{ "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": 5536, "type": "walker.pedestrian.0036", "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": -0.0006287604919634759, "expert_target_speed": 10.0, "target_point": [ 50.99800688193722, -0.0009303629670114333 ], "target_point_next": [ 101.99797780661558, -0.001190672431686579 ] }, "5": { "acceleration": [ -0.0029436114709824324, 0.0031140120700001717, -0.19797101616859436 ], "angular_velocity": [ -0.009457817301154137, -0.00027423142455518246, 0.00028010737150907516 ], "forward_vector": [ -0.9869213700294495, -0.16046437621116638, 0.015410289168357849 ], "right_vector": [ 0.1604841947555542, -0.9870384335517883, 4.952889867126942e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.2385559082031 ], "rotation": [ -0.0028381338343024254, 0.8829795122146606, -170.76504516601562 ], "velocity": [ 0.0005167561466805637, 0.00014392103184945881, 0.032923758029937744 ], "speed": 0.000536423506700403, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.001182556152344, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1242.3543701171875, 4096.837890625, 364.4590148925781 ], "velocity": [ -0.007342084310948849, -0.001059667207300663, -0.5043780207633972 ], "speed_kmh": 1.8159572493202156, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.5044972896575928, "transform": { "location": { "x": 1271.965576171875, "y": 4101.65234375, "z": 364.00592041015625 }, "rotation": { "roll": 0.0010610466124489903, "pitch": 0.8835054039955139, "yaw": -170.7652587890625 } }, "velocity": { "x": -0.007649424020200968, "y": -0.001216246630065143, "z": -0.5044378042221069 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.5044325590133667, "transform": { "location": { "x": 1242.3543701171875, "y": 4096.837890625, "z": 364.4590148925781 }, "rotation": { "roll": 9.842807776294649e-05, "pitch": 0.8429545760154724, "yaw": -170.7652587890625 } }, "velocity": { "x": -0.007342084310948849, "y": -0.001059667207300663, "z": -0.5043780207633972 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6361150145530701, "transform": { "location": { "x": 1227.5482177734375, "y": 4094.430908203125, "z": 364.7132873535156 }, "rotation": { "roll": 0.0004141968092881143, "pitch": 0.828037440776825, "yaw": -170.76527404785156 } }, "velocity": { "x": -0.008890782482922077, "y": -0.0015115886926651, "z": -0.6360510587692261 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.0018665120005607605, "expert_target_speed": 1.0386556246316025, "target_point": [ 50.9982478567551, -0.0010424967491733383 ], "target_point_next": [ 101.99821878100892, -0.0013757622574566142 ] }, "10": { "acceleration": [ 0.0003257722710259259, -0.0037853834219276905, -0.04238400608301163 ], "angular_velocity": [ 0.009614748880267143, 0.006299854256212711, 4.2937339458148926e-05 ], "forward_vector": [ -0.986921489238739, -0.16046512126922607, 0.01539229042828083 ], "right_vector": [ 0.1604844480752945, -0.9870383739471436, 2.077023782476317e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.2428283691406 ], "rotation": [ -0.0011901879915967584, 0.8819481134414673, -170.76499938964844 ], "velocity": [ 0.0001711496734060347, 1.381598394800676e-06, 0.00818928238004446 ], "speed": 0.00017115524976207087, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.00100040435791, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1242.3543701171875, 4096.837890625, 364.4505310058594 ], "velocity": [ 0.001543657504953444, 0.00011689748498611152, 0.10274434089660645 ], "speed_kmh": 0.3699216104015998, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.10278534889221191, "transform": { "location": { "x": 1271.9654541015625, "y": 4101.65234375, "z": 363.99749755859375 }, "rotation": { "roll": 0.0013071626890450716, "pitch": 0.8833687901496887, "yaw": -170.76516723632812 } }, "velocity": { "x": 0.0015882770530879498, "y": 0.0002918240788858384, "z": 0.10277266055345535 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.10275600105524063, "transform": { "location": { "x": 1242.3543701171875, "y": 4096.837890625, "z": 364.4505310058594 }, "rotation": { "roll": -0.00042723986553028226, "pitch": 0.842968225479126, "yaw": -170.7652130126953 } }, "velocity": { "x": 0.001543657504953444, "y": 0.00011689748498611152, "z": 0.10274434089660645 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.06096101924777031, "transform": { "location": { "x": 1227.54736328125, "y": 4094.430908203125, "z": 364.6568603515625 }, "rotation": { "roll": 0.00045166711788624525, "pitch": 0.8314525485038757, "yaw": -170.7652587890625 } }, "velocity": { "x": 0.0008899645181372762, "y": 0.00013801536988466978, "z": 0.060954365879297256 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0003172597207594663, "expert_target_speed": 1.013500251156632, "target_point": [ 50.9982478557377, -0.0010911324683355872 ], "target_point_next": [ 101.99821877965049, -0.0014730353390284279 ] }, "15": { "acceleration": [ 9.209179552271962e-07, 0.0012257155030965805, -0.012952230870723724 ], "angular_velocity": [ -0.016354024410247803, 0.0024779269006103277, 0.00044788033119402826 ], "forward_vector": [ -0.986921489238739, -0.16046512126922607, 0.01539229042828083 ], "right_vector": [ 0.1604844629764557, -0.9870383739471436, 2.1835556253790855e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.24365234375 ], "rotation": [ -0.001251233508810401, 0.8819481134414673, -170.76499938964844 ], "velocity": [ 5.989774945192039e-05, 6.256461347220466e-05, 0.001507002511061728 ], "speed": 8.661449791075049e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.000967979431152, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1242.3546142578125, 4096.837890625, 364.4658508300781 ], "velocity": [ 0.0003790821065194905, 8.706748531039921e-07, 0.023289475589990616 ], "speed_kmh": 0.08385321800186273, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.023357216268777847, "transform": { "location": { "x": 1271.9656982421875, "y": 4101.65234375, "z": 364.01275634765625 }, "rotation": { "roll": 0.00014186336193233728, "pitch": 0.8841133117675781, "yaw": -170.76510620117188 } }, "velocity": { "x": 0.00039324030512943864, "y": 2.5330855351057835e-05, "z": 0.02335389144718647 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.023292560130357742, "transform": { "location": { "x": 1242.3546142578125, "y": 4096.837890625, "z": 364.4658508300781 }, "rotation": { "roll": -0.0003967341617681086, "pitch": 0.8430365324020386, "yaw": -170.76512145996094 } }, "velocity": { "x": 0.0003790821065194905, "y": 8.706748531039921e-07, "z": 0.023289475589990616 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.13537544012069702, "transform": { "location": { "x": 1227.541015625, "y": 4094.4296875, "z": 364.6885070800781 }, "rotation": { "roll": -0.00042723995284177363, "pitch": 0.8436307907104492, "yaw": -170.763671875 } }, "velocity": { "x": -0.07308513671159744, "y": -0.01308992225676775, "z": 0.11319772154092789 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.0009738602093420923, "expert_target_speed": 1.0067919852869192, "target_point": [ 50.9982478557377, -0.0010911324683355872 ], "target_point_next": [ 101.99821877965049, -0.0014730353390284279 ] }, "20": { "acceleration": [ -0.00038391051930375397, -0.0008419149089604616, -0.0030807219445705414 ], "angular_velocity": [ 0.006074810400605202, -0.0030356578063219786, 0.00012507363862823695 ], "forward_vector": [ -0.9869212508201599, -0.1604667603969574, 0.015390145592391491 ], "right_vector": [ 0.16048608720302582, -0.9870380759239197, 2.077023782476317e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.2439880371094 ], "rotation": [ -0.0011901879915967584, 0.8818252086639404, -170.76490783691406 ], "velocity": [ 3.995031147496775e-05, -6.3526813391945325e-06, 0.0014197278069332242 ], "speed": 4.0452242794983444e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.210071563720703, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1242.1484375, 4096.80322265625, 364.4701843261719 ], "velocity": [ -1.9189382791519165, -0.3316504657268524, 0.027511682361364365 ], "speed_kmh": 7.011292793834752, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 1.93056321144104, "transform": { "location": { "x": 1271.761474609375, "y": 4101.61767578125, "z": 364.0171813964844 }, "rotation": { "roll": 0.00048329183482564986, "pitch": 0.9223691821098328, "yaw": -170.71661376953125 } }, "velocity": { "x": -1.9021846055984497, "y": -0.32855144143104553, "z": 0.02866588532924652 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.94758141040802, "transform": { "location": { "x": 1242.1484375, "y": 4096.80322265625, "z": 364.4701843261719 }, "rotation": { "roll": -6.10320275882259e-05, "pitch": 0.8816885948181152, "yaw": -170.6961669921875 } }, "velocity": { "x": -1.9189382791519165, "y": -0.3316504657268524, "z": 0.027511682361364365 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.815086305141449, "transform": { "location": { "x": 1227.4471435546875, "y": 4094.4140625, "z": 364.7004699707031 }, "rotation": { "roll": -0.003478989005088806, "pitch": 0.9734658002853394, "yaw": -170.7078857421875 } }, "velocity": { "x": -0.8030591607093811, "y": -0.13927096128463745, "z": 0.008078031241893768 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.002116801217198372, "expert_target_speed": 1.0190510239552248, "target_point": [ 50.998247854673934, -0.0011397681874960597 ], "target_point_next": [ 101.99821877819932, -0.0015703084206002416 ] }, "25": { "acceleration": [ -2.9418838024139404, -0.5422377586364746, 0.030226334929466248 ], "angular_velocity": [ -0.1498148888349533, 0.8891477584838867, 0.4201495349407196 ], "forward_vector": [ -0.9868059754371643, -0.16071368753910065, 0.01962428353726864 ], "right_vector": [ 0.16074521839618683, -0.9869959354400635, 3.035412919416558e-05 ], "location": [ 1257.0631103515625, 4099.228515625, 364.2447204589844 ], "rotation": [ -0.0017394984606653452, 1.1244608163833618, -170.7498779296875 ], "velocity": [ -0.9063241481781006, -0.14985284209251404, 0.013884429819881916 ], "speed": 0.9186290523676919, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.737311363220215, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1241.532470703125, 4096.697265625, 364.4791564941406 ], "velocity": [ -2.876875638961792, -0.499712198972702, 0.04188667982816696 ], "speed_kmh": 10.512912423429613, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.5347900390625, "y": 4090.9638671875, "z": 365.2806701660156 }, "rotation": { "roll": 6.670885621673506e-09, "pitch": -0.8755413889884949, "yaw": 9.234705924987793 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.9291887283325195, "transform": { "location": { "x": 1271.1451416015625, "y": 4101.51220703125, "z": 364.0265808105469 }, "rotation": { "roll": 0.002834947779774666, "pitch": 0.9123287796974182, "yaw": -170.5465545654297 } }, "velocity": { "x": -2.8855786323547363, "y": -0.5016162991523743, "z": 0.04431215301156044 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.9202535152435303, "transform": { "location": { "x": 1241.532470703125, "y": 4096.697265625, "z": 364.4791564941406 }, "rotation": { "roll": 0.0027181145269423723, "pitch": 0.869776725769043, "yaw": -170.5379638671875 } }, "velocity": { "x": -2.876875638961792, "y": -0.499712198972702, "z": 0.04188667982816696 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6236038208007812, "transform": { "location": { "x": 1227.135498046875, "y": 4094.360107421875, "z": 364.6996765136719 }, "rotation": { "roll": -0.0027160546742379665, "pitch": 1.0480241775512695, "yaw": -170.62442016601562 } }, "velocity": { "x": -1.599749207496643, "y": -0.27726730704307556, "z": 0.003834581235423684 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.001004426390863955, "expert_target_speed": 1.9378429200585665, "target_point": [ 50.900432175290135, -0.014439592842943938 ], "target_point_next": [ 101.90040122541023, -0.0282697262502154 ] }, "30": { "acceleration": [ -2.8667855262756348, -0.48697352409362793, 0.04624214023351669 ], "angular_velocity": [ -0.02152291312813759, 0.04464603587985039, 0.5830251574516296 ], "forward_vector": [ -0.9865832924842834, -0.16187793016433716, 0.021191202104091644 ], "right_vector": [ 0.16191671788692474, -0.9868044257164001, 0.00011608772911131382 ], "location": [ 1256.731689453125, 4099.173828125, 364.24951171875 ], "rotation": [ -0.006652830634266138, 1.2142573595046997, -170.68197631835938 ], "velocity": [ -1.681870698928833, -0.28087833523750305, 0.02644517831504345 ], "speed": 1.705163243540381, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.231748580932617, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1240.7142333984375, 4096.55615234375, 364.4913635253906 ], "velocity": [ -3.6261587142944336, -0.6314886808395386, 0.053276728838682175 ], "speed_kmh": 13.25203147714059, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.222563743591309, "transform": { "location": { "x": 1189.548095703125, "y": 4091.298095703125, "z": 365.2430114746094 }, "rotation": { "roll": -0.009216309525072575, "pitch": -0.8733488917350769, "yaw": 9.4899263381958 } }, "velocity": { "x": 8.104683876037598, "y": 1.3794645071029663, "z": -0.14741607010364532 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 3.671957015991211, "transform": { "location": { "x": 1270.3275146484375, "y": 4101.37109375, "z": 364.03936767578125 }, "rotation": { "roll": 0.005672381725162268, "pitch": 0.9025001525878906, "yaw": -170.38330078125 } }, "velocity": { "x": -3.6170451641082764, "y": -0.6301225423812866, "z": 0.056553810834884644 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 3.681119680404663, "transform": { "location": { "x": 1240.7142333984375, "y": 4096.55615234375, "z": 364.4913635253906 }, "rotation": { "roll": 0.0047012073919177055, "pitch": 0.8605560064315796, "yaw": -170.37937927246094 } }, "velocity": { "x": -3.6261587142944336, "y": -0.6314886808395386, "z": 0.053276728838682175 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.1045799255371094, "transform": { "location": { "x": 1226.556396484375, "y": 4094.260498046875, "z": 364.7052001953125 }, "rotation": { "roll": -0.0023498444352298975, "pitch": 1.1331487894058228, "yaw": -170.53196716308594 } }, "velocity": { "x": -3.0586657524108887, "y": -0.530166745185852, "z": 0.04363017901778221 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.005195494741201401, "expert_target_speed": 2.7245526611058155, "target_point": [ 50.56447690162678, -0.07505770019866098 ], "target_point_next": [ 101.56439375976177, -0.14931973032580004 ] }, "35": { "acceleration": [ -4.233684539794922, -0.7277321815490723, 0.06638601422309875 ], "angular_velocity": [ -0.04783327877521515, 0.3404392600059509, 0.2733171284198761 ], "forward_vector": [ -0.9864272475242615, -0.16276393830776215, 0.021662328392267227 ], "right_vector": [ 0.16280394792556763, -0.9866584539413452, 8.466862345812842e-05 ], "location": [ 1256.20703125, 4099.0859375, 364.2574462890625 ], "rotation": [ -0.004852293524891138, 1.2412570714950562, -170.6304168701172 ], "velocity": [ -2.536051034927368, -0.4257737696170807, 0.03884481266140938 ], "speed": 2.571543924308919, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.71208953857422, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1239.716796875, 4096.38330078125, 364.5061950683594 ], "velocity": [ -4.325570106506348, -0.754958987236023, 0.06452266871929169 ], "speed_kmh": 15.809158472088582, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.048617362976074, "transform": { "location": { "x": 1191.5521240234375, "y": 4091.638427734375, "z": 365.2097473144531 }, "rotation": { "roll": -0.012207034975290298, "pitch": -0.8679462671279907, "yaw": 9.792567253112793 } }, "velocity": { "x": 7.9307379722595215, "y": 1.3668640851974487, "z": -0.12374231964349747 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 4.388033390045166, "transform": { "location": { "x": 1269.3310546875, "y": 4101.19873046875, "z": 364.05499267578125 }, "rotation": { "roll": 0.007867961190640926, "pitch": 0.9004852771759033, "yaw": -170.2552947998047 } }, "velocity": { "x": -4.322109699249268, "y": -0.7547839283943176, "z": 0.06712549179792404 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 4.391432762145996, "transform": { "location": { "x": 1239.716796875, "y": 4096.38330078125, "z": 364.5061950683594 }, "rotation": { "roll": 0.006859066896140575, "pitch": 0.8585479259490967, "yaw": -170.25511169433594 } }, "velocity": { "x": -4.325570106506348, "y": -0.754958987236023, "z": 0.06452266871929169 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.077603816986084, "transform": { "location": { "x": 1225.542724609375, "y": 4094.086181640625, "z": 364.71929931640625 }, "rotation": { "roll": -0.002563484013080597, "pitch": 1.2826752662658691, "yaw": -170.36605834960938 } }, "velocity": { "x": -5.00193977355957, "y": -0.8697289228439331, "z": 0.07894591987133026 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.007363952696323395, "expert_target_speed": 3.582450742575235, "target_point": [ 50.03242145640543, -0.12188166588580263 ], "target_point_next": [ 101.03225079148551, -0.24205728115588876 ] }, "40": { "acceleration": [ -5.167198181152344, -0.8795821666717529, 0.09368501603603363 ], "angular_velocity": [ -0.08229243755340576, 0.47951024770736694, 0.3579018712043762 ], "forward_vector": [ -0.9861443042755127, -0.16416741907596588, 0.023843053728342056 ], "right_vector": [ 0.16421639919281006, -0.9864243865013123, 9.744404815137386e-05 ], "location": [ 1255.415771484375, 4098.953125, 364.26904296875 ], "rotation": [ -0.0055847205221652985, 1.3662358522415161, -170.5484161376953 ], "velocity": [ -3.7787837982177734, -0.6382710337638855, 0.057724084705114365 ], "speed": 3.8323096046920795, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.1047306060791, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1238.53955078125, 4096.17822265625, 364.52386474609375 ], "velocity": [ -5.076872825622559, -0.8876903057098389, 0.07824775576591492 ], "speed_kmh": 18.556159571169683, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.261712074279785, "transform": { "location": { "x": 1193.5621337890625, "y": 4091.985107421875, "z": 365.1788635253906 }, "rotation": { "roll": -0.012695306912064552, "pitch": -0.8671607971191406, "yaw": 9.926410675048828 } }, "velocity": { "x": 8.138665199279785, "y": 1.4149924516677856, "z": -0.12572525441646576 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 5.148467063903809, "transform": { "location": { "x": 1268.155029296875, "y": 4100.99365234375, "z": 364.0735168457031 }, "rotation": { "roll": 0.008482459001243114, "pitch": 0.8995973467826843, "yaw": -170.16477966308594 } }, "velocity": { "x": -5.0707807540893555, "y": -0.8871706128120422, "z": 0.08261304348707199 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 5.154488563537598, "transform": { "location": { "x": 1238.53955078125, "y": 4096.17822265625, "z": 364.52386474609375 }, "rotation": { "roll": 0.00864049419760704, "pitch": 0.8566423058509827, "yaw": -170.16859436035156 } }, "velocity": { "x": -5.076872825622559, "y": -0.8876903057098389, "z": 0.07824775576591492 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.010488033294678, "transform": { "location": { "x": 1224.2060546875, "y": 4093.85498046875, "z": 364.7412109375 }, "rotation": { "roll": 0.0025097497273236513, "pitch": 1.0678658485412598, "yaw": -170.1472625732422 } }, "velocity": { "x": -5.920195579528809, "y": -1.0342971086502075, "z": 0.08645835518836975 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.016967877745628357, "expert_target_speed": 4.798309697756985, "target_point": [ 49.229868033133855, -0.19452728923945894 ], "target_point_next": [ 100.22947327360096, -0.38765859773269007 ] }, "45": { "acceleration": [ -4.658746719360352, -0.6812059879302979, 0.057220906019210815 ], "angular_velocity": [ 0.005452882032841444, 0.028325529769062996, -0.7480095624923706 ], "forward_vector": [ -0.9865372180938721, -0.16166798770427704, 0.024652844294905663 ], "right_vector": [ 0.1617061197757721, -0.9868388175964355, -0.0004520375223364681 ], "location": [ 1254.3153076171875, 4098.7744140625, 364.28570556640625 ], "rotation": [ 0.025907717645168304, 1.412647008895874, -170.69342041015625 ], "velocity": [ -4.961987018585205, -0.7949431538581848, 0.07543686032295227 ], "speed": 5.025261166394647, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.33780288696289, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1237.2110595703125, 4095.949951171875, 364.5436096191406 ], "velocity": [ -5.5306315422058105, -0.9441918730735779, 0.08123176544904709 ], "speed_kmh": 20.200453674238414, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.088382720947266, "transform": { "location": { "x": 1195.574951171875, "y": 4092.33251953125, "z": 365.14794921875 }, "rotation": { "roll": -0.006530756130814552, "pitch": -0.8675774335861206, "yaw": 9.830164909362793 } }, "velocity": { "x": 7.972532272338867, "y": 1.3585643768310547, "z": -0.12236092984676361 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 5.160717964172363, "transform": { "location": { "x": 1266.865234375, "y": 4100.77099609375, "z": 364.0937805175781 }, "rotation": { "roll": 0.009744478389620781, "pitch": 0.8841816186904907, "yaw": -170.23594665527344 } }, "velocity": { "x": -5.087087631225586, "y": -0.865057110786438, "z": 0.07891450822353363 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 5.611237049102783, "transform": { "location": { "x": 1237.2110595703125, "y": 4095.949951171875, "z": 364.5436096191406 }, "rotation": { "roll": 0.010757677257061005, "pitch": 0.8476332426071167, "yaw": -170.08456420898438 } }, "velocity": { "x": -5.5306315422058105, "y": -0.9441918730735779, "z": 0.08123176544904709 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.6888651847839355, "transform": { "location": { "x": 1222.4720458984375, "y": 4093.55517578125, "z": 364.76507568359375 }, "rotation": { "roll": 0.028966140002012253, "pitch": 1.2125498056411743, "yaw": -170.15953063964844 } }, "velocity": { "x": -7.578598976135254, "y": -1.2929126024246216, "z": 0.10891874134540558 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": -0.007970460690557957, "expert_target_speed": 5.9018442465284755, "target_point": [ 48.11532341755039, -0.0683418282784567 ], "target_point_next": [ 99.1152540949444, -0.13241434036885913 ] }, "50": { "acceleration": [ 0.028591156005859375, 0.07917642593383789, -0.0011715292930603027 ], "angular_velocity": [ 0.19741784036159515, -1.2970407009124756, -0.5277548432350159 ], "forward_vector": [ -0.9871926307678223, -0.1582038551568985, 0.020551426336169243 ], "right_vector": [ 0.1582290381193161, -0.9874023795127869, -0.00040501425974071026 ], "location": [ 1253.014404296875, 4098.5673828125, 364.3065490722656 ], "rotation": [ 0.02321050874888897, 1.1775928735733032, -170.89540100097656 ], "velocity": [ -5.2237725257873535, -0.8202901482582092, 0.07989707589149475 ], "speed": 5.287785484349782, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.539268493652344, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1235.7139892578125, 4095.6943359375, 364.5657043457031 ], "velocity": [ -6.273518085479736, -1.060505747795105, 0.09087594598531723 ], "speed_kmh": 22.907419807033797, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.300171852111816, "transform": { "location": { "x": 1197.5953369140625, "y": 4092.6767578125, "z": 365.1170959472656 }, "rotation": { "roll": -0.003540043719112873, "pitch": -0.8598319888114929, "yaw": 9.604181289672852 } }, "velocity": { "x": 8.184046745300293, "y": 1.3780471086502075, "z": -0.1233239695429802 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.0007174439961090684, "transform": { "location": { "x": 1266.2969970703125, "y": 4100.6806640625, "z": 364.1031799316406 }, "rotation": { "roll": 0.024903444573283195, "pitch": 0.779044508934021, "yaw": -169.0116729736328 } }, "velocity": { "x": 0.00015590741531923413, "y": -0.0006795346853323281, "z": 0.00016926710668485612 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.3631720542907715, "transform": { "location": { "x": 1235.7139892578125, "y": 4095.6943359375, "z": 364.5657043457031 }, "rotation": { "roll": 0.00877609197050333, "pitch": 0.8444982171058655, "yaw": -170.2503204345703 } }, "velocity": { "x": -6.273518085479736, "y": -1.060505747795105, "z": 0.09087594598531723 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.733617782592773, "transform": { "location": { "x": 1220.458984375, "y": 4093.21142578125, "z": 364.7949523925781 }, "rotation": { "roll": 0.021738888695836067, "pitch": 1.11115562915802, "yaw": -170.47837829589844 } }, "velocity": { "x": -8.611299514770508, "y": -1.451163649559021, "z": 0.12540730834007263 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0030852360650897026, "expert_target_speed": 6.152459007742154, "target_point": [ 46.7979919128549, 0.10270545753745974 ], "target_point_next": [ 97.79783156295761, 0.2184208394520688 ] }, "55": { "acceleration": [ -4.147987365722656, -0.5635285377502441, 0.0539378821849823 ], "angular_velocity": [ -0.12107251584529877, 0.7574901580810547, -3.4334146976470947 ], "forward_vector": [ -0.9878097772598267, -0.15383677184581757, 0.023795384913682938 ], "right_vector": [ 0.15386727452278137, -0.9880913496017456, -0.0005543151637539268 ], "location": [ 1251.552001953125, 4098.34033203125, 364.3280334472656 ], "rotation": [ 0.03176891431212425, 1.3635038137435913, -171.14813232421875 ], "velocity": [ -6.642632484436035, -1.015120506286621, 0.10035743564367294 ], "speed": 6.719749695157437, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.80178451538086, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1233.99609375, 4095.403564453125, 364.5908203125 ], "velocity": [ -7.314370632171631, -1.229074239730835, 0.10773248225450516 ], "speed_kmh": 26.703713746403064, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.127134323120117, "transform": { "location": { "x": 1199.619384765625, "y": 4093.01708984375, "z": 365.08642578125 }, "rotation": { "roll": -0.0009460446308366954, "pitch": -0.847592294216156, "yaw": 9.442780494689941 } }, "velocity": { "x": 8.016263008117676, "y": 1.3324586153030396, "z": -0.11997669190168381 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.8697476983070374, "transform": { "location": { "x": 1266.174072265625, "y": 4100.65869140625, "z": 364.1044006347656 }, "rotation": { "roll": 0.02818765863776207, "pitch": 0.8708080649375916, "yaw": -169.0706329345703 } }, "velocity": { "x": -0.8571373820304871, "y": -0.1469547599554062, "z": 0.013448924757540226 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.417698383331299, "transform": { "location": { "x": 1233.99609375, "y": 4095.403564453125, "z": 364.5908203125 }, "rotation": { "roll": 0.0055720130912959576, "pitch": 0.8550098538398743, "yaw": -170.40109252929688 } }, "velocity": { "x": -7.314370632171631, "y": -1.229074239730835, "z": 0.10773248225450516 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.241220474243164, "transform": { "location": { "x": 1218.3668212890625, "y": 4092.859375, "z": 364.828125 }, "rotation": { "roll": 0.011783549562096596, "pitch": 0.7782385349273682, "yaw": -170.53091430664062 } }, "velocity": { "x": -8.127931594848633, "y": -1.35660719871521, "z": 0.11855719983577728 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.02707531489431858, "expert_target_speed": 7.3965315253357256, "target_point": [ 45.31716065021252, 0.3098063662704025 ], "target_point_next": [ 96.3159938196082, 0.6504671153272312 ] }, "60": { "acceleration": [ -4.669628143310547, -0.851137638092041, 0.08480802178382874 ], "angular_velocity": [ -0.18872316181659698, 0.031696196645498276, 2.9098947048187256 ], "forward_vector": [ -0.9878068566322327, -0.15373140573501587, 0.024581220000982285 ], "right_vector": [ 0.15378445386886597, -0.9881043434143066, 0.0002715606242418289 ], "location": [ 1249.742431640625, 4098.06005859375, 364.3551330566406 ], "rotation": [ -0.015563980676233768, 1.4085420370101929, -171.15408325195312 ], "velocity": [ -7.796062469482422, -1.2232288122177124, 0.11755319684743881 ], "speed": 7.891443388576763, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.920019149780273, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1232.0736083984375, 4095.081787109375, 364.61907958984375 ], "velocity": [ -7.8921403884887695, -1.3085230588912964, 0.11572135984897614 ], "speed_kmh": 28.80258827028345, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.336318016052246, "transform": { "location": { "x": 1201.6505126953125, "y": 4093.353759765625, "z": 365.0559997558594 }, "rotation": { "roll": -9.155055886367336e-05, "pitch": -0.8476537466049194, "yaw": 9.323690414428711 } }, "velocity": { "x": 8.224784851074219, "y": 1.3535194396972656, "z": -0.12285745143890381 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 1.6284990310668945, "transform": { "location": { "x": 1265.8572998046875, "y": 4100.6025390625, "z": 364.1091613769531 }, "rotation": { "roll": 0.025139207020401955, "pitch": 0.8965920805931091, "yaw": -169.30746459960938 } }, "velocity": { "x": -1.6052355766296387, "y": -0.27310705184936523, "z": 0.025305241346359253 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.00071907043457, "transform": { "location": { "x": 1232.0736083984375, "y": 4095.081787109375, "z": 364.61907958984375 }, "rotation": { "roll": 0.004380085039883852, "pitch": 0.8419846892356873, "yaw": -170.51800537109375 } }, "velocity": { "x": -7.8921403884887695, "y": -1.3085230588912964, "z": 0.11572135984897614 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.885210990905762, "transform": { "location": { "x": 1216.388916015625, "y": 4092.530517578125, "z": 364.8576354980469 }, "rotation": { "roll": 0.01162305660545826, "pitch": 0.6967065930366516, "yaw": -170.61802673339844 } }, "velocity": { "x": -7.7789788246154785, "y": -1.2848707437515259, "z": 0.11465852707624435 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.03181770071387291, "expert_target_speed": 8.316570719461831, "target_point": [ 43.48598207294732, 0.315848999217506 ], "target_point_next": [ 94.48477955494849, 0.6618111006565233 ] }, "65": { "acceleration": [ -10.432682037353516, -1.8692898750305176, 0.14515697956085205 ], "angular_velocity": [ -0.2918740212917328, 1.1283609867095947, 0.8517385125160217 ], "forward_vector": [ -0.9872525930404663, -0.1575259566307068, 0.022758543491363525 ], "right_vector": [ 0.15758095681667328, -0.9875059127807617, 0.0006320705870166421 ], "location": [ 1247.697021484375, 4097.73583984375, 364.3863525390625 ], "rotation": [ -0.0362243615090847, 1.3040810823440552, -170.93431091308594 ], "velocity": [ -8.723039627075195, -1.4040300846099854, 0.13131475448608398 ], "speed": 8.835311019653698, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.8088436126709, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1230.1402587890625, 4094.761474609375, 364.64739990234375 ], "velocity": [ -7.5835771560668945, -1.2493420839309692, 0.11058200895786285 ], "speed_kmh": 27.671738209047493, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.152048110961914, "transform": { "location": { "x": 1203.683349609375, "y": 4093.68798828125, "z": 365.0255432128906 }, "rotation": { "roll": 8.439278462901711e-05, "pitch": -0.8493340015411377, "yaw": 9.27155590057373 } }, "velocity": { "x": 8.044078826904297, "y": 1.316882848739624, "z": -0.12042724341154099 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.4595556259155273, "transform": { "location": { "x": 1265.34814453125, "y": 4100.51416015625, "z": 364.1170959472656 }, "rotation": { "roll": 0.019847078248858452, "pitch": 0.8993241190910339, "yaw": -169.58079528808594 } }, "velocity": { "x": -2.424684762954712, "y": -0.4109220802783966, "z": 0.03821829706430435 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.686594009399414, "transform": { "location": { "x": 1230.1402587890625, "y": 4094.761474609375, "z": 364.64739990234375 }, "rotation": { "roll": 0.002822272479534149, "pitch": 0.8219995498657227, "yaw": -170.62142944335938 } }, "velocity": { "x": -7.5835771560668945, "y": -1.2493420839309692, "z": 0.11058200895786285 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.050912857055664, "transform": { "location": { "x": 1214.4302978515625, "y": 4092.20751953125, "z": 364.8853454589844 }, "rotation": { "roll": 0.005276241339743137, "pitch": 0.8550508618354797, "yaw": -170.62538146972656 } }, "velocity": { "x": -7.942962646484375, "y": -1.3088494539260864, "z": 0.11601396650075912 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.022979162633419037, "expert_target_speed": 8.957775507795759, "target_point": [ 41.415927992677794, 0.15116853737434255 ], "target_point_next": [ 92.4156773131116, 0.30151360284901685 ] }, "70": { "acceleration": [ -3.6588287353515625, -0.3353309631347656, 0.03237038850784302 ], "angular_velocity": [ 0.36735042929649353, -0.2890629172325134, 1.4735174179077148 ], "forward_vector": [ -0.986619770526886, -0.16115571558475494, 0.0247030146420002 ], "right_vector": [ 0.16121792793273926, -0.9869186878204346, 0.0005345996469259262 ], "location": [ 1245.328369140625, 4097.35107421875, 364.4215087890625 ], "rotation": [ -0.030639654025435448, 1.4155224561691284, -170.72315979003906 ], "velocity": [ -9.983439445495605, -1.6231530904769897, 0.14913144707679749 ], "speed": 