        "x": 1218.68701171875,
                        "y": 4092.887451171875,
                        "z": 364.8181457519531
                    },
                    "rotation": {
                        "roll": 0.0010014376603066921,
                        "pitch": 0.9395334720611572,
                        "yaw": -170.77308654785156
                    }
                },
                "velocity": {
                    "x": -6.009511470794678,
                    "y": -0.975774884223938,
                    "z": 0.08744554221630096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056309700012207,
                "transform": {
                    "location": {
                        "x": 1248.13232421875,
                        "y": 4100.91796875,
                        "z": 364.3731689453125
                    },
                    "rotation": {
                        "roll": 0.0003049444349016994,
                        "pitch": -0.8538213968276978,
                        "yaw": 9.236666679382324
                    }
                },
                "velocity": {
                    "x": 7.950979232788086,
                    "y": 1.29294753074646,
                    "z": -0.11975344270467758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7313294410705566,
                "transform": {
                    "location": {
                        "x": 1203.8260498046875,
                        "y": 4090.46923828125,
                        "z": 365.0421142578125
                    },
                    "rotation": {
                        "roll": 0.0014095887308940291,
                        "pitch": 0.8504336476325989,
                        "yaw": -171.00311279296875
                    }
                },
                "velocity": {
                    "x": -2.6960318088531494,
                    "y": -0.4357300102710724,
                    "z": 0.04137992858886719
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7718970775604248,
                "transform": {
                    "location": {
                        "x": 1158.81298828125,
                        "y": 4083.159912109375,
                        "z": 365.73651123046875
                    },
                    "rotation": {
                        "roll": 0.00017598819977138191,
                        "pitch": 0.9488088488578796,
                        "yaw": -170.692626953125
                    }
                },
                "velocity": {
                    "x": -1.748557686805725,
                    "y": -0.28527960181236267,
                    "z": 0.027948474511504173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.533343553543091,
                "transform": {
                    "location": {
                        "x": 1147.38720703125,
                        "y": 4081.30859375,
                        "z": 365.9227294921875
                    },
                    "rotation": {
                        "roll": 0.00039640130125917494,
                        "pitch": 1.0264612436294556,
                        "yaw": -170.81239318847656
                    }
                },
                "velocity": {
                    "x": -2.4989919662475586,
                    "y": -0.41355353593826294,
                    "z": 0.0429111011326313
                },
                "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": 0.33986523747444153,
        "expert_target_speed": 8.497012887649406,
        "target_point": [
            32.78234187602744,
            0.6436602708675752
        ],
        "target_point_next": [
            69.78165137431247,
            0.8790174728301512
        ]
    },
    "290": {
        "acceleration": [
            -3.034191131591797,
            -0.43396711349487305,
            0.07681578397750854
        ],
        "angular_velocity": [
            0.07999827712774277,
            -0.4673393964767456,
            -0.23507599532604218
        ],
        "forward_vector": [
            -0.9878504872322083,
            -0.15320849418640137,
            0.026047976687550545
        ],
        "right_vector": [
            0.15325990319252014,
            -0.9881859421730042,
            -2.3136612071539275e-05
        ],
        "location": [
            1186.619873046875,
            4088.233154296875,
            365.2928161621094
        ],
        "rotation": [
            0.0013260802952572703,
            1.4926079511642456,
            -171.18408203125
        ],
        "velocity": [
            -9.025074005126953,
            -1.3959640264511108,
            0.14121252298355103
        ],
        "speed": 9.132397076406821,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.775161743164062,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.3138427734375,
                4083.078125,
                365.7447814941406
            ],
            "velocity": [
                -2.102968454360962,
                -0.34334486722946167,
                0.03468828275799751
            ],
            "speed_kmh": 7.671941489692619,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.279097557067871,
                "transform": {
                    "location": {
                        "x": 1127.14697265625,
                        "y": 4081.184326171875,
                        "z": 366.26593017578125
                    },
                    "rotation": {
                        "roll": -0.015960680320858955,
                        "pitch": -1.0649971961975098,
                        "yaw": 9.752728462219238
                    }
                },
                "velocity": {
                    "x": 7.1734619140625,
                    "y": 1.231567621231079,
                    "z": -0.09975029528141022
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079521179199219,
                "transform": {
                    "location": {
                        "x": 1167.3538818359375,
                        "y": 4087.78369140625,
                        "z": 365.5861511230469
                    },
                    "rotation": {
                        "roll": 0.0012462785234674811,
                        "pitch": -0.9063387513160706,
                        "yaw": 9.242729187011719
                    }
                },
                "velocity": {
                    "x": 7.973873138427734,
                    "y": 1.2960587739944458,
                    "z": -0.12744569778442383
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.820869445800781,
                "transform": {
                    "location": {
                        "x": 1216.989013671875,
                        "y": 4092.611572265625,
                        "z": 364.8428955078125
                    },
                    "rotation": {
                        "roll": -0.00042724452214315534,
                        "pitch": 0.9406262636184692,
                        "yaw": -170.7572021484375
                    }
                },
                "velocity": {
                    "x": -6.73186731338501,
                    "y": -1.0939388275146484,
                    "z": 0.09756795316934586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089468002319336,
                "transform": {
                    "location": {
                        "x": 1250.1243896484375,
                        "y": 4101.24169921875,
                        "z": 364.34307861328125
                    },
                    "rotation": {
                        "roll": 0.0005682165501639247,
                        "pitch": -0.8569632768630981,
                        "yaw": 9.234274864196777
                    }
                },
                "velocity": {
                    "x": 7.983776092529297,
                    "y": 1.2978509664535522,
                    "z": -0.11998478323221207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.672443389892578,
                "transform": {
                    "location": {
                        "x": 1203.0303955078125,
                        "y": 4090.341064453125,
                        "z": 365.0512390136719
                    },
                    "rotation": {
                        "roll": -0.005126953590661287,
                        "pitch": 1.2104119062423706,
                        "yaw": -170.923828125
                    }
                },
                "velocity": {
                    "x": -3.624809741973877,
                    "y": -0.5870546102523804,
                    "z": 0.05442563816905022
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1310946941375732,
                "transform": {
                    "location": {
                        "x": 1158.3138427734375,
                        "y": 4083.078125,
                        "z": 365.7447814941406
                    },
                    "rotation": {
                        "roll": -3.051989187952131e-05,
                        "pitch": 0.9456191658973694,
                        "yaw": -170.7020721435547
                    }
                },
                "velocity": {
                    "x": -2.102968454360962,
                    "y": -0.34334486722946167,
                    "z": 0.03468828275799751
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.043495178222656,
                "transform": {
                    "location": {
                        "x": 1146.5621337890625,
                        "y": 4081.173095703125,
                        "z": 365.93646240234375
                    },
                    "rotation": {
                        "roll": -0.0011901751859113574,
                        "pitch": 1.0546221733093262,
                        "yaw": -170.84036254882812
                    }
                },
                "velocity": {
                    "x": -3.9894981384277344,
                    "y": -0.6550673246383667,
                    "z": 0.06813544780015945
                },
                "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": 0.34293362498283386,
        "expert_target_speed": 9.261764192546554,
        "target_point": [
            30.601526379653418,
            0.6746588521229651
        ],
        "target_point_next": [
            67.60059601758388,
            0.9451071650624101
        ]
    },
    "295": {
        "acceleration": [
            -1.9874763488769531,
            -1.3669681549072266,
            0.032800137996673584
        ],
        "angular_velocity": [
            -0.6132784485816956,
            -1.2278634309768677,
            5.0507683753967285
        ],
        "forward_vector": [
            -0.986433744430542,
            -0.16199468076229095,
            0.026574818417429924
        ],
        "right_vector": [
            0.1621185541152954,
            -0.9867680072784424,
            0.0025605210103094578
        ],
        "location": [
            1184.1326904296875,
            4087.83251953125,
            365.3316650390625
        ],
        "rotation": [
            -0.146759033203125,
            1.5228042602539062,
            -170.67398071289062
        ],
        "velocity": [
            -10.390979766845703,
            -1.7837916612625122,
            0.16313903033733368
        ],
        "speed": 10.54297743551538,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.452306747436523,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1158.120361328125,
                4083.046142578125,
                365.7486267089844
            ],
            "velocity": [
                -0.1681404411792755,
                -0.027483846992254257,
                0.0032922362443059683
            ],
            "speed_kmh": 0.613453189558312,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.736211776733398,
                "transform": {
                    "location": {
                        "x": 1128.65966796875,
                        "y": 4081.443603515625,
                        "z": 366.2445983886719
                    },
                    "rotation": {
                        "roll": -0.009521488100290298,
                        "pitch": -1.4461969137191772,
                        "yaw": 9.749992370605469
                    }
                },
                "velocity": {
                    "x": 5.653080463409424,
                    "y": 0.9686830639839172,
                    "z": -0.0919540598988533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03439712524414,
                "transform": {
                    "location": {
                        "x": 1169.342041015625,
                        "y": 4088.106689453125,
                        "z": 365.554443359375
                    },
                    "rotation": {
                        "roll": 0.0013965937541797757,
                        "pitch": -0.9035588502883911,
                        "yaw": 9.237662315368652
                    }
                },
                "velocity": {
                    "x": 7.928903102874756,
                    "y": 1.2916150093078613,
                    "z": -0.1255442351102829
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5947697162628174,
                "transform": {
                    "location": {
                        "x": 1215.67822265625,
                        "y": 4092.398681640625,
                        "z": 364.8609924316406
                    },
                    "rotation": {
                        "roll": 0.0016462011262774467,
                        "pitch": 0.348619669675827,
                        "yaw": -170.52609252929688
                    }
                },
                "velocity": {
                    "x": -2.561581611633301,
                    "y": -0.4121450185775757,
                    "z": 0.03558189421892166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.999786853790283,
                "transform": {
                    "location": {
                        "x": 1252.1134033203125,
                        "y": 4101.564453125,
                        "z": 364.3129577636719
                    },
                    "rotation": {
                        "roll": 0.0004221918643452227,
                        "pitch": -0.859620213508606,
                        "yaw": 9.236263275146484
                    }
                },
                "velocity": {
                    "x": 7.8950371742248535,
                    "y": 1.2848501205444336,
                    "z": -0.11889557540416718
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.800517559051514,
                "transform": {
                    "location": {
                        "x": 1201.984130859375,
                        "y": 4090.172119140625,
                        "z": 365.0675354003906
                    },
                    "rotation": {
                        "roll": -0.003509517991915345,
                        "pitch": 1.1351295709609985,
                        "yaw": -170.86813354492188
                    }
                },
                "velocity": {
                    "x": -4.738091468811035,
                    "y": -0.7684083580970764,
                    "z": 0.07076186686754227
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.17040365934371948,
                "transform": {
                    "location": {
                        "x": 1158.120361328125,
                        "y": 4083.046142578125,
                        "z": 365.7486267089844
                    },
                    "rotation": {
                        "roll": -0.0009460513829253614,
                        "pitch": 0.8748037219047546,
                        "yaw": -170.73805236816406
                    }
                },
                "velocity": {
                    "x": -0.1681404411792755,
                    "y": -0.027483846992254257,
                    "z": 0.0032922362443059683
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.039857387542725,
                "transform": {
                    "location": {
                        "x": 1145.4378662109375,
                        "y": 4080.9892578125,
                        "z": 365.9556579589844
                    },
                    "rotation": {
                        "roll": -0.0012206919491291046,
                        "pitch": 1.0440421104431152,
                        "yaw": -170.77011108398438
                    }
                },
                "velocity": {
                    "x": -4.972560405731201,
                    "y": -0.8164911270141602,
                    "z": 0.08454003930091858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2739757299423218,
        "expert_target_speed": 10.0,
        "target_point": [
            28.08708876722197,
            0.4099032169387984
        ],
        "target_point_next": [
            65.08709984659788,
            0.3509414627244425
        ]
    },
    "300": {
        "acceleration": [
            -0.4267692565917969,
            -0.2510237693786621,
            -0.0023287534713745117
        ],
        "angular_velocity": [
            0.5349990129470825,
            -1.0041264295578003,
            1.81373929977417
        ],
        "forward_vector": [
            -0.9838721752166748,
            -0.1776440590620041,
            0.020929358899593353
        ],
        "right_vector": [
            0.17773443460464478,
            -0.9840751886367798,
            0.0025251854676753283
        ],
        "location": [
            1181.509765625,
            4087.368408203125,
            365.3741760253906
        ],
        "rotation": [
            -0.1447143256664276,
            1.199251413345337,
            -169.76516723632812
        ],
        "velocity": [
            -10.553107261657715,
            -1.916622519493103,
            0.1660480499267578
        ],
        "speed": 10.72574075569053,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.9137020111084,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.9967041015625,
                4083.025634765625,
                365.7501220703125
            ],
            "velocity": [
                -0.7294704914093018,
                -0.1182749941945076,
                0.011885280720889568
            ],
            "speed_kmh": 2.66073228990525,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.786437511444092,
                "transform": {
                    "location": {
                        "x": 1130.0777587890625,
                        "y": 4081.685546875,
                        "z": 366.21966552734375
                    },
                    "rotation": {
                        "roll": 0.009135580621659756,
                        "pitch": -1.176021933555603,
                        "yaw": 9.655998229980469
                    }
                },
                "velocity": {
                    "x": 5.705476760864258,
                    "y": 0.9596365690231323,
                    "z": -0.09741581976413727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078155517578125,
                "transform": {
                    "location": {
                        "x": 1171.3297119140625,
                        "y": 4088.429931640625,
                        "z": 365.5227355957031
                    },
                    "rotation": {
                        "roll": 0.0011297230375930667,
                        "pitch": -0.9039891362190247,
                        "yaw": 9.240509033203125
                    }
                },
                "velocity": {
                    "x": 7.972343444824219,
                    "y": 1.2969927787780762,
                    "z": -0.12701533734798431
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7024574279785156,
                "transform": {
                    "location": {
                        "x": 1215.528076171875,
                        "y": 4092.374267578125,
                        "z": 364.8634338378906
                    },
                    "rotation": {
                        "roll": -0.0001525872794445604,
                        "pitch": 0.4760846495628357,
                        "yaw": -170.48477172851562
                    }
                },
                "velocity": {
                    "x": -0.693294882774353,
                    "y": -0.11261562258005142,
                    "z": 0.010313672944903374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1254.084228515625,
                        "y": 4101.85986328125,
                        "z": 364.2843017578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8675159215927124,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.11473274230957,
                "transform": {
                    "location": {
                        "x": 1200.740966796875,
                        "y": 4089.97119140625,
                        "z": 365.08782958984375
                    },
                    "rotation": {
                        "roll": -0.0014343314105644822,
                        "pitch": 0.9532484412193298,
                        "yaw": -170.81289672851562
                    }
                },
                "velocity": {
                    "x": -5.047961711883545,
                    "y": -0.820194661617279,
                    "z": 0.07651298493146896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7390922904014587,
                "transform": {
                    "location": {
                        "x": 1157.9967041015625,
                        "y": 4083.025634765625,
                        "z": 365.7501220703125
                    },
                    "rotation": {
                        "roll": -0.0016479435143992305,
                        "pitch": 0.9373409748077393,
                        "yaw": -170.80816650390625
                    }
                },
                "velocity": {
                    "x": -0.7294704914093018,
                    "y": -0.1182749941945076,
                    "z": 0.011885280720889568
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.743218421936035,
                "transform": {
                    "location": {
                        "x": 1144.0516357421875,
                        "y": 4080.762451171875,
                        "z": 365.97894287109375
                    },
                    "rotation": {
                        "roll": 0.0014816634356975555,
                        "pitch": 1.0724694728851318,
                        "yaw": -170.72772216796875
                    }
                },
                "velocity": {
                    "x": -6.654313087463379,
                    "y": -1.085429310798645,
                    "z": 0.11379598081111908
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.21286562085151672,
        "expert_target_speed": 10.0,
        "target_point": [
            25.42640413921794,
            -0.02631091785305184
        ],
        "target_point_next": [
            62.42082576200653,
            -0.6721167383222824
        ]
    },
    "305": {
        "acceleration": [
            1.5425300598144531,
            0.5127286911010742,
            -0.017876625061035156
        ],
        "angular_velocity": [
            0.5492299795150757,
            -0.7986879348754883,
            -1.5564932823181152
        ],
        "forward_vector": [
            -0.9842745661735535,
            -0.175794780254364,
            0.017314046621322632
        ],
        "right_vector": [
            0.17582368850708008,
            -0.9844216704368591,