10.114528615659882, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.32792854309082, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1228.2469482421875, 4094.44970703125, 364.67498779296875 ], "velocity": [ -7.644691467285156, -1.254406452178955, 0.11225036531686783 ], "speed_kmh": 27.891856615328912, "color": "0,21,0" }, "other_vehicles": [ { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.346343994140625, "transform": { "location": { "x": 1205.719482421875, "y": 4094.0205078125, "z": 364.9949645996094 }, "rotation": { "roll": 0.000767660269048065, "pitch": -0.8499487042427063, "yaw": 9.249735832214355 } }, "velocity": { "x": 8.236562728881836, "y": 1.343587875366211, "z": -0.1235274001955986 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 3.145200252532959, "transform": { "location": { "x": 1264.654296875, "y": 4100.39404296875, "z": 364.1279296875 }, "rotation": { "roll": 0.014533051289618015, "pitch": 0.8976507186889648, "yaw": -169.8629913330078 } }, "velocity": { "x": -3.1010446548461914, "y": -0.5229775905609131, "z": 0.04796885326504707 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.747737884521484, "transform": { "location": { "x": 1228.2469482421875, "y": 4094.44970703125, "z": 364.67498779296875 }, "rotation": { "roll": 0.002732864348217845, "pitch": 0.8226962685585022, "yaw": -170.6622772216797 } }, "velocity": { "x": -7.644691467285156, "y": -1.254406452178955, "z": 0.11225036531686783 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.148921966552734, "transform": { "location": { "x": 1212.4234619140625, "y": 4091.877197265625, "z": 364.9143371582031 }, "rotation": { "roll": 0.005215938668698072, "pitch": 0.8946659564971924, "yaw": -170.6829376220703 } }, "velocity": { "x": -8.040858268737793, "y": -1.3174984455108643, "z": 0.11710943281650543 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.012339362874627113, "expert_target_speed": 9.721541905109602, "target_point": [ 39.01650510108795, 0.0006544634127738647 ], "target_point_next": [ 90.01646217378229, -0.036935018297420186 ] }, "75": { "acceleration": [ -2.9621505737304688, -0.410158634185791, 0.04186362028121948 ], "angular_velocity": [ 0.14373742043972015, -0.40331757068634033, -1.8229572772979736 ], "forward_vector": [ -0.9872283339500427, -0.15765871107578278, 0.022890476509928703 ], "right_vector": [ 0.15769454836845398, -0.9874879717826843, -0.00024259461497422308 ], "location": [ 1242.72314453125, 4096.93310546875, 364.4608154296875 ], "rotation": [ 0.013903290033340454, 1.3116421699523926, -170.92657470703125 ], "velocity": [ -10.804902076721191, -1.7229294776916504, 0.160603865981102 ], "speed": 10.94140735338159, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.64841079711914, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1226.313720703125, 4094.1328125, 364.7031555175781 ], "velocity": [ -7.7669501304626465, -1.2696974277496338, 0.11188139021396637 ], "speed_kmh": 28.33503338255573, "color": "0,21,0" }, "other_vehicles": [ { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1166.284912109375, "y": 4087.509033203125, "z": 365.8453674316406 }, "rotation": { "roll": 0.0, "pitch": -0.9028553366661072, "yaw": 9.234704971313477 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.154851913452148, "transform": { "location": { "x": 1207.754150390625, "y": 4094.352294921875, "z": 364.9646911621094 }, "rotation": { "roll": 0.00010750693763839081, "pitch": -0.8381665945053101, "yaw": 9.241755485534668 } }, "velocity": { "x": 8.048060417175293, "y": 1.3100003004074097, "z": -0.11926119774580002 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 3.8681511878967285, "transform": { "location": { "x": 1263.78515625, "y": 4100.24609375, "z": 364.141357421875 }, "rotation": { "roll": 0.012120918370783329, "pitch": 0.8941400051116943, "yaw": -170.1025390625 } }, "velocity": { "x": -3.8142848014831543, "y": -0.640600860118866, "z": 0.05878311023116112 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.870842933654785, "transform": { "location": { "x": 1226.313720703125, "y": 4094.1328125, "z": 364.7031555175781 }, "rotation": { "roll": 0.0009114110143855214, "pitch": 0.8250185251235962, "yaw": -170.70254516601562 } }, "velocity": { "x": -7.7669501304626465, "y": -1.2696974277496338, "z": 0.11188139021396637 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.033679962158203, "transform": { "location": { "x": 1210.4288330078125, "y": 4091.550537109375, "z": 364.9442443847656 }, "rotation": { "roll": 0.00305000739172101, "pitch": 0.814363420009613, "yaw": -170.68844604492188 } }, "velocity": { "x": -7.927270889282227, "y": -1.298096776008606, "z": 0.11549432575702667 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.027889540418982506, "expert_target_speed": 10.0, "target_point": [ 36.377717700002684, 0.13725238255815686 ], "target_point_next": [ 87.37748691278523, 0.28069097122340203 ] }, "80": { "acceleration": [ -1.5151214599609375, -0.15503883361816406, 0.028099119663238525 ], "angular_velocity": [ 0.10250955820083618, -0.5582496523857117, 0.909307062625885 ], "forward_vector": [ -0.9875215291976929, -0.156110942363739, 0.0207483172416687 ], "right_vector": [ 0.15613746643066406, -0.9877352714538574, -0.0003456601989455521 ], "location": [ 1239.94482421875, 4096.4921875, 364.5026550292969 ], "rotation": [ 0.019809136167168617, 1.1888762712478638, -171.01681518554688 ], "velocity": [ -11.346139907836914, -1.7883938550949097, 0.16787497699260712 ], "speed": 11.486219717084932, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.793951034545898, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1224.3807373046875, 4093.817138671875, 364.7311706542969 ], "velocity": [ -7.6828155517578125, -1.2531617879867554, 0.11179517209529877 ], "speed_kmh": 28.026541597010958, "color": "0,21,0" }, "other_vehicles": [ { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1168.330810546875, "y": 4087.841796875, "z": 365.6349182128906 }, "rotation": { "roll": 0.0, "pitch": -0.9028553366661072, "yaw": 9.234704971313477 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.346747398376465, "transform": { "location": { "x": 1209.790771484375, "y": 4094.6845703125, "z": 364.9346008300781 }, "rotation": { "roll": -0.0002136124239768833, "pitch": -0.8275388479232788, "yaw": 9.238022804260254 } }, "velocity": { "x": 8.237544059753418, "y": 1.340266227722168, "z": -0.12145605683326721 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 4.574402332305908, "transform": { "location": { "x": 1262.7423095703125, "y": 4100.0703125, "z": 364.1575622558594 }, "rotation": { "roll": 0.0077833677642047405, "pitch": 0.8911483883857727, "yaw": -170.30471801757812 } }, "velocity": { "x": -4.512474060058594, "y": -0.7469543218612671, "z": 0.06922882050275803 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.785150527954102, "transform": { "location": { "x": 1224.3807373046875, "y": 4093.817138671875, "z": 364.7311706542969 }, "rotation": { "roll": 0.000532415637280792, "pitch": 0.8193904161453247, "yaw": -170.72607421875 } }, "velocity": { "x": -7.6828155517578125, "y": -1.2531617879867554, "z": 0.11179517209529877 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.036511421203613, "transform": { "location": { "x": 1208.44970703125, "y": 4091.22607421875, "z": 364.9733581542969 }, "rotation": { "roll": 0.0031023023184388876, "pitch": 0.8264801502227783, "yaw": -170.73255920410156 } }, "velocity": { "x": -7.930785179138184, "y": -1.2940665483474731, "z": 0.11639167368412018 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.03848488628864288, "expert_target_speed": 10.0, "target_point": [ 33.56436734591514, 0.19287362533222652 ], "target_point_next": [ 84.56384728220807, 0.4166606076512238 ] }, "85": { "acceleration": [ 0.3783416748046875, -0.010306835174560547, -0.007878541946411133 ], "angular_velocity": [ 0.11926285922527313, -0.776624858379364, -0.808846116065979 ], "forward_vector": [ -0.9873572587966919, -0.15753881633281708, 0.01752536930143833 ], "right_vector": [ 0.15756802260875702, -0.9875081181526184, 0.0002897071826737374 ], "location": [ 1237.0931396484375, 4096.03857421875, 364.5453796386719 ], "rotation": [ -0.016601549461483955, 1.004181146621704, -170.9345245361328 ], "velocity": [ -11.403822898864746, -1.8270057439804077, 0.16947965323925018 ], "speed": 11.549247884481886, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 59.15456771850586, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1178.7230224609375, 