            0.00014964710862841457
        ],
        "location": [
            1178.8756103515625,
            4086.896728515625,
            365.41632080078125
        ],
        "rotation": [
            -0.008575433865189552,
            0.992071270942688,
            -169.87355041503906
        ],
        "velocity": [
            -10.454516410827637,
            -1.8467212915420532,
            0.16547642648220062
        ],
        "speed": 10.616369102141237,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.498737335205078,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.7386474609375,
                4082.98388671875,
                365.7541809082031
            ],
            "velocity": [
                -1.2537684440612793,
                -0.2043159306049347,
                0.020571928471326828
            ],
            "speed_kmh": 4.573705451297367,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9036407470703125,
                "transform": {
                    "location": {
                        "x": 1131.812744140625,
                        "y": 4081.97607421875,
                        "z": 366.1871337890625
                    },
                    "rotation": {
                        "roll": 0.01086029689759016,
                        "pitch": -0.5095798969268799,
                        "yaw": 9.512297630310059
                    }
                },
                "velocity": {
                    "x": 7.794719219207764,
                    "y": 1.3004822731018066,
                    "z": -0.1365257352590561
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029884338378906,
                "transform": {
                    "location": {
                        "x": 1173.316650390625,
                        "y": 4088.7529296875,
                        "z": 365.4912109375
                    },
                    "rotation": {
                        "roll": 0.0007128820288926363,
                        "pitch": -0.8994675874710083,
                        "yaw": 9.240376472473145
                    }
                },
                "velocity": {
                    "x": 7.924703598022461,
                    "y": 1.2892277240753174,
                    "z": -0.12652122974395752
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.65730619430542,
                "transform": {
                    "location": {
                        "x": 1215.2198486328125,
                        "y": 4092.32421875,
                        "z": 364.8685607910156
                    },
                    "rotation": {
                        "roll": 0.0038089321460574865,
                        "pitch": 0.8790179491043091,
                        "yaw": -170.56198120117188
                    }
                },
                "velocity": {
                    "x": -1.6354501247406006,
                    "y": -0.2672024965286255,
                    "z": 0.02386661432683468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5330,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1255.993896484375,
                        "y": 4102.13134765625,
                        "z": 364.2572937011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8675159215927124,
                        "yaw": 9.234705924987793
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.98646879196167,
                "transform": {
                    "location": {
                        "x": 1199.4061279296875,
                        "y": 4089.755615234375,
                        "z": 365.1078796386719
                    },
                    "rotation": {
                        "roll": 0.0012172915739938617,
                        "pitch": 0.9591497778892517,
                        "yaw": -170.6710662841797
                    }
                },
                "velocity": {
                    "x": -5.90835428237915,
                    "y": -0.959798276424408,
                    "z": 0.08916538208723068
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2704737186431885,
                "transform": {
                    "location": {
                        "x": 1157.7386474609375,
                        "y": 4082.98388671875,
                        "z": 365.7541809082031
                    },
                    "rotation": {
                        "roll": -0.00042723905062302947,
                        "pitch": 0.9502295255661011,
                        "yaw": -170.75914001464844
                    }
                },
                "velocity": {
                    "x": -1.2537684440612793,
                    "y": -0.2043159306049347,
                    "z": 0.020571928471326828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.287155151367188,
                "transform": {
                    "location": {
                        "x": 1142.1656494140625,
                        "y": 4080.453857421875,
                        "z": 366.0110778808594
                    },
                    "rotation": {
                        "roll": 0.00042717697215266526,
                        "pitch": 1.0860956907272339,
                        "yaw": -170.7197265625
                    }
                },
                "velocity": {
                    "x": -8.177512168884277,
                    "y": -1.336254358291626,
                    "z": 0.14021341502666473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20224735140800476,
        "expert_target_speed": 9.891049559938324,
        "target_point": [
            22.75035641808331,
            0.02059391582164416
        ],
        "target_point_next": [
            59.74593346813743,
            -0.5552316618570146
        ]
    },
    "310": {
        "acceleration": [
            8.956165313720703,
            1.8551993370056152,
            -0.13782143592834473
        ],
        "angular_velocity": [
            0.588148832321167,
            -2.2994513511657715,
            -1.7345781326293945
        ],
        "forward_vector": [
            -0.985599160194397,
            -0.16856050491333008,
            0.013480492867529392
        ],
        "right_vector": [
            0.16856113076210022,
            -0.9856905937194824,
            -0.0010979499202221632
        ],
        "location": [
            1176.3194580078125,
            4086.453857421875,
            365.4576416015625
        ],
        "rotation": [
            0.06291362643241882,
            0.7723987102508545,
            -170.29498291015625
        ],
        "velocity": [
            -9.69892692565918,
            -1.6415270566940308,
            0.15306054055690765
        ],
        "speed": 9.836858979732057,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.29680633544922,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1157.3511962890625,
                4082.921142578125,
                365.7605285644531
            ],
            "velocity": [
                -1.776954174041748,
                -0.2900630831718445,
                0.029083384200930595
            ],
            "speed_kmh": 6.4825480711227765,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.342248916625977,
                "transform": {
                    "location": {
                        "x": 1133.861083984375,
                        "y": 4082.318359375,
                        "z": 366.15185546875
                    },
                    "rotation": {
                        "roll": 0.005376861896365881,
                        "pitch": -0.6308567523956299,
                        "yaw": 9.458351135253906
                    }
                },
                "velocity": {
                    "x": 8.227645874023438,
                    "y": 1.3706462383270264,
                    "z": -0.142457976937294
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082331657409668,
                "transform": {
                    "location": {
                        "x": 1175.3046875,
                        "y": 4089.076416015625,
                        "z": 365.4596252441406
                    },
                    "rotation": {
                        "roll": 0.0009406869648955762,
                        "pitch": -0.8970906734466553,
                        "yaw": 9.239340782165527
                    }
                },
                "velocity": {
                    "x": 7.976133346557617,
                    "y": 1.2996935844421387,
                    "z": -0.12716934084892273
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7683138847351074,
                "transform": {
                    "location": {
                        "x": 1214.677734375,
                        "y": 4092.23583984375,
                        "z": 364.8766174316406
                    },
                    "rotation": {
                        "roll": 0.0023802544455975294,
                        "pitch": 0.9785133600234985,
                        "yaw": -170.7031707763672
                    }
                },
                "velocity": {
                    "x": -2.732104539871216,
                    "y": -0.4445095360279083,
                    "z": 0.03972794488072395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.590364456176758,
                "transform": {
                    "location": {
                        "x": 1197.7225341796875,
                        "y": 4089.47998046875,
                        "z": 365.1311340332031
                    },
                    "rotation": {
                        "roll": 0.0013800242450088263,
                        "pitch": 1.2455190420150757,
                        "yaw": -170.80372619628906
                    }
                },
                "velocity": {
                    "x": -7.491139888763428,
                    "y": -1.2179210186004639,
                    "z": 0.1145852655172348
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8007078170776367,
                "transform": {
                    "location": {
                        "x": 1157.3511962890625,
                        "y": 4082.921142578125,
                        "z": 365.7605285644531
                    },
                    "rotation": {
                        "roll": 0.000803484464995563,
                        "pitch": 0.9488839507102966,
                        "yaw": -170.72523498535156
                    }
                },
                "velocity": {
                    "x": -1.776954174041748,
                    "y": -0.2900630831718445,
                    "z": 0.029083384200930595
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074645042419434,
                "transform": {
                    "location": {
                        "x": 1140.12060546875,
                        "y": 4080.11962890625,
                        "z": 366.0469055175781
                    },
                    "rotation": {
                        "roll": 0.0015806271694600582,
                        "pitch": 0.9961352348327637,
                        "yaw": -170.71339416503906
                    }
                },
                "velocity": {
                    "x": -7.968000888824463,
                    "y": -1.3007057905197144,
                    "z": 0.13792119920253754
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.22670723497867584,
        "expert_target_speed": 9.350213485874644,
        "target_point": [
            20.15536166380297,
            0.18230726588321877
        ],
        "target_point_next": [
            57.15417343002875,
            -0.12137719172506678
        ]
    },
    "315": {
        "acceleration": [
            5.255489349365234,
            0.8919239044189453,
            -0.08767485618591309
        ],
        "angular_velocity": [
            -0.05800070986151695,
            -0.510490894317627,
            -0.31335774064064026
        ],
        "forward_vector": [
            -0.986264169216156,
            -0.16501034796237946,
            0.0073923384770751
        ],
        "right_vector": [
            0.16500893235206604,
            -0.986291766166687,
            -0.0008049730095081031
        ],
        "location": [
            1174.1053466796875,
            4086.0810546875,
            365.4940185546875
        ],
        "rotation": [
            0.04612281918525696,
            0.4235536754131317,
            -170.5019073486328
        ],
        "velocity": [
            -8.231841087341309,
            -1.3753434419631958,
            0.13029001653194427
        ],
        "speed": 8.345943761528213,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.561782836914062,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.8475341796875,
                4082.83935546875,
                365.76885986328125
            ],
            "velocity": [
                -2.2513961791992188,
                -0.3678719997406006,
                0.037521686404943466
            ],
            "speed_kmh": 8.213621054900349,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.824920654296875,
                "transform": {
                    "location": {
                        "x": 1135.842529296875,
                        "y": 4082.647216796875,
                        "z": 366.1188659667969
                    },
                    "rotation": {
                        "roll": 0.011982372961938381,
                        "pitch": -1.0171176195144653,
                        "yaw": 9.426283836364746
                    }
                },
                "velocity": {
                    "x": 7.719406604766846,
                    "y": 1.273674726486206,
                    "z": -0.1337856948375702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03052043914795,
                "transform": {
                    "location": {
                        "x": 1177.292236328125,
                        "y": 4089.399658203125,
                        "z": 365.4281921386719
                    },
                    "rotation": {
                        "roll": 0.0003076163702644408,
                        "pitch": -0.8976165652275085,
                        "yaw": 9.238965034484863
                    }
                },
                "velocity": {
                    "x": 7.925395488739014,
                    "y": 1.288986325263977,
                    "z": -0.1260426938533783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.274213790893555,
                "transform": {
                    "location": {
                        "x": 1213.7999267578125,
                        "y": 4092.093017578125,
                        "z": 364.88958740234375
                    },
                    "rotation": {
                        "roll": 0.0022898276802152395,
                        "pitch": 1.0534404516220093,
                        "yaw": -170.73370361328125
                    }
                },
                "velocity": {
                    "x": -4.218319892883301,
                    "y": -0.6861880421638489,
                    "z": 0.061868198215961456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.71242618560791,
                "transform": {
                    "location": {
                        "x": 1195.712646484375,
                        "y": 4089.1533203125,
                        "z": 365.1623229980469
                    },
                    "rotation": {
                        "roll": 0.001713184523396194,
                        "pitch": 1.1874010562896729,
                        "yaw": -170.8909912109375
                    }
                },
                "velocity": {
                    "x": -8.599154472351074,
                    "y": -1.394187331199646,
                    "z": 0.13099221885204315
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2815613746643066,
                "transform": {
                    "location": {
                        "x": 1156.8475341796875,
                        "y": 4082.83935546875,
                        "z": 365.76885986328125
                    },
                    "rotation": {
                        "roll": 0.0004071189323440194,
                        "pitch": 0.9477501511573792,
                        "yaw": -170.71923828125
                    }
                },
                "velocity": {
                    "x": -2.2513961791992188,
                    "y": -0.3678719997406006,
                    "z": 0.037521686404943466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.907863140106201,
                "transform": {
                    "location": {
                        "x": 1138.1690673828125,
                        "y": 4079.80126953125,
                        "z": 366.0806884765625
                    },
                    "rotation": {
                        "roll": 0.0007655840017832816,
                        "pitch": 0.9680836200714111,
                        "yaw": -170.73086547851562
                    }
                },
                "velocity": {
                    "x": -7.803484916687012,
                    "y": -1.2733561992645264,
                    "z": 0.1359563171863556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2875427007675171,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25690874457359314,
        "expert_target_speed": 8.331931845698158,
        "target_point": [
            17.909295679928157,
            0.2527576196006951
        ],
        "target_point_next": [
            54.90896284385042,
            0.0826808093862006
        ]
    },
    "320": {
        "acceleration": [
            3.269033432006836,
            0.4217696189880371,
            -0.04560232162475586
        ],
        "angular_velocity": [
            -0.1930011808872223,
            0.36119210720062256,
            0.8867141008377075
        ],
        "forward_vector": [
            -0.9858991503715515,
            -0.1671750843524933,
            0.007442047353833914
        ],
        "right_vector": [
            0.16718031466007233,
            -0.9859263300895691,
            8.202309254556894e-05
        ],
        "location": [
            1172.1856689453125,
            4085.755859375,
            365.5245666503906
        ],
        "rotation": [
            -0.00469970703125,
            0.42640185356140137,
            -170.37611389160156
        ],
        "velocity": [
            -7.206587314605713,
            -1.2368024587631226,
            0.11492446810007095
        ],
        "speed": 7.311947828385983,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.255130767822266,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1156.215576171875,
                4082.73583984375,
                365.77923583984375
            ],
            "velocity": [
                -2.7811949253082275,
                -0.4542207717895508,
                0.04588054493069649
            ],
            "speed_kmh": 10.146296321046936,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.087789535522461,
                "transform": {
                    "location": {
                        "x": 1137.7928466796875,
                        "y": 4082.96826171875,
                        "z": 366.0848388671875
                    },
                    "rotation": {
                        "roll": 0.009017715230584145,
                        "pitch": -0.9522103071212769,
                        "yaw": 9.333869934082031
                    }
                },
                "velocity": {
                    "x": 7.97983455657959,
                    "y": 1.309836506843567,
                    "z": -0.13749271631240845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082192420959473,
                "transform": {
                    "location": {
                        "x": 1179.280029296875,
                        "y": 4089.72314453125,
                        "z": 365.39691162109375
                    },
                    "rotation": {
                        "roll": -0.0003051674575544894,
                        "pitch": -0.8893452286720276,
                        "yaw": 9.236717224121094
                    }
                },
                "velocity": {
                    "x": 7.976100921630859,
                    "y": 1.299268364906311,
                    "z": -0.12473881244659424
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.47316837310791,
                "transform": {
                    "location": {
                        "x": 1212.5758056640625,
                        "y": 4091.8935546875,
                        "z": 364.9078369140625
                    },
                    "rotation": {
                        "roll": -0.0012817365350201726,
                        "pitch": 1.0349990129470825,
                        "yaw": -170.75991821289062
                    }
                },
                "velocity": {
                    "x": -5.401375770568848,
                    "y": -0.8799158334732056,
                    "z": 0.08038343489170074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.87613296508789,
                "transform": {
                    "location": {
                        "x": 1193.414306640625,
                        "y": 4088.78125,
                        "z": 365.1979675292969
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 1.1368098258972168,
                        "yaw": -170.81768798828125
                    }
                },
                "velocity": {
                    "x": -9.74740219116211,
                    "y": -1.5823535919189453,
                    "z": 0.14933812618255615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.818415641784668,
                "transform": {
                    "location": {
                        "x": 1156.215576171875,
                        "y": 4082.73583984375,
                        "z": 365.77923583984375
                    },
                    "rotation": {
                        "roll": -3.0519924621330574e-05,
                        "pitch": 0.9493074417114258,
                        "yaw": -170.72171020507812
                    }
                },
                "velocity": {
                    "x": -2.7811949253082275,
                    "y": -0.4542207717895508,
                    "z": 0.04588054493069649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.123246192932129,
                "transform": {
                    "location": {
                        "x": 1136.1829833984375,
                        "y": 4079.47705078125,
                        "z": 366.114990234375
                    },
                    "rotation": {
                        "roll": 1.8552378605818376e-05,
                        "pitch": 0.9975968599319458,
                        "yaw": -170.7350616455078
                    }
                },
                "velocity": {
                    "x": -8.016328811645508,
                    "y": -1.306201696395874,
                    "z": 0.13940146565437317
                },
                "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": 0.27067694067955017,
        "expert_target_speed": 7.538148178035283,
        "target_point": [
            15.962780424985462,
            0.21374435161745264
        ],
        "target_point_next": [
            52.961984928115086,
            -0.0375771516256691
        ]
    },
    "325": {
        "acceleration": [
            2.413320541381836,
            0.36548376083374023,
            -0.019397437572479248
        ],
        "angular_velocity": [