4086.49169921875, 365.56976318359375 ], "velocity": [ -7.599182605743408, -1.2397419214248657, -0.8694312572479248 ], "speed_kmh": 27.894877546899796, "color": "0,21,0" }, "other_vehicles": [ { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.0704345703125, "transform": { "location": { "x": 1170.355712890625, "y": 4088.1748046875, "z": 365.56182861328125 }, "rotation": { "roll": 0.014375511556863785, "pitch": -0.8667851090431213, "yaw": 9.370813369750977 } }, "velocity": { "x": 7.9519853591918945, "y": 1.3664213418960571, "z": -0.17532125115394592 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.154842376708984, "transform": { "location": { "x": 1211.82568359375, "y": 4095.01611328125, "z": 364.90484619140625 }, "rotation": { "roll": -0.0001831003319239244, "pitch": -0.8308104872703552, "yaw": 9.23583698272705 } }, "velocity": { "x": 8.04837703704834, "y": 1.3080209493637085, "z": -0.11896587908267975 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 5.182503700256348, "transform": { "location": { "x": 1261.5196533203125, "y": 4099.86669921875, "z": 364.1767578125 }, "rotation": { "roll": 0.0045190597884356976, "pitch": 0.888313889503479, "yaw": -170.5063934326172 } }, "velocity": { "x": -5.112997055053711, "y": -0.8422577977180481, "z": 0.07878993451595306 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.748577117919922, "transform": { "location": { "x": 1178.7230224609375, "y": 4086.49169921875, "z": 365.56976318359375 }, "rotation": { "roll": -0.0013732949737459421, "pitch": 0.8933340311050415, "yaw": -170.76707458496094 } }, "velocity": { "x": -7.599182605743408, "y": -1.2397419214248657, "z": -0.8694312572479248 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1163.51220703125, "y": 4084.019287109375, "z": 365.7974853515625 }, "rotation": { "roll": 0.0, "pitch": 0.9145212769508362, "yaw": -170.76528930664062 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.03841456025838852, "expert_target_speed": 10.0, "target_point": [ 30.677073070820445, 0.1460396099677439 ], "target_point_next": [ 81.67682181736227, 0.29657922404560466 ] }, "90": { "acceleration": [ 0.7731246948242188, 0.056366920471191406, -0.0038301944732666016 ], "angular_velocity": [ 0.011995452456176281, -0.3920070230960846, 1.8464821577072144 ], "forward_vector": [ -0.9870702624320984, -0.15958771109580994, 0.014969623647630215 ], "right_vector": [ 0.15961124002933502, -0.9871799349784851, 0.0003834523377008736 ], "location": [ 1234.2635498046875, 4095.583251953125, 364.5876159667969 ], "rotation": [ -0.021972663700580597, 0.8577283024787903, -170.8159942626953 ], "velocity": [ -11.237231254577637, -1.816999912261963, 0.16643348336219788 ], "speed": 11.383182988514964, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 58.1160774230957, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1176.91748046875, 4086.19091796875, 365.4186706542969 ], "velocity": [ -6.629272937774658, -1.1408475637435913, 0.12083742022514343 ], "speed_kmh": 24.220107206621073, "color": "0,21,0" }, "other_vehicles": [ { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.019938468933105, "transform": { "location": { "x": 1172.3370361328125, "y": 4088.515625, "z": 365.5223388671875 }, "rotation": { "roll": 0.0007945589604787529, "pitch": -0.8904380798339844, "yaw": 9.727070808410645 } }, "velocity": { "x": 7.899662494659424, "y": 1.3768235445022583, "z": -0.13821139931678772 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.347131729125977, "transform": { "location": { "x": 1213.8623046875, "y": 4095.346435546875, "z": 364.8749084472656 }, "rotation": { "roll": -0.0003356949891895056, "pitch": -0.8301069736480713, "yaw": 9.230806350708008 } }, "velocity": { "x": 8.238144874572754, "y": 1.3389657735824585, "z": -0.12148051708936691 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 5.939074993133545, "transform": { "location": { "x": 1260.1512451171875, "y": 4099.640625, "z": 364.19775390625 }, "rotation": { "roll": 0.0012902133166790009, "pitch": 0.8875966668128967, "yaw": -170.7202911376953 } }, "velocity": { "x": -5.860446453094482, "y": -0.9590178728103638, "z": 0.08978906273841858 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.727807521820068, "transform": { "location": { "x": 1176.91748046875, "y": 4086.19091796875, "z": 365.4186706542969 }, "rotation": { "roll": 0.0003070610109716654, "pitch": 0.8774880170822144, "yaw": -170.5157928466797 } }, "velocity": { "x": -6.629272937774658, "y": -1.1408475637435913, "z": 0.12083742022514343 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1163.51220703125, "y": 4084.019287109375, "z": 365.7974853515625 }, "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": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.03625369817018509, "expert_target_speed": 10.0, "target_point": [ 27.811320644059865, 0.08470179968758185 ], "target_point_next": [ 78.81127169785145, 0.12972286877833916 ] }, "95": { "acceleration": [ 0.8095741271972656, 0.3068852424621582, 0.00020235776901245117 ], "angular_velocity": [ 0.19221077859401703, -0.17533144354820251, -2.0370216369628906 ], "forward_vector": [ -0.9870366454124451, -0.15990272164344788, 0.013778368942439556 ], "right_vector": [ 0.15991967916488647, -0.9871300458908081, 0.00012994975259061903 ], "location": [ 1231.4801025390625, 4095.1328125, 364.6286315917969 ], "rotation": [ -0.007446279749274254, 0.7894673943519592, -170.79786682128906 ], "velocity": [ -11.042564392089844, -1.7814805507659912, 0.16251502931118011 ], "speed": 11.185343146556034, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 56.483211517333984, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1175.7479248046875, 4085.990234375, 365.4598693847656 ], "velocity": [ -2.3562450408935547, -0.40757304430007935, 0.10345302522182465 ], "speed_kmh": 8.616499796236031, "color": "0,21,0" }, "other_vehicles": [ { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.104907989501953, "transform": { "location": { "x": 1174.3232421875, "y": 4088.860595703125, "z": 365.48980712890625 }, "rotation": { "roll": -0.013366689905524254, "pitch": -0.8933067321777344, "yaw": 9.831722259521484 } }, "velocity": { "x": 7.988743305206299, "y": 1.3614165782928467, "z": -0.12670986354351044 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.15439510345459, "transform": { "location": { "x": 1215.897216796875, "y": 4095.676513671875, "z": 364.8451232910156 }, "rotation": { "roll": -9.155014413408935e-05, "pitch": -0.8300796747207642, "yaw": 9.229350090026855 } }, "velocity": { "x": 8.04796314239502, "y": 1.3078603744506836, "z": -0.11810335516929626 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 6.673557281494141, "transform": { "location": { "x": 1258.616943359375, "y": 4099.38916015625, "z": 364.2213134765625 }, "rotation": { "roll": 0.0005881937104277313, "pitch": 0.8866746425628662, "yaw": -170.7154541015625 } }, "velocity": { "x": -6.584961891174316, "y": -1.0792101621627808, "z": 0.0997232049703598 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.393472194671631, "transform": { "location": { "x": 1175.7479248046875, "y": 4085.990234375, "z": 365.4598693847656 }, "rotation": { "roll": 0.006109683308750391, "pitch": 0.80736243724823, "yaw": -170.31260681152344 } }, "velocity": { "x": -2.3562450408935547, "y": -0.40757304430007935, "z": 0.10345302522182465 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.2550522983074188, "transform": { "location": { "x": 1163.511962890625, "y": 4084.019287109375, "z": 365.7893371582031 }, "rotation": { "roll": -1.334195509627989e-08, "pitch": 0.9261667728424072, "yaw": -170.76528930664062 } }, "velocity": { "x": -0.003989022690802813, "y": -0.0006985188811086118, "z": -0.2550201416015625 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.03733593598008156, "expert_target_speed": 10.0, "target_point": [ 24.99168751541745, 0.07638966842693806 ], "target_point_next": [ 75.99165025367503, 0.10528745618010582 ] }, "100": { "acceleration": [ 1.5926551818847656, 0.4855680465698242, -0.026692450046539307 ], "angular_velocity": [ 0.1970617026090622, -0.2773337662220001, 0.45315229892730713 ], "forward_vector": [ -0.9877474904060364, -0.1555454283952713, 0.012667078524827957 ], "right_vector": [ 0.15554900467395782, -0.9878278970718384, -0.0007097425987012684 ], "location": [ 1228.7601318359375, 