            -0.06929420679807663,
            0.46756771206855774,
            0.370556116104126
        ],
        "forward_vector": [
            -0.9855033159255981,
            -0.16939088702201843,
            0.009486890397965908
        ],
        "right_vector": [
            0.16939927637577057,
            -0.9855475425720215,
            8.148909546434879e-05
        ],
        "location": [
            1170.479248046875,
            4085.46240234375,
            365.5513610839844
        ],
        "rotation": [
            -0.004669191315770149,
            0.5435669422149658,
            -170.2471466064453
        ],
        "velocity": [
            -6.536634922027588,
            -1.129745364189148,
            0.10536906868219376
        ],
        "speed": 6.633545107389976,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.301158905029297,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1155.4481201171875,
                4082.610595703125,
                365.7919006347656
            ],
            "velocity": [
                -3.360612392425537,
                -0.5482580065727234,
                0.055512282997369766
            ],
            "speed_kmh": 12.259775611024276,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.096214294433594,
                "transform": {
                    "location": {
                        "x": 1139.8035888671875,
                        "y": 4083.29833984375,
                        "z": 366.05029296875
                    },
                    "rotation": {
                        "roll": 0.0051780883222818375,
                        "pitch": -0.9500109553337097,
                        "yaw": 9.33324146270752
                    }
                },
                "velocity": {
                    "x": 7.9885711669921875,
                    "y": 1.3085780143737793,
                    "z": -0.1379549354314804
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029407501220703,
                "transform": {
                    "location": {
                        "x": 1181.2674560546875,
                        "y": 4090.046142578125,
                        "z": 365.36578369140625
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": -0.8886963725090027,
                        "yaw": 9.239485740661621
                    }
                },
                "velocity": {
                    "x": 7.924327850341797,
                    "y": 1.2889457941055298,
                    "z": -0.12264003604650497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5391950607299805,
                "transform": {
                    "location": {
                        "x": 1211.2130126953125,
                        "y": 4091.672607421875,
                        "z": 364.9275207519531
                    },
                    "rotation": {
                        "roll": 0.0012788764433935285,
                        "pitch": 0.8980537056922913,
                        "yaw": -170.8308563232422
                    }
                },
                "velocity": {
                    "x": -5.467311859130859,
                    "y": -0.8858942985534668,
                    "z": 0.07983537763357162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.66750431060791,
                "transform": {
                    "location": {
                        "x": 1191.004150390625,
                        "y": 4088.389892578125,
                        "z": 365.237060546875
                    },
                    "rotation": {
                        "roll": -0.0027160688769072294,
                        "pitch": 0.8819959163665771,
                        "yaw": -170.76055908203125
                    }
                },
                "velocity": {
                    "x": -9.5411376953125,
                    "y": -1.5510987043380737,
                    "z": 0.1463906466960907
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4054930210113525,
                "transform": {
                    "location": {
                        "x": 1155.4481201171875,
                        "y": 4082.610595703125,
                        "z": 365.7919006347656
                    },
                    "rotation": {
                        "roll": 4.007289680885151e-05,
                        "pitch": 0.9551745653152466,
                        "yaw": -170.723388671875
                    }
                },
                "velocity": {
                    "x": -3.360612392425537,
                    "y": -0.5482580065727234,
                    "z": 0.055512282997369766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020792961120605,
                "transform": {
                    "location": {
                        "x": 1134.190185546875,
                        "y": 4079.15234375,
                        "z": 366.1497497558594
                    },
                    "rotation": {
                        "roll": -0.0005187908536754549,
                        "pitch": 0.9854459762573242,
                        "yaw": -170.7411346435547
                    }
                },
                "velocity": {
                    "x": -7.91511869430542,
                    "y": -1.2903836965560913,
                    "z": 0.13759320974349976
                },
                "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": 0.2696779668331146,
        "expert_target_speed": 6.980746400441625,
        "target_point": [
            14.23175079493438,
            0.17766632603118504
        ],
        "target_point_next": [
            51.23029594632841,
            -0.1569275212779342
        ]
    },
    "330": {
        "acceleration": [
            0.9458160400390625,
            0.13713359832763672,
            0.0055602192878723145
        ],
        "angular_velocity": [
            -0.03527140989899635,
            0.5071281790733337,
            0.41794687509536743
        ],
        "forward_vector": [
            -0.9851417541503906,
            -0.17134448885917664,
            0.011696786619722843
        ],
        "right_vector": [
            0.17135781049728394,
            -0.9852088689804077,
            0.00013794224651064724
        ],
        "location": [
            1168.89453125,
            4085.186767578125,
            365.5762023925781
        ],
        "rotation": [
            -0.007904049940407276,
            0.670191764831543,
            -170.13331604003906
        ],
        "velocity": [
            -6.1671624183654785,
            -1.0806224346160889,
            0.09907989203929901
        ],
        "speed": 6.261121076987343,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.642736434936523,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1154.51025390625,
                4082.45751953125,
                365.8074951171875
            ],
            "velocity": [
                -4.141106605529785,
                -0.6763131022453308,
                0.0692291259765625
            ],
            "speed_kmh": 15.107547444657893,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.951152801513672,
                "transform": {
                    "location": {
                        "x": 1141.7740478515625,
                        "y": 4083.620849609375,
                        "z": 366.0167541503906
                    },
                    "rotation": {
                        "roll": 0.006969334091991186,
                        "pitch": -1.0213249921798706,
                        "yaw": 9.272613525390625
                    }
                },
                "velocity": {
                    "x": 7.846207618713379,
                    "y": 1.2805089950561523,
                    "z": -0.13474470376968384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082314491271973,
                "transform": {
                    "location": {
                        "x": 1183.25537109375,
                        "y": 4090.36962890625,
                        "z": 365.3345947265625
                    },
                    "rotation": {
                        "roll": -0.0018310442101210356,
                        "pitch": -0.8881226181983948,
                        "yaw": 9.235976219177246
                    }
                },
                "velocity": {
                    "x": 7.976600170135498,
                    "y": 1.2970027923583984,
                    "z": -0.1242734044790268
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.725595951080322,
                "transform": {
                    "location": {
                        "x": 1209.5059814453125,
                        "y": 4091.394287109375,
                        "z": 364.9528503417969
                    },
                    "rotation": {
                        "roll": -0.0005493153585121036,
                        "pitch": 1.0865601301193237,
                        "yaw": -170.7127685546875
                    }
                },
                "velocity": {
                    "x": -7.62423038482666,
                    "y": -1.242364525794983,
                    "z": 0.11169376224279404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.3143949508667,
                "transform": {
                    "location": {
                        "x": 1188.5484619140625,
                        "y": 4087.990234375,
                        "z": 365.27435302734375
                    },
                    "rotation": {
                        "roll": -0.0010986370034515858,
                        "pitch": 0.9483102560043335,
                        "yaw": -170.74163818359375
                    }
                },
                "velocity": {
                    "x": -10.179155349731445,
                    "y": -1.6573433876037598,
                    "z": 0.15731874108314514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.196540832519531,
                "transform": {
                    "location": {
                        "x": 1154.51025390625,
                        "y": 4082.45751953125,
                        "z": 365.8074951171875
                    },
                    "rotation": {
                        "roll": -0.0002136272087227553,
                        "pitch": 0.9664990305900574,
                        "yaw": -170.72509765625
                    }
                },
                "velocity": {
                    "x": -4.141106605529785,
                    "y": -0.6763131022453308,
                    "z": 0.0692291259765625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00795841217041,
                "transform": {
                    "location": {
                        "x": 1132.2186279296875,
                        "y": 4078.830810546875,
                        "z": 366.18414306640625
                    },
                    "rotation": {
                        "roll": 0.0015803909627720714,
                        "pitch": 0.9905890822410583,
                        "yaw": -170.75013732910156
                    }
                },
                "velocity": {
                    "x": -7.902677059173584,
                    "y": -1.2868200540542603,
                    "z": 0.13850930333137512
                },
                "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": 0.25761109590530396,
        "expert_target_speed": 6.672718484129839,
        "target_point": [
            12.623566447688523,
            0.14938752086545737
        ],
        "target_point_next": [
            49.6213739258954,
            -0.2587033610956748
        ]
    },
    "335": {
        "acceleration": [
            1.0571670532226562,
            0.21514177322387695,
            -0.01283690333366394
        ],
        "angular_velocity": [
            -0.011690991930663586,
            0.29604077339172363,
            -0.2971033453941345
        ],
        "forward_vector": [
            -0.9851850271224976,
            -0.1709803342819214,
            0.013272610493004322
        ],
        "right_vector": [
            0.17099207639694214,
            -0.9852723479270935,
            -0.0002526835596654564
        ],
        "location": [
            1167.388671875,
            4084.92529296875,
            365.60003662109375
        ],
        "rotation": [
            0.014478977769613266,
            0.760486900806427,
            -170.154296875
        ],
        "velocity": [
            -5.91266393661499,
            -1.021063208580017,
            0.09538032114505768
        ],
        "speed": 6.000180405893076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.284181594848633,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1153.35546875,
                4082.26904296875,
                365.8267517089844
            ],
            "velocity": [
                -5.076186656951904,
                -0.8280467987060547,
                0.08812497556209564
            ],
            "speed_kmh": 18.518526842311918,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.085718154907227,
                "transform": {
                    "location": {
                        "x": 1143.75390625,
                        "y": 4083.944091796875,
                        "z": 365.9826354980469
                    },
                    "rotation": {
                        "roll": 0.0018850204069167376,
                        "pitch": -0.9547989368438721,
                        "yaw": 9.286069869995117
                    }
                },
                "velocity": {
                    "x": 7.978947162628174,
                    "y": 1.3026913404464722,
                    "z": -0.13506503403186798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029152870178223,
                "transform": {
                    "location": {
                        "x": 1185.24267578125,
                        "y": 4090.692626953125,
                        "z": 365.303466796875
                    },
                    "rotation": {
                        "roll": -0.0004577711515594274,
                        "pitch": -0.889222264289856,
                        "yaw": 9.23511028289795
                    }
                },
                "velocity": {
                    "x": 7.924121379852295,
                    "y": 1.2884701490402222,
                    "z": -0.12429153174161911
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.808438301086426,
                "transform": {
                    "location": {
                        "x": 1207.4627685546875,
                        "y": 4091.061767578125,
                        "z": 364.9830017089844
                    },
                    "rotation": {
                        "roll": 0.0002410373999737203,
                        "pitch": 1.0409139394760132,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": -8.693106651306152,
                    "y": -1.4148463010787964,
                    "z": 0.1291482001543045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.658839225769043,
                "transform": {
                    "location": {
                        "x": 1186.05859375,
                        "y": 4087.584716796875,
                        "z": 365.3139343261719
                    },
                    "rotation": {
                        "roll": 0.00035824422957375646,
                        "pitch": 0.8509527444839478,
                        "yaw": -170.74534606933594
                    }
                },
                "velocity": {
                    "x": -9.532143592834473,
                    "y": -1.5520713329315186,
                    "z": 0.14995113015174866
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.144035339355469,
                "transform": {
                    "location": {
                        "x": 1153.35546875,
                        "y": 4082.26904296875,
                        "z": 365.8267517089844
                    },
                    "rotation": {
                        "roll": -0.00024414813378825784,
                        "pitch": 0.9784040451049805,
                        "yaw": -170.73410034179688
                    }
                },
                "velocity": {
                    "x": -5.076186656951904,
                    "y": -0.8280467987060547,
                    "z": 0.08812497556209564
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.085531234741211,
                "transform": {
                    "location": {
                        "x": 1130.228759765625,
                        "y": 4078.507080078125,
                        "z": 366.2191467285156
                    },
                    "rotation": {
                        "roll": 0.00010619769454933703,
                        "pitch": 1.0030815601348877,
                        "yaw": -170.75521850585938
                    }
                },
                "velocity": {
                    "x": -7.979329586029053,
                    "y": -1.298673391342163,
                    "z": 0.1398487389087677
                },
                "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": 0.23525504767894745,
        "expert_target_speed": 6.504665104277152,
        "target_point": [
            11.09511912078003,
            0.1538816535829215
        ],
        "target_point_next": [
            48.09307356543174,
            -0.24066019955438822
        ]
    },
    "340": {
        "acceleration": [
            -0.32540321350097656,
            -0.015141963958740234,
            0.005427896976470947
        ],
        "angular_velocity": [
            -0.05120263993740082,
            0.39948928356170654,
            -0.30725446343421936
        ],
        "forward_vector": [
            -0.9853869676589966,
            -0.16968970000743866,
            0.014766870997846127
        ],
        "right_vector": [
            0.1697034388780594,
            -0.9854951500892639,
            -0.000327062705764547
        ],
        "location": [
            1165.9210205078125,
            4084.673095703125,
            365.62335205078125
        ],
        "rotation": [
            0.01874135620892048,
            0.8461101055145264,
            -170.22914123535156
        ],
        "velocity": [
            -5.85121488571167,
            -1.0016309022903442,
            0.09569139033555984
        ],
        "speed": 5.936327156011266,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.118478775024414,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1152.049072265625,
                4082.055908203125,
                365.84881591796875
            ],
            "velocity": [
                -5.380209445953369,
                -0.8769009113311768,
                0.08952262997627258
            ],
            "speed_kmh": 19.626975227145607,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030139923095703,
                "transform": {
                    "location": {
                        "x": 1145.74462890625,
                        "y": 4084.2685546875,
                        "z": 365.9490966796875
                    },
                    "rotation": {
                        "roll": 0.002438922645524144,
                        "pitch": -0.9734453558921814,
                        "yaw": 9.248435974121094
                    }
                },
                "velocity": {
                    "x": 7.9246344566345215,
                    "y": 1.2904331684112549,
                    "z": -0.1345508098602295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082008361816406,
                "transform": {
                    "location": {
                        "x": 1187.2303466796875,
                        "y": 4091.01611328125,
                        "z": 365.2723388671875
                    },
                    "rotation": {
                        "roll": 0.0012229235144332051,
                        "pitch": -0.8865653276443481,
                        "yaw": 9.234886169433594
                    }
                },
                "velocity": {
                    "x": 7.976297855377197,
                    "y": 1.296984076499939,
                    "z": -0.12391520291566849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.007502555847168,
                "transform": {
                    "location": {
                        "x": 1205.136474609375,
                        "y": 4090.683349609375,
                        "z": 365.0177307128906
                    },
                    "rotation": {
                        "roll": 0.0009058255236595869,
                        "pitch": 1.0491169691085815,
                        "yaw": -170.7583465576172
                    }
                },
                "velocity": {
                    "x": -9.876937866210938,
                    "y": -1.6044338941574097,
                    "z": 0.14832624793052673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.49479866027832,
                "transform": {
                    "location": {
                        "x": 1183.82763671875,
                        "y": 4087.22119140625,
                        "z": 365.35107421875
                    },
                    "rotation": {
                        "roll": 5.2193157898727804e-05,
                        "pitch": 0.6052913069725037,
                        "yaw": -170.7550811767578
                    }
                },
                "velocity": {
                    "x": -8.383448600769043,
                    "y": -1.3645521402359009,
                    "z": 0.13186080753803253
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.451937675476074,
                "transform": {
                    "location": {
                        "x": 1152.049072265625,
                        "y": 4082.055908203125,
                        "z": 365.84881591796875
                    },
                    "rotation": {
                        "roll": 3.884549005306326e-05,
                        "pitch": 0.9607616662979126,
                        "yaw": -170.74244689941406
                    }
                },
                "velocity": {
                    "x": -5.380209445953369,
                    "y": -0.8769009113311768,
                    "z": 0.08952262997627258
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.983958721160889,
                "transform": {
                    "location": {
                        "x": 1128.2476806640625,
                        "y": 4078.185302734375,
                        "z": 366.2541198730469
                    },
                    "rotation": {
                        "roll": -0.00015258864732459188,
                        "pitch": 1.0015379190444946,
                        "yaw": -170.76023864746094
                    }
                },
                "velocity": {
                    "x": -7.879169940948486,
                    "y": -1.2817875146865845,
                    "z": 0.13892582058906555
                },
                "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": 0.23252183198928833,
        "expert_target_speed": 6.446969545739759,
        "target_point": [
            9.605746595957452,
            0.16890601828206142
        ],
        "target_point_next": [
            46.60418477933226,
            -0.17731407557925838
        ]
    },
    "345": {
        "acceleration": [
            -0.233612060546875,
            -0.04746198654174805,
            0.0013686716556549072
        ],
        "angular_velocity": [
            -0.11513137072324753,
            0.20880307257175446,
            -0.2295483648777008
        ],
        "forward_vector": [
            -0.9855814576148987,
            -0.16842688620090485,
            0.01617348939180374
        ],
        "right_vector": [
            0.168443962931633,
            -0.9857111573219299,
            -0.0003096837899647653
        ],
        "location": [
            1164.45166015625,
            4084.422119140625,
            365.6469421386719
        ],
        "rotation": [
            0.01774589531123638,
            0.9267131686210632,
            -170.30235290527344
        ],
        "velocity": [
            -5.921257019042969,
            -1.0075441598892212,
            0.09623576700687408
        ],
        "speed": 6.006365783041564,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.102930068969727,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1150.593017578125,
                4081.818359375,
                365.8729248046875
            ],
            "velocity": [
                -6.274545192718506,
                -1.0224107503890991,
                0.10525298863649368
            ],
            "speed_kmh": 22.88941017703059,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016559600830078,
                "transform": {
                    "location": {
                        "x": 1147.7205810546875,
                        "y": 4084.5908203125,
                        "z": 365.9157409667969
                    },
                    "rotation": {
                        "roll": 6.220118666533381e-05,
                        "pitch": -0.9809585213661194,
                        "yaw": 9.269397735595703
                    }
                },
                "velocity": {
                    "x": 7.91093111038208,
                    "y": 1.290123701095581,
                    "z": -0.13407741487026215
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029394149780273,
                "transform": {
                    "location": {
                        "x": 1189.2178955078125,
                        "y": 4091.33935546875,
                        "z": 365.2416076660156
                    },
                    "rotation": {
                        "roll": -0.0006408646004274487,
                        "pitch": -0.8714569807052612,
                        "yaw": 9.231532096862793
                    }
                },
                "velocity": {
                    "x": 7.924488544464111,
                    "y": 1.2878621816635132,
                    "z": -0.12271972745656967
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.66686725616455,
                "transform": {
                    "location": {
                        "x": 1202.6558837890625,
                        "y": 4090.28125,
                        "z": 365.0547180175781
                    },
                    "rotation": {
                        "roll": 0.0019610116723924875,
                        "pitch": 0.8594563007354736,
                        "yaw": -170.80137634277344
                    }
                },
                "velocity": {
                    "x": -9.541065216064453,
                    "y": -1.5478363037109375,
                    "z": 0.14352616667747498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7990379333496094,
                "transform": {
                    "location": {
                        "x": 1182.1820068359375,
                        "y": 4086.953369140625,
                        "z": 365.3815002441406
                    },
                    "rotation": {
                        "roll": -0.0012512209359556437,
                        "pitch": 0.023844189941883087,
                        "yaw": -170.75807189941406
                    }
                },
                "velocity": {
                    "x": -3.7492799758911133,
                    "y": -0.6102586388587952,
                    "z": 0.05633655562996864
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.3581695556640625,
                "transform": {
                    "location": {
                        "x": 1150.593017578125,
                        "y": 4081.818359375,
                        "z": 365.8729248046875
                    },
                    "rotation": {
                        "roll": -0.0007629369501955807,
                        "pitch": 0.974114716053009,
                        "yaw": -170.7694091796875
                    }
                },
                "velocity": {
                    "x": -6.274545192718506,
                    "y": -1.0224107503890991,
                    "z": 0.10525298863649368
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.784743785858154,
                "transform": {
                    "location": {
                        "x": 1126.2960205078125,
                        "y": 4077.86767578125,
                        "z": 366.2887268066406
                    },
                    "rotation": {
                        "roll": -0.00042723744991235435,
                        "pitch": 0.9905276298522949,
                        "yaw": -170.76263427734375
                    }
                },
                "velocity": {
                    "x": -7.682375907897949,
                    "y": -1.251004695892334,
                    "z": 0.13537925481796265
                },
                "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": 0.22445763647556305,
        "expert_target_speed": 6.536175308352317,
        "target_point": [
            8.114882329604788,
            0.18130689978638337
        ],
        "target_point_next": [
            45.11373288736191,
            -0.11761410508812808
        ]
    },
    "350": {
        "acceleration": [
            -1.1799907684326172,
            -0.1969623565673828,
            0.05600661039352417
        ],
        "angular_velocity": [
            -0.0721927210688591,
            0.23646172881126404,
            -0.05281610041856766
        ],
        "forward_vector": [
            -0.9856370091438293,
            -0.16799622774124146,
            0.01723192073404789
        ],
        "right_vector": [
            0.16801781952381134,
            -0.9857839941978455,
            -0.00019767599587794393
        ],
        "location": [
            1162.9451904296875,
            4084.165283203125,
            365.6711120605469
        ],
        "rotation": [
            0.011327682062983513,
            0.9873652458190918,
            -170.32720947265625
        ],
        "velocity": [
            -6.128970623016357,
            -1.0435689687728882,
            0.10035441815853119
        ],
        "speed": 6.217179190789278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.32603931427002,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1148.8641357421875,
                4081.537353515625,
                365.9019470214844
            ],
            "velocity": [
                -7.4311442375183105,
                -1.2090656757354736,
                0.1256352961063385
            ],
            "speed_kmh": 27.107672200728267,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.055618286132812,
                "transform": {
                    "location": {
                        "x": 1149.7052001953125,
                        "y": 4084.914794921875,
                        "z": 365.8822937011719
                    },
                    "rotation": {
                        "roll": 0.0017807843396440148,
                        "pitch": -0.9529069662094116,
                        "yaw": 9.239067077636719
                    }
                },
                "velocity": {
                    "x": 7.950028419494629,
                    "y": 1.293056607246399,
                    "z": -0.13431449234485626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081598281860352,
                "transform": {
                    "location": {
                        "x": 1191.205810546875,
                        "y": 4091.662353515625,
                        "z": 365.2110595703125
                    },
                    "rotation": {
                        "roll": -0.0007629476604051888,
                        "pitch": -0.8682194352149963,
                        "yaw": 9.231517791748047
                    }
                },
                "velocity": {
                    "x": 7.976012229919434,
                    "y": 1.2962253093719482,
                    "z": -0.12350379675626755
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.159699440002441,
                "transform": {
                    "location": {
                        "x": 1200.46142578125,
                        "y": 4089.9248046875,
                        "z": 365.08740234375
                    },
                    "rotation": {
                        "roll": 5.8731002354761586e-05,
                        "pitch": 0.673094630241394,
                        "yaw": -170.76687622070312
                    }
                },
                "velocity": {
                    "x": -8.053227424621582,
                    "y": -1.3082544803619385,
                    "z": 0.12119375169277191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.076827526092529,
                "transform": {
                    "location": {
                        "x": 1181.236328125,
                        "y": 4086.79931640625,
                        "z": 365.3922424316406
                    },
                    "rotation": {
                        "roll": -0.00054931704653427,
                        "pitch": 0.49509990215301514,
                        "yaw": -170.7585906982422
                    }
                },
                "velocity": {
                    "x": -4.0234222412109375,
                    "y": -0.6546670198440552,
                    "z": 0.06328783184289932
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.529909133911133,
                "transform": {
                    "location": {
                        "x": 1148.8641357421875,
                        "y": 4081.537353515625,
                        "z": 365.9019470214844
                    },
                    "rotation": {
                        "roll": 0.00016580351802986115,
                        "pitch": 0.9889430403709412,
                        "yaw": -170.74765014648438
                    }
                },
                "velocity": {
                    "x": -7.4311442375183105,
                    "y": -1.2090656757354736,
                    "z": 0.1256352961063385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.37395715713501,
                "transform": {
                    "location": {
                        "x": 1124.431396484375,
                        "y": 4077.564697265625,
                        "z": 366.32183837890625
                    },
                    "rotation": {
                        "roll": -0.0005188040668144822,
                        "pitch": 0.9842643737792969,
                        "yaw": -170.76072692871094
                    }
                },
                "velocity": {
                    "x": -7.2773871421813965,
                    "y": -1.1823585033416748,
                    "z": 0.13002444803714752
                },
                "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": 0.2165592908859253,
        "expert_target_speed": 6.787958817372679,
        "target_point": [
            43.58557292430569,
            -0.09812577090519081
        ],
        "target_point_next": [
            43.58557292430569,
            -0.09812577090519081
        ]
    },
    "355": {
        "acceleration": [
            -0.4860210418701172,
            -0.19785165786743164,
            0.02743065357208252
        ],
        "angular_velocity": [
            -0.07282784581184387,
            0.036554671823978424,
            0.7044589519500732
        ],
        "forward_vector": [
            -0.9854277968406677,
            -0.16916266083717346,
            0.017775433138012886
        ],
        "right_vector": [
            0.16919250786304474,
            -0.9855830073356628,
            0.00017787072283681482
        ],
        "location": [
            1161.387451171875,
            4083.89794921875,
            365.6963195800781
        ],
        "rotation": [
            -0.010192852467298508,
            1.0185109376907349,
            -170.25930786132812
        ],
        "velocity": [
            -6.320138931274414,
            -1.098621129989624,
            0.10407939553260803
        ],
        "speed": 6.41491422373442,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.714925765991211,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1146.9200439453125,
                4081.220947265625,
                365.9346923828125
            ],
            "velocity": [
                -8.483487129211426,
                -1.381008267402649,
                0.1427793651819229
            ],
            "speed_kmh": 30.946837036216603,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025768280029297,
                "transform": {
                    "location": {
                        "x": 1151.6888427734375,
                        "y": 4085.237060546875,
                        "z": 365.8490905761719
                    },
                    "rotation": {
                        "roll": 0.001977906096726656,
                        "pitch": -0.963773787021637,
                        "yaw": 9.25507640838623
                    }
                },
                "velocity": {
                    "x": 7.920558929443359,
                    "y": 1.288480520248413,
                    "z": -0.13238848745822906
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029410362243652,
                "transform": {
                    "location": {
                        "x": 1193.1929931640625,
                        "y": 4091.98583984375,
                        "z": 365.1805725097656
                    },
                    "rotation": {
                        "roll": -0.00024413398932665586,
                        "pitch": -0.8695991635322571,
                        "yaw": 9.230973243713379
                    }
                },
                "velocity": {
                    "x": 7.92450475692749,
                    "y": 1.2878273725509644,
                    "z": -0.12312368303537369
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.635562419891357,
                "transform": {
                    "location": {
                        "x": 1198.5552978515625,
                        "y": 4089.615234375,
                        "z": 365.11627197265625
                    },
                    "rotation": {
                        "roll": -0.0005798289785161614,
                        "pitch": 0.7526389956474304,
                        "yaw": -170.7939453125
                    }
                },
                "velocity": {
                    "x": -7.536118030548096,
                    "y": -1.2229259014129639,
                    "z": 0.11484654992818832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.474000930786133,
                "transform": {
                    "location": {
                        "x": 1180.1722412109375,
                        "y": 4086.626220703125,
                        "z": 365.4041442871094
                    },
                    "rotation": {
                        "roll": -9.155768930213526e-05,
                        "pitch": 1.1090587377548218,
                        "yaw": -170.75851440429688
                    }
                },
                "velocity": {
                    "x": -4.415400981903076,
                    "y": -0.7184291481971741,
                    "z": 0.06913291662931442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.596343040466309,
                "transform": {
                    "location": {
                        "x": 1146.9200439453125,
                        "y": 4081.220947265625,
                        "z": 365.9346923828125
                    },
                    "rotation": {
                        "roll": -6.102745464886539e-05,
                        "pitch": 1.0014150142669678,
                        "yaw": -170.75193786621094
                    }
                },
                "velocity": {
                    "x": -8.483487129211426,
                    "y": -1.381008267402649,
                    "z": 0.1427793651819229
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2502055168151855,
                "transform": {
                    "location": {
                        "x": 1122.6292724609375,
                        "y": 4077.271484375,
                        "z": 366.35382080078125
                    },
                    "rotation": {
                        "roll": -0.0007629346800968051,
                        "pitch": 0.9932323694229126,
                        "yaw": -170.759765625
                    }
                },
                "velocity": {
                    "x": -7.154670238494873,
                    "y": -1.1661677360534668,
                    "z": 0.12741026282310486
                },
                "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": 0.19478780031204224,
        "expert_target_speed": 7.0265030501795085,
        "target_point": [
            42.004913777932515,
            -0.14969961876753946
        ],
        "target_point_next": [
            42.004913777932515,
            -0.14969961876753946
        ]
    },
    "360": {
        "acceleration": [
            -1.090545654296875,
            -0.3102755546569824,
            0.03396272659301758
        ],
        "angular_velocity": [
            -0.020526915788650513,
            0.10921154171228409,
            0.8673624992370605
        ],
        "forward_vector": [
            -0.9848094582557678,
            -0.1726980358362198,
            0.018045756965875626
        ],
        "right_vector": [
            0.17273204028606415,
            -0.9849687814712524,
            0.00033124335459433496
        ],
        "location": [
            1159.780029296875,
            4083.615478515625,
            365.72259521484375
        ],
        "rotation": [
            -0.0189819373190403,
            1.0340018272399902,
            -170.0536346435547
        ],
        "velocity": [
            -6.528440475463867,
            -1.161682367324829,
            0.10667892545461655
        ],
        "speed": 6.6309909488875265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.213384628295898,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1144.81689453125,
                4080.878662109375,
                365.9706115722656
            ],
            "velocity": [
                -8.198066711425781,
                -1.3334249258041382,
                0.13951021432876587
            ],
            "speed_kmh": 29.905099011236928,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035128593444824,
                "transform": {
                    "location": {
                        "x": 1153.6693115234375,
                        "y": 4085.5595703125,
                        "z": 365.8161315917969
                    },
                    "rotation": {
                        "roll": 0.0008048010058701038,
                        "pitch": -0.9589790105819702,
                        "yaw": 9.226919174194336
                    }
                },
                "velocity": {
                    "x": 7.929800987243652,
                    "y": 1.2901272773742676,
                    "z": -0.13081280887126923
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08312702178955,
                "transform": {
                    "location": {
                        "x": 1195.180908203125,
                        "y": 4092.30908203125,
                        "z": 365.1501159667969
                    },
                    "rotation": {
                        "roll": -3.051256680919323e-05,
                        "pitch": -0.8678916096687317,
                        "yaw": 9.235095024108887
                    }
                },
                "velocity": {
                    "x": 7.977433204650879,
                    "y": 1.2971352338790894,
                    "z": -0.12223891913890839
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.228828430175781,
                "transform": {
                    "location": {
                        "x": 1196.58642578125,
                        "y": 4089.295166015625,
                        "z": 365.1463623046875
                    },
                    "rotation": {
                        "roll": -0.0007629389292560518,
                        "pitch": 0.9225877523422241,
                        "yaw": -170.7551727294922
                    }
                },
                "velocity": {
                    "x": -8.121353149414062,
                    "y": -1.3199173212051392,
                    "z": 0.12272878736257553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.870871067047119,
                "transform": {
                    "location": {
                        "x": 1179.0186767578125,
                        "y": 4086.43896484375,
                        "z": 365.4228515625
                    },
                    "rotation": {
                        "roll": -0.00045775261241942644,
                        "pitch": 1.0481470823287964,
                        "yaw": -170.76133728027344
                    }
                },
                "velocity": {
                    "x": -4.807100296020508,
                    "y": -0.7818781733512878,
                    "z": 0.07640647888183594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.306971549987793,
                "transform": {
                    "location": {
                        "x": 1144.81689453125,
                        "y": 4080.878662109375,
                        "z": 365.9706115722656
                    },
                    "rotation": {
                        "roll": -6.10334136581514e-05,
                        "pitch": 0.9624623656272888,
                        "yaw": -170.76283264160156
                    }
                },
                "velocity": {
                    "x": -8.198066711425781,
                    "y": -1.3334249258041382,
                    "z": 0.13951021432876587
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.924206256866455,
                "transform": {
                    "location": {
                        "x": 1120.8795166015625,
                        "y": 4076.98681640625,
                        "z": 366.3849182128906
                    },
                    "rotation": {
                        "roll": 0.00011557019752217457,
                        "pitch": 0.9904320240020752,
                        "yaw": -170.7600555419922
                    }
                },
                "velocity": {
                    "x": -6.833315849304199,
                    "y": -1.1116141080856323,
                    "z": 0.12141093611717224
                },
                "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": 0.15612053871154785,
        "expert_target_speed": 7.217490998750855,
        "target_point": [
            40.372053425122196,
            -0.3010816121989137
        ],
        "target_point_next": [
            40.372053425122196,