4094.700927734375, 364.66845703125 ], "rotation": [ 0.04066852107644081, 0.7257895469665527, -171.05084228515625 ], "velocity": [ -10.703078269958496, -1.6707324981689453, 0.1556246280670166 ], "speed": 10.8326927184932, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 53.87184143066406, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1175.607177734375, 4085.966064453125, 365.46905517578125 ], "velocity": [ -0.3580693304538727, -0.06309093534946442, 0.012001638300716877 ], "speed_kmh": 1.3096191946916695, "color": "0,21,0" }, "other_vehicles": [ { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.055018424987793, "transform": { "location": { "x": 1176.3143310546875, "y": 4089.19873046875, "z": 365.45831298828125 }, "rotation": { "roll": -0.010009764693677425, "pitch": -0.8931564688682556, "yaw": 9.656469345092773 } }, "velocity": { "x": 7.941908359527588, "y": 1.3392300605773926, "z": -0.12599971890449524 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.34726619720459, "transform": { "location": { "x": 1217.933837890625, "y": 4096.00732421875, "z": 364.8153381347656 }, "rotation": { "roll": 5.4533742513740435e-05, "pitch": -0.822846531867981, "yaw": 9.232582092285156 } }, "velocity": { "x": 8.238100051879883, "y": 1.3403352499008179, "z": -0.11858729273080826 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 7.634176254272461, "transform": { "location": { "x": 1256.841552734375, "y": 4099.09814453125, "z": 364.24847412109375 }, "rotation": { "roll": 0.001414205296896398, "pitch": 0.8871937394142151, "yaw": -170.7021484375 } }, "velocity": { "x": -7.533020496368408, "y": -1.23323655128479, "z": 0.11562560498714447 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.3637831211090088, "transform": { "location": { "x": 1175.607177734375, "y": 4085.966064453125, "z": 365.46905517578125 }, "rotation": { "roll": 0.006991534493863583, "pitch": 0.8353662490844727, "yaw": -170.29534912109375 } }, "velocity": { "x": -0.3580693304538727, "y": -0.06309093534946442, "z": 0.012001638300716877 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.343204140663147, "transform": { "location": { "x": 1163.5103759765625, "y": 4084.019287109375, "z": 365.68463134765625 }, "rotation": { "roll": 7.075905887177214e-05, "pitch": 0.9260370135307312, "yaw": -170.7652587890625 } }, "velocity": { "x": -0.005386068020015955, "y": -0.0008726289961487055, "z": -0.3431607782840729 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.062253933399915695, "expert_target_speed": 10.0, "target_point": [ 22.23706369958433, 0.18321364800171303 ], "target_point_next": [ 73.23640179500137, 0.4372770557250387 ] }, "105": { "acceleration": [ 1.5699005126953125, 0.4762601852416992, -0.016646385192871094 ], "angular_velocity": [ -0.01658802106976509, -0.1039753258228302, -3.1715641021728516 ], "forward_vector": [ -0.9886637330055237, -0.14968110620975494, 0.01181717962026596 ], "right_vector": [ 0.14967890083789825, -0.9887340664863586, -0.0010751300724223256 ], "location": [ 1226.136962890625, 4094.298095703125, 364.7066650390625 ], "rotation": [ 0.061604734510183334, 0.6770902872085571, -171.3909454345703 ], "velocity": [ -10.304269790649414, -1.549284815788269, 0.14976544678211212 ], "speed": 10.42008922029568, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 51.39890670776367, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1175.4288330078125, 4085.9345703125, 365.4714050292969 ], "velocity": [ -1.0861510038375854, -0.19022955000400543, 0.015301093459129333 ], "speed_kmh": 3.9700433865991225, "color": "0,21,0" }, "other_vehicles": [ { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.977806091308594, "transform": { "location": { "x": 1270.083740234375, "y": 4101.345703125, "z": 364.1304626464844 }, "rotation": { "roll": 0.0, "pitch": 0.882931649684906, "yaw": -170.76528930664062 } }, "velocity": { "x": -7.530352592468262, "y": -1.224328875541687, "z": -2.332423448562622 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.13929557800293, "transform": { "location": { "x": 1178.310546875, "y": 4089.53515625, "z": 365.42681884765625 }, "rotation": { "roll": -0.0069580078125, "pitch": -0.8904039263725281, "yaw": 9.581671714782715 } }, "velocity": { "x": 8.025580406188965, "y": 1.349915623664856, "z": -0.1261843889951706 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.154272079467773, "transform": { "location": { "x": 1219.9686279296875, "y": 4096.337890625, "z": 364.7858581542969 }, "rotation": { "roll": 6.6707914747610175e-09, "pitch": -0.821255087852478, "yaw": 9.23848819732666 } }, "velocity": { "x": 8.047602653503418, "y": 1.309468150138855, "z": -0.11636579036712646 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.35173225402832, "transform": { "location": { "x": 1254.865478515625, "y": 4098.775390625, "z": 364.2786560058594 }, "rotation": { "roll": 0.0008734606672078371, "pitch": 0.8826652765274048, "yaw": -170.713623046875 } }, "velocity": { "x": -8.241557121276855, "y": -1.3462492227554321, "z": 0.12560047209262848 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.1027898788452148, "transform": { "location": { "x": 1175.4288330078125, "y": 4085.9345703125, "z": 365.4714050292969 }, "rotation": { "roll": 0.0064097242429852486, "pitch": 0.904965877532959, "yaw": -170.3129119873047 } }, "velocity": { "x": -1.0861510038375854, "y": -0.19022955000400543, "z": 0.015301093459129333 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.02212327904999256, "transform": { "location": { "x": 1163.509765625, "y": 4084.019287109375, "z": 365.65191650390625 }, "rotation": { "roll": -0.00012207221880089492, "pitch": 0.9261326193809509, "yaw": -170.76516723632812 } }, "velocity": { "x": 0.0003868457570206374, "y": 3.156434831907973e-05, "z": 0.022119874134659767 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.08994138985872269, "expert_target_speed": 10.0, "target_point": [ 19.58167089817468, 0.3095754157391375 ], "target_point_next": [ 70.57860256023686, 0.8663477576891889 ] }, "110": { "acceleration": [ 0.7552719116210938, 0.2547645568847656, -0.0016441941261291504 ], "angular_velocity": [ 0.02741933986544609, 0.21251025795936584, 1.0262316465377808 ], "forward_vector": [ -0.9893823266029358, -0.1448361575603485, 0.012044137343764305 ], "right_vector": [ 0.14483381807804108, -0.9894553422927856, -0.0010708741610869765 ], "location": [ 1223.6029052734375, 4093.92333984375, 364.74322509765625 ], "rotation": [ 0.061361029744148254, 0.6900949478149414, -171.67160034179688 ], "velocity": [ -10.019227981567383, -1.455486536026001, 0.14569924771785736 ], "speed": 10.124394816638462, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 49.205013275146484, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1175.066650390625, 4085.871826171875, 365.47686767578125 ], "velocity": [ -1.7927042245864868, -0.31534090638160706, 0.027598999440670013 ], "speed_kmh": 6.55357236734278, "color": "0,21,0" }, "other_vehicles": [ { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.223996162414551, "transform": { "location": { "x": 1268.275390625, "y": 4101.03466796875, "z": 364.01611328125 }, "rotation": { "roll": -0.0668640211224556, "pitch": 0.8319101929664612, "yaw": -170.25262451171875 } }, "velocity": { "x": -7.110392093658447, "y": -1.253845453262329, "z": 0.23732155561447144 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.7198591232299805, "transform": { "location": { "x": 1180.216796875, "y": 4089.854248046875, "z": 365.3957824707031 }, "rotation": { "roll": -0.00918578915297985, "pitch": -0.7638199925422668, "yaw": 9.491555213928223 } }, "velocity": { "x": 6.628974437713623, "y": 1.0965460538864136, "z": -0.10390529036521912 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.346650123596191, "transform": { "location": { "x": 1222.0052490234375, "y": 4096.66943359375, "z": 364.7563171386719 }, "rotation": { "roll": -3.0512199373333715e-05, "pitch": -0.8210160136222839, "yaw": 9.241681098937988 } }, "velocity": { "x": 8.237500190734863, "y": 1.3401362895965576, "z": -0.11912715435028076 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 9.132362365722656, "transform": { "location": { "x": 1252.7052001953125, "y": 4098.421875, "z": 364.31158447265625 }, "rotation": { "roll": 0.0007387475343421102, "pitch": 0.8772763013839722, "yaw": -170.7239227294922 } }, "velocity": { "x": -9.012175559997559, "y": -1.470416784286499, "z": 