            -0.3010816121989137
        ]
    },
    "365": {
        "acceleration": [
            -0.7866096496582031,
            -0.23550033569335938,
            0.02253904938697815
        ],
        "angular_velocity": [
            0.017478203400969505,
            0.044435542076826096,
            0.8665963411331177
        ],
        "forward_vector": [
            -0.9841424226760864,
            -0.1764349341392517,
            0.018285207450389862
        ],
        "right_vector": [
            0.17647090554237366,
            -0.9843057990074158,
            0.0003599991323426366
        ],
        "location": [
            1158.121337890625,
            4083.318115234375,
            365.7498474121094
        ],
        "rotation": [
            -0.0206298790872097,
            1.047723650932312,
            -169.8361053466797
        ],
        "velocity": [
            -6.744759559631348,
            -1.2256959676742554,
            0.11179942637681961
        ],
        "speed": 6.855225169344285,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.563911437988281,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1142.807373046875,
                4080.5517578125,
                366.00494384765625
            ],
            "velocity": [
                -7.9145073890686035,
                -1.2869595289230347,
                0.13603883981704712
            ],
            "speed_kmh": 28.87060813253045,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040157318115234,
                "transform": {
                    "location": {
                        "x": 1155.6533203125,
                        "y": 4085.8818359375,
                        "z": 365.783203125
                    },
                    "rotation": {
                        "roll": -0.002044672379270196,
                        "pitch": -0.9447585344314575,
                        "yaw": 9.256725311279297
                    }
                },
                "velocity": {
                    "x": 7.934473514556885,
                    "y": 1.2927132844924927,
                    "z": -0.13097818195819855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027366638183594,
                "transform": {
                    "location": {
                        "x": 1197.168212890625,
                        "y": 4092.63232421875,
                        "z": 365.11968994140625
                    },
                    "rotation": {
                        "roll": 0.0005634684930555522,
                        "pitch": -0.8677071928977966,
                        "yaw": 9.229503631591797
                    }
                },
                "velocity": {
                    "x": 7.922786235809326,
                    "y": 1.2859240770339966,
                    "z": -0.12034604698419571
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.286539077758789,
                "transform": {
                    "location": {
                        "x": 1194.6590576171875,
                        "y": 4088.981689453125,
                        "z": 365.17578125
                    },
                    "rotation": {
                        "roll": -0.0010070783318951726,
                        "pitch": 0.7759982347488403,
                        "yaw": -170.7837677001953
                    }
                },
                "velocity": {
                    "x": -7.191414833068848,
                    "y": -1.1683382987976074,
                    "z": 0.110414519906044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.065956115722656,
                "transform": {
                    "location": {
                        "x": 1177.7818603515625,
                        "y": 4086.23779296875,
                        "z": 365.443359375
                    },
                    "rotation": {
                        "roll": 0.0007979411748237908,
                        "pitch": 0.9502363801002502,
                        "yaw": -170.75302124023438
                    }
                },
                "velocity": {
                    "x": -4.999632358551025,
                    "y": -0.8131891489028931,
                    "z": 0.07944619655609131
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019613265991211,
                "transform": {
                    "location": {
                        "x": 1142.807373046875,
                        "y": 4080.5517578125,
                        "z": 366.00494384765625
                    },
                    "rotation": {
                        "roll": -0.0011596796102821827,
                        "pitch": 0.9568206667900085,
                        "yaw": -170.76551818847656
                    }
                },
                "velocity": {
                    "x": -7.9145073890686035,
                    "y": -1.2869595289230347,
                    "z": 0.13603883981704712
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.723736763000488,
                "transform": {
                    "location": {
                        "x": 1119.1990966796875,
                        "y": 4076.713623046875,
                        "z": 366.4146728515625
                    },
                    "rotation": {
                        "roll": 5.306859020492993e-05,
                        "pitch": 0.988389790058136,
                        "yaw": -170.7613525390625
                    }
                },
                "velocity": {
                    "x": -6.635709285736084,
                    "y": -1.0779684782028198,
                    "z": 0.11824670433998108
                },
                "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": 0.12413982301950455,
        "expert_target_speed": 7.402207759661597,
        "target_point": [
            38.68548375398721,
            -0.4543512637641669
        ],
        "target_point_next": [
            38.68548375398721,
            -0.4543512637641669
        ]
    },
    "370": {
        "acceleration": [
            -2.21923828125,
            -0.5409359931945801,
            0.02604559063911438
        ],
        "angular_velocity": [
            -0.07055439800024033,
            0.2981225550174713,
            0.9523701667785645
        ],
        "forward_vector": [
            -0.9834197759628296,
            -0.1803276538848877,
            0.01916923001408577
        ],
        "right_vector": [
            0.18036775290966034,
            -0.9835991859436035,
            0.0003695789200719446
        ],
        "location": [
            1156.3846435546875,
            4082.99951171875,
            365.7783203125
        ],
        "rotation": [
            -0.021179204806685448,
            1.0983831882476807,
            -169.60922241210938
        ],
        "velocity": [
            -7.1630682945251465,
            -1.3312655687332153,
            0.11769676208496094
        ],
        "speed": 7.285726827607934,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.780874252319336,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1140.8502197265625,
                4080.233642578125,
                366.03839111328125
            ],
            "velocity": [
                -7.789159774780273,
                -1.2663958072662354,
                0.13475337624549866
            ],
            "speed_kmh": 28.4133125745527,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030681610107422,
                "transform": {
                    "location": {
                        "x": 1157.635498046875,
                        "y": 4086.204345703125,
                        "z": 365.7507019042969
                    },
                    "rotation": {
                        "roll": 9.673640306573361e-05,
                        "pitch": -0.946233868598938,
                        "yaw": 9.222396850585938
                    }
                },
                "velocity": {
                    "x": 7.92551326751709,
                    "y": 1.2887388467788696,
                    "z": -0.13129349052906036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08099365234375,
                "transform": {
                    "location": {
                        "x": 1199.1561279296875,
                        "y": 4092.95556640625,
                        "z": 365.089599609375
                    },
                    "rotation": {
                        "roll": -0.0005188047070987523,
                        "pitch": -0.8508570790290833,
                        "yaw": 9.227903366088867
                    }
                },
                "velocity": {
                    "x": 7.975545406341553,
                    "y": 1.2956223487854004,
                    "z": -0.12036069482564926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.407386779785156,
                "transform": {
                    "location": {
                        "x": 1193.0545654296875,
                        "y": 4088.721435546875,
                        "z": 365.2001953125
                    },
                    "rotation": {
                        "roll": -6.104161002440378e-05,
                        "pitch": 0.6105573773384094,
                        "yaw": -170.7967071533203
                    }
                },
                "velocity": {
                    "x": -5.337207317352295,
                    "y": -0.8645053505897522,
                    "z": 0.08171437680721283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.516706943511963,
                "transform": {
                    "location": {
                        "x": 1176.5001220703125,
                        "y": 4086.029296875,
                        "z": 365.4635314941406
                    },
                    "rotation": {
                        "roll": -0.0007019064505584538,
                        "pitch": 0.9568479657173157,
                        "yaw": -170.75653076171875
                    }
                },
                "velocity": {
                    "x": -5.444611072540283,
                    "y": -0.88480544090271,
                    "z": 0.08594680577516556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.892586708068848,
                "transform": {
                    "location": {
                        "x": 1140.8502197265625,
                        "y": 4080.233642578125,
                        "z": 366.03839111328125
                    },
                    "rotation": {
                        "roll": -0.00042724821832962334,
                        "pitch": 0.9701122045516968,
                        "yaw": -170.7661590576172
                    }
                },
                "velocity": {
                    "x": -7.789159774780273,
                    "y": -1.2663958072662354,
                    "z": 0.13475337624549866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.463041305541992,
                "transform": {
                    "location": {
                        "x": 1117.5736083984375,
                        "y": 4076.44921875,
                        "z": 366.4434814453125
                    },
                    "rotation": {
                        "roll": 0.00023037308710627258,
                        "pitch": 0.9888815879821777,
                        "yaw": -170.76283264160156
                    }
                },
                "velocity": {
                    "x": -6.378248691558838,
                    "y": -1.0372496843338013,
                    "z": 0.11383100599050522
                },
                "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": 0.07210399955511093,
        "expert_target_speed": 7.738998572969518,
        "target_point": [
            36.91770437621897,
            -0.6076757694762263
        ],
        "target_point_next": [
            36.91770437621897,
            -0.6076757694762263
        ]
    },
    "375": {
        "acceleration": [
            -1.8891429901123047,
            -0.36897897720336914,
            0.0347745418548584
        ],
        "angular_velocity": [
            0.09043027460575104,
            0.20733532309532166,
            0.5555626749992371
        ],
        "forward_vector": [
            -0.9827343821525574,
            -0.1838984340429306,
            0.020357156172394753
        ],
        "right_vector": [
            0.18394020199775696,
            -0.9829374551773071,
            0.0001826551597332582
        ],
        "location": [
            1154.527099609375,
            4082.65185546875,
            365.8089904785156
        ],
        "rotation": [
            -0.01046753954142332,
            1.1664596796035767,
            -169.40086364746094
        ],
        "velocity": [
            -7.67734956741333,
            -1.446132779121399,
            0.12773601710796356
        ],
        "speed": 7.812361768064189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.876520156860352,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1138.8905029296875,
                4079.914794921875,
                366.0721130371094
            ],
            "velocity": [
                -7.8921685218811035,
                -1.2835079431533813,
                0.13556651771068573
            ],
            "speed_kmh": 28.789219334436346,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 1119.473388671875,
                        "y": 4079.8984375,
                        "z": 366.7974853515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0031088590621948,
                        "yaw": 9.234708786010742
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036699295043945,
                "transform": {
                    "location": {
                        "x": 1159.61767578125,
                        "y": 4086.526123046875,
                        "z": 365.7181701660156
                    },
                    "rotation": {
                        "roll": -0.00048827784485183656,
                        "pitch": -0.9425045847892761,
                        "yaw": 9.247787475585938
                    }
                },
                "velocity": {
                    "x": 7.931323051452637,
                    "y": 1.2906370162963867,
                    "z": -0.13001616299152374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028397560119629,
                "transform": {
                    "location": {
                        "x": 1201.1434326171875,
                        "y": 4093.278564453125,
                        "z": 365.05975341796875
                    },
                    "rotation": {
                        "roll": -0.00033569667721167207,
                        "pitch": -0.8497915863990784,
                        "yaw": 9.228089332580566
                    }
                },
                "velocity": {
                    "x": 7.923954963684082,
                    "y": 1.2853338718414307,
                    "z": -0.11839810758829117
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.252915382385254,
                "transform": {
                    "location": {
                        "x": 1192.0223388671875,
                        "y": 4088.553955078125,
                        "z": 365.2158203125
                    },
                    "rotation": {
                        "roll": -0.0015258771600201726,
                        "pitch": 0.688858687877655,
                        "yaw": -170.78482055664062
                    }
                },
                "velocity": {
                    "x": -4.1975579261779785,
                    "y": -0.6808110475540161,
                    "z": 0.06552957743406296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.574382305145264,
                "transform": {
                    "location": {
                        "x": 1175.001953125,
                        "y": 4085.784912109375,
                        "z": 365.4856872558594
                    },
                    "rotation": {
                        "roll": 0.0009816472884267569,
                        "pitch": 1.1405937671661377,
                        "yaw": -170.8957061767578
                    }
                },
                "velocity": {
                    "x": -6.488927841186523,
                    "y": -1.0515116453170776,
                    "z": 0.1031298041343689
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.997005462646484,
                "transform": {
                    "location": {
                        "x": 1138.8905029296875,
                        "y": 4079.914794921875,
                        "z": 366.0721130371094
                    },
                    "rotation": {
                        "roll": -0.00024414126528427005,
                        "pitch": 0.9756651520729065,
                        "yaw": -170.76385498046875
                    }
                },
                "velocity": {
                    "x": -7.8921685218811035,
                    "y": -1.2835079431533813,
                    "z": 0.13556651771068573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.294897556304932,
                "transform": {
                    "location": {
                        "x": 1115.9998779296875,
                        "y": 4076.193359375,
                        "z": 366.4713439941406
                    },
                    "rotation": {
                        "roll": -3.0513603633153252e-05,
                        "pitch": 0.9878638386726379,
                        "yaw": -170.76290893554688
                    }
                },
                "velocity": {
                    "x": -6.212613582611084,
                    "y": -1.0084515810012817,
                    "z": 0.1103973537683487
                },
                "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": 0.017788585275411606,
        "expert_target_speed": 8.136323734024778,
        "target_point": [
            35.02545277350209,
            -0.7419892987114629
        ],
        "target_point_next": [
            35.02545277350209,
            -0.7419892987114629
        ]
    },
    "380": {
        "acceleration": [
            -2.493114471435547,
            -0.48298120498657227,
            0.0454142689704895
        ],
        "angular_velocity": [
            0.057060230523347855,
            0.11559972912073135,
            0.10188934952020645
        ],
        "forward_vector": [
            -0.9825488328933716,
            -0.18480874598026276,
            0.02105950564146042
        ],
        "right_vector": [
            0.18484598398208618,
            -0.9827675223350525,
            -0.00018166052177548409
        ],
        "location": [
            1152.5330810546875,
            4082.27685546875,
            365.84210205078125
        ],
        "rotation": [
            0.010410689748823643,
            1.2067099809646606,
            -169.34762573242188
        ],
        "velocity": [
            -8.248973846435547,
            -1.5538069009780884,
            0.13840903341770172
        ],
        "speed": 8.3940386825833,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.848437309265137,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1136.9156494140625,
                4079.59375,
                366.1061706542969
            ],
            "velocity": [
                -7.893421649932861,
                -1.2833069562911987,
                0.13736222684383392
            ],
            "speed_kmh": 28.7936656589429,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.188315749168396,
                "transform": {
                    "location": {
                        "x": 1119.4722900390625,
                        "y": 4079.89794921875,
                        "z": 366.406982421875
                    },
                    "rotation": {
                        "roll": 0.00027038808912038803,
                        "pitch": -1.0099185705184937,
                        "yaw": 9.234909057617188
                    }
                },
                "velocity": {
                    "x": -0.020203737542033195,
                    "y": -0.0033777242060750723,
                    "z": -1.1881392002105713
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035932540893555,
                "transform": {
                    "location": {
                        "x": 1161.600830078125,
                        "y": 4086.8486328125,
                        "z": 365.6858215332031
                    },
                    "rotation": {
                        "roll": -0.00042723683873191476,
                        "pitch": -0.9322797656059265,
                        "yaw": 9.226064682006836
                    }
                },
                "velocity": {
                    "x": 7.930621147155762,
                    "y": 1.29013192653656,
                    "z": -0.13043533265590668
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081589698791504,
                "transform": {
                    "location": {
                        "x": 1203.1312255859375,
                        "y": 4093.60205078125,
                        "z": 365.0299072265625
                    },
                    "rotation": {
                        "roll": -0.001342780189588666,
                        "pitch": -0.8501536250114441,
                        "yaw": 9.22957992553711
                    }
                },
                "velocity": {
                    "x": 7.976079940795898,
                    "y": 1.2961502075195312,
                    "z": -0.11929801851511002
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2942633628845215,
                "transform": {
                    "location": {
                        "x": 1190.8170166015625,
                        "y": 4088.358154296875,
                        "z": 365.2350769042969
                    },
                    "rotation": {
                        "roll": -0.0003662079107016325,
                        "pitch": 0.9695726037025452,
                        "yaw": -170.7699432373047
                    }
                },
                "velocity": {
                    "x": -5.225080490112305,
                    "y": -0.8491118550300598,
                    "z": 0.08226136863231659
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6538262367248535,
                "transform": {
                    "location": {
                        "x": 1173.2362060546875,
                        "y": 4085.4990234375,
                        "z": 365.513427734375
                    },
                    "rotation": {
                        "roll": -0.002166756894439459,
                        "pitch": 1.180557131767273,
                        "yaw": -170.8863983154297
                    }
                },
                "velocity": {
                    "x": -7.554413795471191,
                    "y": -1.223649024963379,
                    "z": 0.12071630358695984
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9982404708862305,
                "transform": {
                    "location": {
                        "x": 1136.9156494140625,
                        "y": 4079.59375,
                        "z": 366.1061706542969
                    },
                    "rotation": {
                        "roll": -0.0011596617987379432,
                        "pitch": 0.9825226664543152,
                        "yaw": -170.7647247314453
                    }
                },
                "velocity": {
                    "x": -7.893421649932861,
                    "y": -1.2833069562911987,
                    "z": 0.13736222684383392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.995745658874512,
                "transform": {
                    "location": {
                        "x": 1114.486572265625,
                        "y": 4075.947021484375,
                        "z": 366.4981689453125
                    },
                    "rotation": {
                        "roll": -0.00036620322498492897,
                        "pitch": 0.9878092408180237,
                        "yaw": -170.7609100341797
                    }
                },
                "velocity": {
                    "x": -5.917032241821289,
                    "y": -0.9626477360725403,
                    "z": 0.10489395260810852
                },
                "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": -0.023040633648633957,
        "expert_target_speed": 8.53901942079653,
        "target_point": [
            32.995774568287516,
            -0.7744674056286565
        ],
        "target_point_next": [
            32.995774568287516,
            -0.7744674056286565
        ]
    },
    "385": {
        "acceleration": [
            -0.9155464172363281,
            -0.1609969139099121,
            0.024254322052001953
        ],
        "angular_velocity": [
            0.09915288537740707,
            -0.3017038404941559,
            0.04929985851049423
        ],
        "forward_vector": [
            -0.9824814796447754,
            -0.18519894778728485,
            0.020771915093064308
        ],
        "right_vector": [
            0.1852327287197113,
            -0.9826946258544922,
            -0.00030222555506043136
        ],
        "location": [
            1150.408203125,
            4081.87646484375,
            365.87786865234375
        ],
        "rotation": [
            0.01731998659670353,
            1.1902287006378174,
            -169.32493591308594
        ],
        "velocity": [
            -8.680215835571289,
            -1.6372318267822266,
            0.14540067315101624
        ],
        "speed": 8.833270912110148,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.687753677368164,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1134.9403076171875,
                4079.2724609375,
                366.1405029296875
            ],
            "velocity": [
                -7.906198024749756,
                -1.2845603227615356,
                0.13858169317245483
            ],
            "speed_kmh": 28.83985756558245,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15033528208732605,
                "transform": {
                    "location": {
                        "x": 1119.4718017578125,
                        "y": 4079.89794921875,
                        "z": 366.3830871582031
                    },
                    "rotation": {
                        "roll": 0.001006309175863862,
                        "pitch": -1.0120905637741089,
                        "yaw": 9.234834671020508
                    }
                },
                "velocity": {
                    "x": 0.0026319653261452913,
                    "y": 0.0003849050553981215,
                    "z": 0.15031173825263977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033463478088379,
                "transform": {
                    "location": {
                        "x": 1163.5831298828125,
                        "y": 4087.1708984375,
                        "z": 365.6535949707031
                    },
                    "rotation": {
                        "roll": -0.0002441448450554162,
                        "pitch": -0.9319382905960083,
                        "yaw": 9.250779151916504
                    }
                },
                "velocity": {
                    "x": 7.92828893661499,
                    "y": 1.289276123046875,
                    "z": -0.12859810888767242
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029438018798828,
                "transform": {
                    "location": {
                        "x": 1205.1187744140625,
                        "y": 4093.92529296875,
                        "z": 365.0001525878906
                    },
                    "rotation": {
                        "roll": -0.0004882790381088853,
                        "pitch": -0.8517450094223022,
                        "yaw": 9.229755401611328
                    }
                },
                "velocity": {
                    "x": 7.924602508544922,
                    "y": 1.2877941131591797,
                    "z": -0.11886866390705109
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.497446537017822,
                "transform": {
                    "location": {
                        "x": 1189.4859619140625,
                        "y": 4088.141845703125,
                        "z": 365.25537109375
                    },
                    "rotation": {
                        "roll": -0.0007934643072076142,
                        "pitch": 0.9182027578353882,
                        "yaw": -170.73956298828125
                    }
                },
                "velocity": {
                    "x": -5.425342082977295,
                    "y": -0.8835147023200989,
                    "z": 0.08354789763689041
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.83382511138916,
                "transform": {
                    "location": {
                        "x": 1171.1954345703125,
                        "y": 4085.168701171875,
                        "z": 365.5460510253906
                    },
                    "rotation": {
                        "roll": -0.004882813431322575,
                        "pitch": 1.1725112199783325,
                        "yaw": -170.79798889160156
                    }
                },
                "velocity": {
                    "x": -8.718404769897461,
                    "y": -1.4165537357330322,
                    "z": 0.1387779265642166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.01107120513916,
                "transform": {
                    "location": {
                        "x": 1134.9403076171875,
                        "y": 4079.2724609375,
                        "z": 366.1405029296875
                    },
                    "rotation": {
                        "roll": -6.103389023337513e-05,
                        "pitch": 0.9886288642883301,
                        "yaw": -170.76634216308594
                    }
                },
                "velocity": {
                    "x": -7.906198024749756,
                    "y": -1.2845603227615356,
                    "z": 0.13858169317245483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.889305591583252,
                "transform": {
                    "location": {
                        "x": 1113.0203857421875,
                        "y": 4075.708740234375,
                        "z": 366.52398681640625
                    },
                    "rotation": {
                        "roll": -0.0008239676244556904,
                        "pitch": 0.9891342520713806,
                        "yaw": -170.7666015625
                    }
                },
                "velocity": {
                    "x": -5.8121209144592285,
                    "y": -0.9447439908981323,
                    "z": 0.10310108214616776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.29983919858932495,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06588183343410492,
        "expert_target_speed": 8.816753096081777,
        "target_point": [
            30.833193407313733,
            -0.787392964561537
        ],
        "target_point_next": [
            30.833193407313733,
            -0.787392964561537
        ]
    },
    "390": {
        "acceleration": [
            0.05092620849609375,
            0.25085926055908203,
            0.0032123923301696777
        ],
        "angular_velocity": [
            0.28531357645988464,
            -0.4436519145965576,
            -1.4229573011398315
        ],
        "forward_vector": [
            -0.9831539988517761,
            -0.18181058764457703,
            0.018791163340210915
        ],
        "right_vector": [
            0.18182195723056793,
            -0.9833308458328247,
            -0.0011162348091602325
        ],
        "location": [
            1148.22412109375,
            4081.470458984375,
            365.9151916503906
        ],
        "rotation": [
            0.06396684795618057,
            1.076717734336853,
            -169.52288818359375
        ],
        "velocity": [
            -8.734975814819336,
            -1.5937646627426147,
            0.14683538675308228
        ],
        "speed": 8.8791828613722,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.46292781829834,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1132.9698486328125,
                4078.9521484375,
                366.17486572265625
            ],
            "velocity": [
                -7.863230228424072,
                -1.278967261314392,
                0.13801372051239014
            ],
            "speed_kmh": 28.683934926962948,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3944941759109497,
                "transform": {
                    "location": {
                        "x": 1119.6258544921875,
                        "y": 4079.925537109375,
                        "z": 366.40283203125
                    },
                    "rotation": {
                        "roll": -0.008666985668241978,
                        "pitch": -0.8394780158996582,
                        "yaw": 9.331841468811035
                    }
                },
                "velocity": {
                    "x": 1.37319016456604,
                    "y": 0.24230223894119263,
                    "z": 0.01589389704167843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036426544189453,
                "transform": {
                    "location": {
                        "x": 1165.5655517578125,
                        "y": 4087.492919921875,
                        "z": 365.6215515136719
                    },
                    "rotation": {
                        "roll": 0.001879069022834301,
                        "pitch": -0.9284890294075012,
                        "yaw": 9.22061824798584
                    }
                },
                "velocity": {
                    "x": 7.931519985198975,
                    "y": 1.2879703044891357,
                    "z": -0.12755464017391205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080741882324219,
                "transform": {
                    "location": {
                        "x": 1207.1064453125,
                        "y": 4094.248779296875,
                        "z": 364.9704284667969
                    },
                    "rotation": {
                        "roll": 0.0007381075411103666,
                        "pitch": -0.8450924158096313,
                        "yaw": 9.225785255432129
                    }
                },
                "velocity": {
                    "x": 7.975340843200684,
                    "y": 1.2953850030899048,
                    "z": -0.11963286995887756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.509653568267822,
                "transform": {
                    "location": {
                        "x": 1187.8358154296875,
                        "y": 4087.873291015625,
                        "z": 365.28118896484375
                    },
                    "rotation": {
                        "roll": -0.00021363142877817154,
                        "pitch": 1.1264278888702393,
                        "yaw": -170.76101684570312
                    }
                },
                "velocity": {
                    "x": -7.411196708679199,
                    "y": -1.2065768241882324,
                    "z": 0.11503087729215622
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.546773910522461,
                "transform": {
                    "location": {
                        "x": 1168.884765625,
                        "y": 4084.79296875,
                        "z": 365.5831298828125
                    },
                    "rotation": {
                        "roll": -0.0037841838784515858,
                        "pitch": 1.1377524137496948,
                        "yaw": -170.7529754638672
                    }
                },
                "velocity": {
                    "x": -9.421472549438477,
                    "y": -1.5343276262283325,
                    "z": 0.15029440820217133
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.967759609222412,
                "transform": {
                    "location": {
                        "x": 1132.9698486328125,
                        "y": 4078.9521484375,
                        "z": 366.17486572265625
                    },
                    "rotation": {
                        "roll": -0.0010681160492822528,
                        "pitch": 0.9875428676605225,
                        "yaw": -170.76499938964844
                    }
                },
                "velocity": {
                    "x": -7.863230228424072,
                    "y": -1.278967261314392,
                    "z": 0.13801372051239014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.5938897132873535,
                "transform": {
                    "location": {
                        "x": 1111.6044921875,
                        "y": 4075.478759765625,
                        "z": 366.54901123046875
                    },
                    "rotation": {
                        "roll": -9.155407315120101e-05,
                        "pitch": 0.9851318001747131,
                        "yaw": -170.76919555664062
                    }
                },
                "velocity": {
                    "x": -5.5206170082092285,
                    "y": -0.8971374034881592,
                    "z": 0.0976422131061554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3009721338748932,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08928828686475754,
        "expert_target_speed": 8.825530720344101,
        "target_point": [
            28.61423218725685,
            -0.6829462062823541
        ],
        "target_point_next": [
            28.61423218725685,
            -0.6829462062823541
        ]
    },
    "395": {
        "acceleration": [
            0.5777359008789062,
            0.26392221450805664,
            -0.0100785493850708
        ],
        "angular_velocity": [
            0.03577294200658798,
            -0.25625330209732056,
            -1.176722526550293
        ],
        "forward_vector": [
            -0.9842483401298523,
            -0.17594993114471436,
            0.017229419201612473
        ],
        "right_vector": [
            0.17595353722572327,
            -0.9843975305557251,
            -0.001317556481808424
        ],
        "location": [
            1146.0545654296875,
            4081.080322265625,
            365.9522705078125
        ],
        "rotation": [
            0.07550165057182312,
            0.9872218370437622,
            -169.86453247070312
        ],
        "velocity": [
            -8.638185501098633,
            -1.5285767316818237,
            0.1461678445339203
        ],
        "speed": 8.772388248135723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.255147933959961,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1130.9993896484375,
                4078.6318359375,
                366.2094421386719
            ],
            "velocity": [
                -7.899016380310059,
                -1.2842506170272827,
                0.13860751688480377
            ],
            "speed_kmh": 28.81416509667636,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5012881755828857,
                "transform": {
                    "location": {
                        "x": 1120.0997314453125,
                        "y": 4080.006591796875,
                        "z": 366.39898681640625
                    },
                    "rotation": {
                        "roll": -0.007202149834483862,
                        "pitch": -0.8304416537284851,
                        "yaw": 9.453387260437012
                    }
                },
                "velocity": {
                    "x": 2.4654757976531982,
                    "y": 0.4200509786605835,
                    "z": -0.037811651825904846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0350980758667,
                "transform": {
                    "location": {
                        "x": 1167.5484619140625,
                        "y": 4087.8154296875,
                        "z": 365.5897216796875
                    },
                    "rotation": {
                        "roll": 0.0007126991404220462,
                        "pitch": -0.9189472794532776,
                        "yaw": 9.250943183898926
                    }
                },
                "velocity": {
                    "x": 7.929924964904785,
                    "y": 1.2895681858062744,
                    "z": -0.12695080041885376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02823543548584,
                "transform": {
                    "location": {
                        "x": 1209.09375,
                        "y": 4094.57177734375,
                        "z": 364.9410095214844
                    },
                    "rotation": {
                        "roll": -9.15568380150944e-05,
                        "pitch": -0.8308719992637634,
                        "yaw": 9.225375175476074
                    }
                },
                "velocity": {
                    "x": 7.923555850982666,
                    "y": 1.2869373559951782,
                    "z": -0.11673101037740707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.666765213012695,
                "transform": {
                    "location": {
                        "x": 1185.8382568359375,
                        "y": 4087.548583984375,
                        "z": 365.3123474121094
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": 1.0934654474258423,
                        "yaw": -170.75547790527344
                    }
                },
                "velocity": {
                    "x": -8.553235054016113,
                    "y": -1.3918267488479614,
                    "z": 0.1334323287010193
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.505315780639648,
                "transform": {
                    "location": {
                        "x": 1166.5355224609375,
                        "y": 4084.411865234375,
                        "z": 365.622802734375
                    },
                    "rotation": {
                        "roll": 0.00034252440673299134,
                        "pitch": 0.8880133628845215,
                        "yaw": -170.57630920410156
                    }
                },
                "velocity": {
                    "x": -9.380268096923828,
                    "y": -1.5292564630508423,
                    "z": 0.15156064927577972
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003934860229492,
                "transform": {
                    "location": {
                        "x": 1130.9993896484375,
                        "y": 4078.6318359375,
                        "z": 366.2094421386719
                    },
                    "rotation": {
                        "roll": -0.0007019012118689716,
                        "pitch": 0.9957117438316345,
                        "yaw": -170.76617431640625
                    }
                },
                "velocity": {
                    "x": -7.899016380310059,
                    "y": -1.2842506170272827,
                    "z": 0.13860751688480377
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.480720043182373,
                "transform": {
                    "location": {
                        "x": 1110.2403564453125,
                        "y": 4075.2568359375,
                        "z": 366.5730285644531
                    },
                    "rotation": {
                        "roll": 1.4569671293429565e-05,
                        "pitch": 0.9863134026527405,
                        "yaw": -170.76773071289062
                    }
                },
                "velocity": {
                    "x": -5.4089250564575195,
                    "y": -0.8790566921234131,
                    "z": 0.09529188275337219
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.29833120107650757,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10278503596782684,
        "expert_target_speed": 8.742232829928835,
        "target_point": [
            26.413442746842584,
            -0.5145579928744688
        ],
        "target_point_next": [
            26.413442746842584,
            -0.5145579928744688
        ]
    },
    "400": {
        "acceleration": [
            -0.052623748779296875,
            0.21447420120239258,
            0.010936260223388672
        ],
        "angular_velocity": [
            0.054749272763729095,
            0.053054213523864746,
            -1.2783229351043701
        ],
        "forward_vector": [
            -0.985145092010498,
            -0.1708945333957672,
            0.016858255490660667
        ],
        "right_vector": [
            0.1708962321281433,
            -0.9852880835533142,
            -0.0013504354283213615
        ],
        "location": [
            1143.8994140625,
            4080.703857421875,
            365.989013671875
        ],
        "rotation": [
            0.07738527655601501,
            0.9659526348114014,
            -170.15875244140625
        ],
        "velocity": [
            -8.607240676879883,
            -1.4739696979522705,
            0.14703355729579926
        ],
        "speed": 8.732535642081123,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.0645751953125,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1129.0281982421875,
                4078.3115234375,
                366.244140625
            ],
            "velocity": [
                -7.87063455581665,
                -1.2806257009506226,
                0.13879583775997162
            ],
            "speed_kmh": 28.711248074077517,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.132016658782959,
                "transform": {
                    "location": {
                        "x": 1120.9244384765625,
                        "y": 4080.1474609375,
                        "z": 366.3851013183594
                    },
                    "rotation": {
                        "roll": -0.00906372256577015,
                        "pitch": -0.7701379656791687,
                        "yaw": 9.582368850708008
                    }
                },
                "velocity": {
                    "x": 4.072116374969482,
                    "y": 0.6973133087158203,
                    "z": -0.07198402285575867
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03416919708252,
                "transform": {
                    "location": {
                        "x": 1169.5306396484375,
                        "y": 4088.1376953125,
                        "z": 365.5580749511719
                    },
                    "rotation": {
                        "roll": 0.0010984271066263318,
                        "pitch": -0.9173284769058228,
                        "yaw": 9.227666854858398
                    }
                },
                "velocity": {
                    "x": 7.928890228271484,
                    "y": 1.2901030778884888,
                    "z": -0.1273399442434311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082389831542969,
                "transform": {
                    "location": {
                        "x": 1211.08154296875,
                        "y": 4094.89501953125,
                        "z": 364.9118347167969
                    },
                    "rotation": {
                        "roll": -0.0003662139642983675,
                        "pitch": -0.8306875824928284,
                        "yaw": 9.225112915039062
                    }
                },
                "velocity": {
                    "x": 7.977054119110107,
                    "y": 1.2954745292663574,
                    "z": -0.11567536741495132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.856260299682617,
                "transform": {
                    "location": {
                        "x": 1183.543212890625,
                        "y": 4087.175537109375,
                        "z": 365.3482971191406
                    },
                    "rotation": {
                        "roll": -0.00021361523249652237,
                        "pitch": 1.0867786407470703,
                        "yaw": -170.76165771484375
                    }
                },
                "velocity": {
                    "x": -9.727506637573242,
                    "y": -1.5806002616882324,
                    "z": 0.15225528180599213
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.726008415222168,
                "transform": {
                    "location": {
                        "x": 1164.1728515625,
                        "y": 4084.027099609375,
                        "z": 365.6606140136719
                    },
                    "rotation": {
                        "roll": 0.0013698721304535866,
                        "pitch": 0.9438091516494751,
                        "yaw": -170.42828369140625
                    }
                },
                "velocity": {
                    "x": -9.596827507019043,
                    "y": -1.5722414255142212,
                    "z": 0.1555469036102295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.975346565246582,
                "transform": {
                    "location": {
                        "x": 1129.0281982421875,
                        "y": 4078.3115234375,
                        "z": 366.244140625
                    },
                    "rotation": {
                        "roll": -0.0004882731882389635,
                        "pitch": 1.0028356313705444,
                        "yaw": -170.76478576660156
                    }
                },
                "velocity": {
                    "x": -7.87063455581665,
                    "y": -1.2806257009506226,
                    "z": 0.13879583775997162
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.227624416351318,
                "transform": {
                    "location": {
                        "x": 1108.919921875,
                        "y": 4075.04248046875,
                        "z": 366.5963134765625
                    },
                    "rotation": {
                        "roll": 0.0005824000108987093,
                        "pitch": 0.9869349598884583,
                        "yaw": -170.76551818847656
                    }
                },
                "velocity": {
                    "x": -5.159099102020264,
                    "y": -0.838781476020813,
                    "z": 0.09054509550333023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.29734006524086,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11379574239253998,
        "expert_target_speed": 8.698111572611193,
        "target_point": [
            24.227953287751053,
            -0.3814867810460214
        ],
        "target_point_next": [
            24.227953287751053,
            -0.3814867810460214
        ]
    },
    "405": {
        "acceleration": [
            0.3149986267089844,
            0.23835182189941406,
            -0.02399653196334839
        ],
        "angular_velocity": [
            -0.06779540330171585,
            0.017712267115712166,
            -1.2851394414901733
        ],
        "forward_vector": [
            -0.9860897660255432,
            -0.1653444468975067,
            0.016974706202745438
        ],
        "right_vector": [
            0.1653459519147873,
            -0.9862346649169922,
            -0.001324643730185926
        ],
        "location": [
            1141.755859375,
            4080.342529296875,
            366.02569580078125
        ],
        "rotation": [
            0.07590744644403458,
            0.972625732421875,
            -170.4813690185547
        ],
        "velocity": [
            -8.5577974319458,
            -1.4160921573638916,
            0.14604847133159637
        ],
        "speed": 8.674169348379456,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.883830070495605,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1127.06103515625,
                4077.99169921875,
                366.2789306640625
            ],
            "velocity": [
                -7.837364196777344,
                -1.273001790046692,
                0.13940010964870453
            ],
            "speed_kmh": 28.588679503825208,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.499687194824219,
                "transform": {
                    "location": {
                        "x": 1122.12451171875,
                        "y": 4080.353759765625,
                        "z": 366.3641357421875
                    },
                    "rotation": {
                        "roll": -0.011138916946947575,
                        "pitch": -0.7841466665267944,
                        "yaw": 9.687643051147461
                    }
                },
                "velocity": {
                    "x": 5.419201374053955,
                    "y": 0.9325996041297913,
                    "z": -0.09524662047624588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036249160766602,
                "transform": {
                    "location": {
                        "x": 1171.5133056640625,
                        "y": 4088.4599609375,
                        "z": 365.5265197753906
                    },
                    "rotation": {
                        "roll": -0.0012512250104919076,
                        "pitch": -0.9159488081932068,
                        "yaw": 9.257521629333496
                    }
                },
                "velocity": {
                    "x": 7.930744647979736,
                    "y": 1.2917112112045288,
                    "z": -0.1267910748720169
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1213.12109375,
                        "y": 4095.140625,
                        "z": 364.8912048339844
                    },
                    "rotation": {
                        "roll": -6.670802132902054e-09,
                        "pitch": -0.8275388479232788,
                        "yaw": 9.234707832336426
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.478691101074219,
                "transform": {
                    "location": {
                        "x": 1181.125732421875,
                        "y": 4086.782470703125,
                        "z": 365.3859558105469
                    },
                    "rotation": {
                        "roll": -0.0009765634313225746,
                        "pitch": 0.8975619673728943,
                        "yaw": -170.7601776123047
                    }
                },
                "velocity": {
                    "x": -9.354575157165527,
                    "y": -1.5218541622161865,
                    "z": 0.14651630818843842
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.309913635253906,
                "transform": {
                    "location": {
                        "x": 1161.794677734375,
                        "y": 4083.637451171875,
                        "z": 365.69970703125
                    },
                    "rotation": {
                        "roll": 0.004446537233889103,
                        "pitch": 0.8800493478775024,
                        "yaw": -170.46897888183594
                    }
                },
                "velocity": {
                    "x": -9.186817169189453,
                    "y": -1.501480221748352,
                    "z": 0.14981119334697723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.941299915313721,
                "transform": {
                    "location": {
                        "x": 1127.06103515625,
                        "y": 4077.99169921875,
                        "z": 366.2789306640625
                    },
                    "rotation": {
                        "roll": 0.0006009881617501378,
                        "pitch": 1.0004929304122925,
                        "yaw": -170.76626586914062
                    }
                },
                "velocity": {
                    "x": -7.837364196777344,
                    "y": -1.273001790046692,
                    "z": 0.13940010964870453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.1140217781066895,
                "transform": {
                    "location": {
                        "x": 1107.645263671875,
                        "y": 4074.8349609375,
                        "z": 366.6187744140625
                    },
                    "rotation": {
                        "roll": -0.00033570281811989844,
                        "pitch": 0.9864158630371094,
                        "yaw": -170.7646026611328
                    }
                },
                "velocity": {
                    "x": -5.046777248382568,
                    "y": -0.8217836022377014,
                    "z": 0.08904369175434113
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2958815395832062,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10891322791576385,
        "expert_target_speed": 8.641684649059913,
        "target_point": [
            22.05592300152197,
            -0.24694330565827194
        ],
        "target_point_next": [
            22.05592300152197,
            -0.24694330565827194
        ]
    },
    "410": {
        "acceleration": [
            -0.8331298828125,
            0.010309219360351562,
            -0.00140458345413208
        ],
        "angular_velocity": [
            -0.12013417482376099,
            0.23938685655593872,
            -1.1717991828918457
        ],
        "forward_vector": [
            -0.9869893789291382,
            -0.15982867777347565,
            0.01751130446791649
        ],
        "right_vector": [
            0.15983226895332336,
            -0.9871434569358826,
            -0.001202995888888836
        ],
        "location": [
            1139.6082763671875,
            4079.992431640625,
            366.06256103515625
        ],
        "rotation": [
            0.06893717497587204,
            1.0033751726150513,
            -170.80162048339844
        ],
        "velocity": [
            -8.647003173828125,
            -1.3831337690353394,
            0.1466740369796753
        ],
        "speed": 8.75692428374481,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.659178733825684,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1125.135009765625,
                4077.6787109375,
                366.3131103515625
            ],
            "velocity": [
                -7.303177833557129,
                -1.1875940561294556,
                0.1304508000612259
            ],
            "speed_kmh": 26.64092516495031,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.671095848083496,
                "transform": {
                    "location": {
                        "x": 1123.5079345703125,
                        "y": 4080.592529296875,
                        "z": 366.3392639160156
                    },
                    "rotation": {
                        "roll": -0.012390131130814552,
                        "pitch": -0.927150309085846,
                        "yaw": 9.791768074035645
                    }
                },
                "velocity": {
                    "x": 5.587343692779541,
                    "y": 0.9659245014190674,
                    "z": -0.09954164177179337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034460067749023,
                "transform": {
                    "location": {
                        "x": 1173.4957275390625,
                        "y": 4088.782470703125,
                        "z": 365.4949035644531
                    },
                    "rotation": {
                        "roll": 0.0004298893909435719,
                        "pitch": -0.9114955067634583,
                        "yaw": 9.22860050201416
                    }
                },
                "velocity": {
                    "x": 7.929324626922607,
                    "y": 1.289270043373108,
                    "z": -0.12702125310897827
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1215.1781005859375,
                        "y": 4095.468994140625,
                        "z": 364.8617858886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.871681213378906,
                "transform": {
                    "location": {
                        "x": 1178.8941650390625,
                        "y": 4086.419189453125,
                        "z": 365.4208984375
                    },
                    "rotation": {
                        "roll": -0.0008239768212661147,
                        "pitch": 0.8245335817337036,
                        "yaw": -170.75929260253906
                    }
                },
                "velocity": {
                    "x": -8.755342483520508,
                    "y": -1.425350308418274,
                    "z": 0.1381499320268631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.171677589416504,
                "transform": {
                    "location": {
                        "x": 1159.5457763671875,
                        "y": 4083.2705078125,
                        "z": 365.7367858886719
                    },
                    "rotation": {
                        "roll": 0.007654528133571148,
                        "pitch": 0.8494774103164673,
                        "yaw": -170.4376983642578
                    }
                },
                "velocity": {
                    "x": -9.050507545471191,
                    "y": -1.478495717048645,
                    "z": 0.14839908480644226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.400257110595703,
                "transform": {
                    "location": {
                        "x": 1125.135009765625,
                        "y": 4077.6787109375,
                        "z": 366.3131103515625
                    },
                    "rotation": {
                        "roll": -0.0005187990027479827,
                        "pitch": 0.9945642948150635,
                        "yaw": -170.7665252685547
                    }
                },
                "velocity": {
                    "x": -7.303177833557129,
                    "y": -1.1875940561294556,
                    "z": 0.1304508000612259
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.841841220855713,
                "transform": {
                    "location": {
                        "x": 1106.4169921875,
                        "y": 4074.63525390625,
                        "z": 366.6403503417969
                    },
                    "rotation": {
                        "roll": 0.0008263946510851383,
                        "pitch": 0.9839228391647339,
                        "yaw": -170.7646026611328
                    }
                },
                "velocity": {
                    "x": -4.778385639190674,
                    "y": -0.7768809199333191,
                    "z": 0.08315486460924149
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2979470491409302,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09829813241958618,
        "expert_target_speed": 8.633565473860594,
        "target_point": [
            19.881027707524595,
            -0.12595631562209242
        ],
        "target_point_next": [
            19.881027707524595,
            -0.12595631562209242
        ]
    },
    "415": {
        "acceleration": [
            -0.5018997192382812,
            0.008816719055175781,
            -0.0008109211921691895
        ],
        "angular_velocity": [
            -0.03797401487827301,
            0.13450127840042114,
            -0.5899230241775513
        ],
        "forward_vector": [
            -0.9874895215034485,
            -0.15661992132663727,
            0.01829557865858078
        ],
        "right_vector": [
            0.15663184225559235,
            -0.9876567721366882,
            -0.0007885181694291532
        ],
        "location": [
            1137.4276123046875,
            4079.6455078125,
            366.0999450683594
        ],
        "rotation": [
            0.04518632963299751,
            1.0483179092407227,
            -170.9877166748047
        ],
        "velocity": [
            -8.800946235656738,
            -1.387005090713501,
            0.1512785702943802
        ],
        "speed": 8.909570010083858,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.102818489074707,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1123.504638671875,
                4077.41357421875,
                366.34234619140625
            ],
            "velocity": [
                -6.150666236877441,
                -1.0001499652862549,
                0.10924016684293747
            ],
            "speed_kmh": 22.43667430076329,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.913238525390625,
                "transform": {
                    "location": {
                        "x": 1125.2071533203125,
                        "y": 4080.885498046875,
                        "z": 366.3092956542969
                    },
                    "rotation": {
                        "roll": -0.0018310475861653686,
                        "pitch": -0.7336100935935974,
                        "yaw": 9.784027099609375
                    }
                },
                "velocity": {
                    "x": 7.799560546875,
                    "y": 1.3292841911315918,
                    "z": -0.13857537508010864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035226821899414,
                "transform": {
                    "location": {
                        "x": 1175.4781494140625,
                        "y": 4089.104248046875,
                        "z": 365.4635925292969
                    },
                    "rotation": {
                        "roll": 0.0006779083050787449,
                        "pitch": -0.9098153114318848,
                        "yaw": 9.252829551696777
                    }
                },
                "velocity": {
                    "x": 7.930004596710205,
                    "y": 1.2899388074874878,
                    "z": -0.12632670998573303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5333,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1217.235107421875,
                        "y": 4095.79638671875,
                        "z": 364.8326416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8204354643821716,
                        "yaw": 9.234709739685059
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.983211517333984,
                "transform": {
                    "location": {
                        "x": 1176.6798095703125,
                        "y": 4086.059326171875,
                        "z": 365.4559631347656
                    },
                    "rotation": {
                        "roll": 0.0006036321865394711,
                        "pitch": 0.8990508913993835,
                        "yaw": -170.7605438232422
                    }
                },
                "velocity": {
                    "x": -8.865605354309082,
                    "y": -1.4421595335006714,
                    "z": 0.13889850676059723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.959742546081543,
                "transform": {
                    "location": {
                        "x": 1157.279541015625,
                        "y": 4082.90087890625,
                        "z": 365.7734375
                    },
                    "rotation": {
                        "roll": 0.0057432507164776325,
                        "pitch": 0.9215222597122192,
                        "yaw": -170.32821655273438
                    }
                },
                "velocity": {
                    "x": -8.841480255126953,
                    "y": -1.4436204433441162,
                    "z": 0.14551790058612823
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.232409477233887,
                "transform": {
                    "location": {
                        "x": 1123.504638671875,
                        "y": 4077.41357421875,
                        "z": 366.34234619140625
                    },
                    "rotation": {
                        "roll": -9.155366569757462e-05,
                        "pitch": 0.9701805114746094,
                        "yaw": -170.76263427734375
                    }
                },
                "velocity": {
                    "x": -6.150666236877441,
                    "y": -1.0001499652862549,
                    "z": 0.10924016684293747
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015675851609557867,
                "transform": {
                    "location": {
                        "x": 1105.8101806640625,
                        "y": 4074.537841796875,
                        "z": 366.6525573730469
                    },
                    "rotation": {
                        "roll": 0.0020036178175359964,
                        "pitch": 0.7344160676002502,
                        "yaw": -170.67230224609375
                    }
                },
                "velocity": {
                    "x": 2.594008947198745e-05,
                    "y": -4.209959661238827e-05,
                    "z": -0.0015668050618842244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.08219987899065018,
        "expert_target_speed": 8.560126305825994,
        "target_point": [
            17.6732443707042,
            -0.062426603023672644
        ],
        "target_point_next": [
            17.6732443707042,
            -0.062426603023672644
        ]
    },
    "420": {
        "acceleration": [
            0.5158615112304688,
            0.14998435974121094,
            0.00921487808227539
        ],
        "angular_velocity": [
            0.028394095599651337,
            -0.3497585654258728,
            -0.43141570687294006
        ],
        "forward_vector": [
            -0.9878455400466919,
            -0.15434198081493378,
            0.018430737778544426
        ],
        "right_vector": [
            0.15435880422592163,
            -0.9880147576332092,
            -0.0005151359364390373
        ],
        "location": [
            1135.20654296875,
            4079.29736328125,
            366.1383972167969
        ],
        "rotation": [
            0.029520129784941673,
            1.0560632944107056,
            -171.11984252929688
        ],
        "velocity": [
            -8.881726264953613,
            -1.381205439567566,
            0.15470314025878906
        ],
        "speed": 8.988480956861281,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.441439628601074,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1121.9383544921875,
                4077.15869140625,
                366.3697814941406
            ],
            "velocity": [
                -6.536427974700928,
                -1.063077449798584,
                0.11609090864658356
            ],
            "speed_kmh": 23.84398831060031,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.218098640441895,
                "transform": {
                    "location": {
                        "x": 1127.2340087890625,
                        "y": 4081.227294921875,
                        "z": 366.2731628417969
                    },
                    "rotation": {
                        "roll": 0.006607759743928909,
                        "pitch": -0.8948298692703247,
                        "yaw": 9.468977928161621
                    }
                },
                "velocity": {
                    "x": 8.103357315063477,
                    "y": 1.3608922958374023,
                    "z": -0.14393463730812073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035261154174805,
                "transform": {
                    "location": {
                        "x": 1177.4605712890625,
                        "y": 4089.4267578125,
                        "z": 365.43218994140625
                    },
                    "rotation": {
                        "roll": 0.0006033338140696287,
                        "pitch": -0.9098153114318848,
                        "yaw": 9.231161117553711
                    }
                },
                "velocity": {
                    "x": 7.930081844329834,
                    "y": 1.2897226810455322,
                    "z": -0.12582117319107056
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.45433521270752,
                "transform": {
                    "location": {
                        "x": 1174.5362548828125,
                        "y": 4085.7109375,
                        "z": 365.48980712890625
                    },
                    "rotation": {
                        "roll": -6.1031321820337325e-05,
                        "pitch": 0.8376407027244568,
                        "yaw": -170.7633514404297
                    }
                },
                "velocity": {
                    "x": -8.343660354614258,
                    "y": -1.3570020198822021,
                    "z": 0.13288943469524384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.518840789794922,
                "transform": {
                    "location": {
                        "x": 1155.142822265625,
                        "y": 4082.552490234375,
                        "z": 365.8094787597656
                    },
                    "rotation": {
                        "roll": 0.005733753554522991,
                        "pitch": 0.8360629081726074,
                        "yaw": -170.26651000976562
                    }
                },
                "velocity": {
                    "x": -8.406119346618652,
                    "y": -1.3741767406463623,
                    "z": 0.13946561515331268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.623330116271973,
                "transform": {
                    "location": {
                        "x": 1121.9383544921875,
                        "y": 4077.15869140625,
                        "z": 366.3697814941406
                    },
                    "rotation": {
                        "roll": -0.000305164692690596,
                        "pitch": 1.0093380212783813,
                        "yaw": -170.761474609375
                    }
                },
                "velocity": {
                    "x": -6.536427974700928,
                    "y": -1.063077449798584,
                    "z": 0.11609090864658356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003602178185246885,
                "transform": {
                    "location": {
                        "x": 1105.80908203125,
                        "y": 4074.537353515625,
                        "z": 366.6512451171875
                    },
                    "rotation": {
                        "roll": 0.0012851066421717405,
                        "pitch": 0.9154024124145508,
                        "yaw": -170.6722869873047
                    }
                },
                "velocity": {
                    "x": 0.0003560964541975409,
                    "y": -3.928201113012619e-05,
                    "z": -3.7538527976721525e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06838048994541168,
        "expert_target_speed": 8.531782110352362,
        "target_point": [
            15.425152647550384,
            -0.022781526288012444
        ],
        "target_point_next": [
            15.425152647550384,
            -0.022781526288012444
        ]
    },
    "425": {
        "acceleration": [
            3.3105087280273438,
            0.624387264251709,
            -0.03229290246963501
        ],
        "angular_velocity": [
            0.13464680314064026,
            -0.8729603290557861,
            -0.7808717489242554
        ],
        "forward_vector": [
            -0.9883005619049072,
            -0.15176667273044586,
            0.015128749422729015
        ],
        "right_vector": [
            0.1517760306596756,
            -0.9884148240089417,
            -0.0005352733423933387
        ],
        "location": [
            1133.059814453125,
            4078.966796875,
            366.1764221191406
        ],
        "rotation": [
            0.030672414228320122,
            0.8668465614318848,
            -171.26966857910156
        ],
        "velocity": [
            -8.262604713439941,
            -1.256638526916504,
            0.14466287195682526
        ],
        "speed": 8.357617904516264,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.024026870727539,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1120.2064208984375,
                4076.87744140625,
                366.40032958984375
            ],
            "velocity": [
                -7.101663589477539,
                -1.155051350593567,
                0.12593673169612885
            ],
            "speed_kmh": 25.905903522098605,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.95052433013916,
                "transform": {
                    "location": {
                        "x": 1129.2156982421875,
                        "y": 4081.55859375,
                        "z": 366.2379150390625
                    },
                    "rotation": {
                        "roll": 0.005514212418347597,
                        "pitch": -1.0171176195144653,
                        "yaw": 9.317721366882324
                    }
                },
                "velocity": {
                    "x": 7.8414177894592285,
                    "y": 1.3052473068237305,
                    "z": -0.13903658092021942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034928321838379,
                "transform": {
                    "location": {
                        "x": 1179.443115234375,
                        "y": 4089.7490234375,
                        "z": 365.40087890625
                    },
                    "rotation": {
                        "roll": -0.0010070840362459421,
                        "pitch": -0.901885449886322,
                        "yaw": 9.261507034301758
                    }
                },
                "velocity": {
                    "x": 7.929549217224121,
                    "y": 1.2911056280136108,
                    "z": -0.12396257370710373
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.011065483093262,
                "transform": {
                    "location": {
                        "x": 1172.39794921875,
                        "y": 4085.363037109375,
                        "z": 365.52398681640625
                    },
                    "rotation": {
                        "roll": -0.0005188065697439015,
                        "pitch": 0.9575992822647095,
                        "yaw": -170.7598876953125
                    }
                },
                "velocity": {
                    "x": -8.893227577209473,
                    "y": -1.4456721544265747,
                    "z": 0.1408032923936844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.09894847869873,
                "transform": {
                    "location": {
                        "x": 1152.95947265625,
                        "y": 4082.19482421875,
                        "z": 365.8440856933594
                    },
                    "rotation": {
                        "roll": 0.007525253109633923,
                        "pitch": 1.0455652475357056,
                        "yaw": -170.31968688964844
                    }
                },
                "velocity": {
                    "x": -8.978334426879883,
                    "y": -1.4690362215042114,
                    "z": 0.14932170510292053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.196084499359131,
                "transform": {
                    "location": {
                        "x": 1120.2064208984375,
                        "y": 4076.87744140625,
                        "z": 366.40032958984375
                    },
                    "rotation": {
                        "roll": -0.0003967216471210122,
                        "pitch": 1.0271716117858887,
                        "yaw": -170.76242065429688
                    }
                },
                "velocity": {
                    "x": -7.101663589477539,
                    "y": -1.155051350593567,
                    "z": 0.12593673169612885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011406589765101671,
                "transform": {
                    "location": {
                        "x": 1105.8087158203125,
                        "y": 4074.537353515625,
                        "z": 366.6508483886719
                    },
                    "rotation": {
                        "roll": 0.002885742811486125,
                        "pitch": 0.9716899991035461,
                        "yaw": -170.67218017578125
                    }
                },
                "velocity": {
                    "x": 0.0001576587528688833,
                    "y": -0.00010745597683126107,
                    "z": 0.0011245887726545334
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2878490090370178,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05891464650630951,
        "expert_target_speed": 8.13338278872127,
        "target_point": [
            13.253128950052272,
            0.016651065792974373
        ],
        "target_point_next": [
            13.253128950052272,
            0.016651065792974373
        ]
    },
    "430": {
        "acceleration": [
            2.645406723022461,
            0.46723127365112305,
            -0.04099220037460327
        ],
        "angular_velocity": [
            -0.006258844397962093,
            -0.1912495344877243,
            -0.4889327585697174
        ],
        "forward_vector": [
            -0.9887549877166748,
            -0.14899255335330963,
            0.012836579233407974
        ],
        "right_vector": [
            0.1490003764629364,
            -0.9888370633125305,
            -0.0003494304546620697
        ],
        "location": [
            1131.09375,
            4078.669921875,
            366.2113952636719
        ],
        "rotation": [
            0.020022539421916008,
            0.7355020642280579,
            -171.4307403564453
        ],
        "velocity": [
            -7.504281044006348,
            -1.123103141784668,
            0.13229475915431976
        ],
        "speed": 7.5878583707472815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.74010944366455,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1118.524169921875,
                4076.60400390625,
                366.4305725097656
            ],
            "velocity": [
                -5.9800872802734375,
                -0.972571611404419,
                0.10653834789991379
            ],
            "speed_kmh": 21.814541487454708,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.089343070983887,
                "transform": {
                    "location": {
                        "x": 1131.1912841796875,
                        "y": 4081.884521484375,
                        "z": 366.20318603515625
                    },
                    "rotation": {
                        "roll": 0.009839769452810287,
                        "pitch": -0.9768058061599731,
                        "yaw": 9.177356719970703
                    }
                },
                "velocity": {
                    "x": 7.981631278991699,
                    "y": 1.3082845211029053,
                    "z": -0.13938473165035248
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03496265411377,
                "transform": {
                    "location": {
                        "x": 1181.4254150390625,
                        "y": 4090.071533203125,
                        "z": 365.369873046875
                    },
                    "rotation": {
                        "roll": -0.0016174272168427706,
                        "pitch": -0.9007584452629089,
                        "yaw": 9.234785079956055
                    }
                },
                "velocity": {
                    "x": 7.929581642150879,
                    "y": 1.291180968284607,
                    "z": -0.1233774945139885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.77175521850586,
                "transform": {
                    "location": {
                        "x": 1170.181396484375,
                        "y": 4085.00244140625,
                        "z": 365.55914306640625
                    },
                    "rotation": {
                        "roll": -0.0001220710837515071,
                        "pitch": 0.8924939632415771,
                        "yaw": -170.76187133789062
                    }
                },
                "velocity": {
                    "x": -8.656880378723145,
                    "y": -1.4081313610076904,
                    "z": 0.13884179294109344
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.737332344055176,
                "transform": {
                    "location": {
                        "x": 1150.7840576171875,
                        "y": 4081.83984375,
                        "z": 365.8813171386719
                    },
                    "rotation": {
                        "roll": 0.008123338222503662,
                        "pitch": 0.938399612903595,
                        "yaw": -170.2706298828125
                    }
                },
                "velocity": {
                    "x": -8.621967315673828,
                    "y": -1.4078185558319092,
                    "z": 0.14389640092849731
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.059594631195068,
                "transform": {
                    "location": {
                        "x": 1118.524169921875,
                        "y": 4076.60400390625,
                        "z": 366.4305725097656
                    },
                    "rotation": {
                        "roll": 0.00010513627785257995,
                        "pitch": 0.9808561205863953,
                        "yaw": -170.7627716064453
                    }
                },
                "velocity": {
                    "x": -5.9800872802734375,
                    "y": -0.972571611404419,
                    "z": 0.10653834789991379
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001853443682193756,
                "transform": {
                    "location": {
                        "x": 1105.80859375,
                        "y": 4074.537353515625,
                        "z": 366.6507263183594
                    },
                    "rotation": {
                        "roll": 0.002645352156832814,
                        "pitch": 0.9898309707641602,
                        "yaw": -170.67214965820312
                    }
                },
                "velocity": {
                    "x": 9.111165854847059e-05,
                    "y": 6.193648914631922e-06,
                    "z": 0.0018511925591155887
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.26743897795677185,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.038251761347055435,
        "expert_target_speed": 7.473159446663177,
        "target_point": [
            11.264677695192146,
            0.05330906895685339
        ],
        "target_point_next": [
            11.264677695192146,
            0.05330906895685339
        ]
    },
    "435": {
        "acceleration": [
            0.9051132202148438,
            0.18499135971069336,
            -0.009708404541015625
        ],
        "angular_velocity": [
            -0.08533070236444473,
            0.48933228850364685,
            -0.43235132098197937
        ],
        "forward_vector": [
            -0.989033043384552,
            -0.14707151055335999,
            0.01355296466499567
        ],
        "right_vector": [
            0.14708231389522552,
            -0.9891242980957031,
            -0.00020272632536944002
        ],
        "location": [
            1129.2908935546875,
            4078.4013671875,
            366.242919921875
        ],
        "rotation": [
            0.01161643024533987,
            0.7765514850616455,
            -171.54196166992188
        ],
        "velocity": [
            -7.056210994720459,
            -1.0415856838226318,
            0.12514744699001312
        ],
        "speed": 7.132672313989908,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.557945251464844,
        "front_vehicle_info": {
            "id": 5297,
            "type": "vehicle.chevrolet.impala",
            "location": [
                1117.8919677734375,
                4076.501220703125,
                366.4429626464844
            ],
            "velocity": [
                5.698755194316618e-05,
                -9.37640288611874e-05,
                3.8030695577617735e-05
            ],
            "speed_kmh": 0.0004180591818890336,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 5337,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094376564025879,
                "transform": {
                    "location": {
                        "x": 1133.1934814453125,
                        "y": 4082.21240234375,
                        "z": 366.16815185546875
                    },
                    "rotation": {
                        "roll": 0.004481074400246143,
                        "pitch": -0.9912721514701843,
                        "yaw": 9.1522798538208
                    }
                },
                "velocity": {
                    "x": 7.986820697784424,
                    "y": 1.3077975511550903,
                    "z": -0.13887393474578857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5334,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034870147705078,
                "transform": {
                    "location": {
                        "x": 1183.407958984375,
                        "y": 4090.3935546875,
                        "z": 365.33880615234375
                    },
                    "rotation": {
                        "roll": -0.001983647933229804,
                        "pitch": -0.9007584452629089,
                        "yaw": 9.264076232910156
                    }
                },
                "velocity": {
                    "x": 7.9294304847717285,
                    "y": 1.2915380001068115,
                    "z": -0.12327726185321808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 5331,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.940515518188477,
                "transform": {
                    "location": {
                        "x": 1168.0057373046875,
                        "y": 4084.648681640625,
                        "z": 365.59393310546875
                    },
                    "rotation": {
                        "roll": -0.0009155247244052589,
                        "pitch": 0.9251968860626221,
                        "yaw": -170.76101684570312
                    }
                },
                "velocity": {
                    "x": -8.823464393615723,
                    "y": -1.435138463973999,
                    "z": 0.14024430513381958
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5298,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.407947540283203,
                "transform": {
                    "location": {
                        "x": 1148.533935546875,
                        "y": 4081.4716796875,
                        "z": 365.9181213378906
                    },
                    "rotation": {
                        "roll": 0.009630910120904446,
                        "pitch": 1.0654821395874023,
                        "yaw": -170.37521362304688
                    }
                },
                "velocity": {
                    "x": -9.283843040466309,
                    "y": -1.5149412155151367,
                    "z": 0.15714238584041595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 5297,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011612755042733625,
                "transform": {
                    "location": {
                        "x": 1117.8919677734375,
                        "y": 4076.501220703125,
                        "z": 366.4429626464844
                    },
                    "rotation": {
                        "roll": 6.159814802231267e-05,
                        "pitch": 0.8246906399726868,
                        "yaw": -170.76304626464844
                    }
                },
                "velocity": {
                    "x": 5.698755194316618e-05,
                    "y": -9.37640288611874e-05,
                    "z": 3.8030695577617735e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 5296,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008838482317514718,
                "transform": {
                    "location": {
                        "x": 1105.80859375,
                        "y": 4074.537353515625,
                        "z": 366.6507263183594
                    },
                    "rotation": {
                        "roll": 0.002761445939540863,
                        "pitch": 0.993847131729126,
                        "yaw": -170.67213439941406
                    }
                },
                "velocity": {
                    "x": 5.089506521471776e-05,
                    "y": -3.576204107957892e-06,
                    "z": 0.0008823744137771428
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.016765084117650986,
        "expert_target_speed": 6.044683442615487,
        "target_point": [
            9.441804301998927,
            0.0747146346716343
        ],
        "target_point_next": [
            9.441804301998927,
            0.0747146346716343
        ]
    }
}