0.13645265996456146 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.8204368352890015, "transform": { "location": { "x": 1175.066650390625, "y": 4085.871826171875, "z": 365.47686767578125 }, "rotation": { "roll": 0.008760593831539154, "pitch": 0.9150403738021851, "yaw": -170.2008514404297 } }, "velocity": { "x": -1.7927042245864868, "y": -0.31534090638160706, "z": 0.027598999440670013 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.059624649584293365, "transform": { "location": { "x": 1163.5101318359375, "y": 4084.019287109375, "z": 365.6676025390625 }, "rotation": { "roll": 0.00015277204511221498, "pitch": 0.925975501537323, "yaw": -170.76510620117188 } }, "velocity": { "x": 0.0009730456513352692, "y": 0.00014396045298781246, "z": 0.059616535902023315 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.3300042152404785, "expert_control_brake": 0.0, "expert_control_steer": 0.12822668254375458, "expert_target_speed": 10.0, "target_point": [ 17.018303624838417, 0.40173938931097775 ], "target_point_next": [ 68.01189606750235, 1.2083149761524794 ] }, "115": { "acceleration": [ 0.27294158935546875, 0.1352524757385254, -0.027409791946411133 ], "angular_velocity": [ -0.15413005650043488, 0.19359806180000305, -2.553548812866211 ], "forward_vector": [ -0.9898247718811035, -0.1416884958744049, 0.01308630220592022 ], "right_vector": [ 0.14169242978096008, -0.9899105429649353, -0.0006304404814727604 ], "location": [ 1221.1136474609375, 4093.56396484375, 364.7791748046875 ], "rotation": [ 0.03612467646598816, 0.7498112916946411, -171.85372924804688 ], "velocity": [ -9.913681030273438, -1.4148752689361572, 0.1426207274198532 ], "speed": 10.014137186829956, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 47.186065673828125, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1174.578369140625, 4085.7861328125, 365.48468017578125 ], "velocity": [ -1.7737284898757935, -0.31200045347213745, 0.02837379463016987 ], "speed_kmh": 6.484260710240863, "color": "0,21,0" }, "other_vehicles": [ { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.260643482208252, "transform": { "location": { "x": 1266.5245361328125, "y": 4100.73095703125, "z": 364.0793762207031 }, "rotation": { "roll": 0.005245971493422985, "pitch": 0.6454938054084778, "yaw": -170.20750427246094 } }, "velocity": { "x": -6.167285442352295, "y": -1.0583703517913818, "z": 0.2002526819705963 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.155887603759766, "transform": { "location": { "x": 1181.771728515625, "y": 4090.11181640625, "z": 365.371826171875 }, "rotation": { "roll": -0.0048828208819031715, "pitch": -0.8060237765312195, "yaw": 9.419998168945312 } }, "velocity": { "x": 6.072864055633545, "y": 1.0030916929244995, "z": -0.09531254321336746 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.15418815612793, "transform": { "location": { "x": 1224.0399169921875, "y": 4097.0009765625, "z": 364.7267761230469 }, "rotation": { "roll": -0.0002746631798800081, "pitch": -0.8212277293205261, "yaw": 9.239779472351074 } }, "velocity": { "x": 8.047592163085938, "y": 1.309017300605774, "z": -0.1162656918168068 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 9.883254051208496, "transform": { "location": { "x": 1250.35693359375, "y": 4098.0390625, "z": 364.34716796875 }, "rotation": { "roll": 0.0005661644972860813, "pitch": 0.8743187785148621, "yaw": -170.7397003173828 } }, "velocity": { "x": -9.75339126586914, "y": -1.5900917053222656, "z": 0.1472541242837906 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.8011834621429443, "transform": { "location": { "x": 1174.578369140625, "y": 4085.7861328125, "z": 365.48468017578125 }, "rotation": { "roll": 0.010079692117869854, "pitch": 0.8993651270866394, "yaw": -170.15728759765625 } }, "velocity": { "x": -1.7737284898757935, "y": -0.31200045347213745, "z": 0.02837379463016987 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.342799729784019e-05, "transform": { "location": { "x": 1163.51025390625, "y": 4084.019287109375, "z": 365.6742248535156 }, "rotation": { "roll": 0.00034540315391495824, "pitch": 0.9255042672157288, "yaw": -170.7650604248047 } }, "velocity": { "x": 2.626508467074018e-05, "y": 1.0915472330452758e-06, "z": -3.456797276157886e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.32756316661834717, "expert_control_brake": 0.0, "expert_control_steer": 0.15748240053653717, "expert_target_speed": 9.946935173475078, "target_point": [ 14.501876707854159, 0.45281999135556905 ], "target_point_next": [ 65.4926473085583, 1.4215035992307463 ] }, "120": { "acceleration": [ 0.17475128173828125, 0.11571168899536133, -0.0028002262115478516 ], "angular_velocity": [ -0.04049196094274521, 0.10390427708625793, 1.557794451713562 ], "forward_vector": [ -0.9900734424591064, -0.13986997306346893, 0.013821041211485863 ], "right_vector": [ 0.13987767696380615, -0.9901686906814575, -0.00041136526851914823 ], "location": [ 1218.6417236328125, 4093.213623046875, 364.8146667480469 ], "rotation": [ 0.023571744561195374, 0.7919125556945801, -171.9589080810547 ], "velocity": [ -9.86423110961914, -1.3850356340408325, 0.14299586415290833 ], "speed": 9.960992876794007, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 45.152549743652344, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1174.1226806640625, 4085.70703125, 365.491943359375 ], "velocity": [ -2.0416464805603027, -0.34654468297958374, 0.03202974423766136 ], "speed_kmh": 7.455946323256694, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 1143.7918701171875, "y": 4083.85205078125, "z": 366.07427978515625 }, "rotation": { "roll": 6.671045493789052e-09, "pitch": -0.9611510038375854, "yaw": 9.234705924987793 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.568975448608398, "transform": { "location": { "x": 1265.107177734375, "y": 4100.48876953125, "z": 364.1173095703125 }, "rotation": { "roll": 0.011663099750876427, "pitch": 0.524278461933136, "yaw": -170.25827026367188 } }, "velocity": { "x": -5.488194942474365, "y": -0.9376949071884155, "z": 0.11803775280714035 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.876485824584961, "transform": { "location": { "x": 1183.365478515625, "y": 4090.375244140625, "z": 365.3477783203125 }, "rotation": { "roll": -0.004180900286883116, "pitch": -0.9247460961341858, "yaw": 9.389904022216797 } }, "velocity": { "x": 6.783895492553711, "y": 1.1196874380111694, "z": -0.10547465085983276 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.346461296081543, "transform": { "location": { "x": 1226.076416015625, "y": 4097.33154296875, "z": 364.69720458984375 }, "rotation": { "roll": 7.077708869474009e-05, "pitch": -0.8210160136222839, "yaw": 9.236265182495117 } }, "velocity": { "x": 8.237561225891113, "y": 1.338578462600708, "z": -0.1192157119512558 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 10.732014656066895, "transform": { "location": { "x": 1247.8104248046875, "y": 4097.6240234375, "z": 364.3855895996094 }, "rotation": { "roll": 0.0008286497904919088, "pitch": 0.8714432716369629, "yaw": -170.74765014648438 } }, "velocity": { "x": -10.591452598571777, "y": -1.723942518234253, "z": 0.15903404355049133 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.071096181869507, "transform": { "location": { "x": 1174.1226806640625, "y": 4085.70703125, "z": 365.491943359375 }, "rotation": { "roll": 0.010764608159661293, "pitch": 0.9011068344116211, "yaw": -170.15835571289062 } }, "velocity": { "x": -2.0416464805603027, "y": -0.34654468297958374, "z": 0.03202974423766136 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.005944794975221157, "transform": { "location": { "x": 1163.51025390625, "y": 4084.019287109375, "z": 365.6726379394531 }, "rotation": { "roll": 0.00022317751427181065, "pitch": 0.92535400390625, "yaw": -170.76499938964844 } }, "velocity": { "x": -6.635039608227089e-05, "y": -3.502950130496174e-05, "z": -0.005944321397691965 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.32637807726860046, "expert_control_brake": 0.0, "expert_control_steer": 0.19997762143611908, "expert_target_speed": 9.909853370673106, "target_point": [ 12.004394369546445, 0.4783191127485844 ], "target_point_next": [ 62.99330122037572, 1.54058675475539 ] }, "125": { "acceleration": [ 0.203094482421875, -0.1627826690673828, -0.004573166370391846 ], "angular_velocity": [ -0.20122717320919037, 0.035209111869335175, -0.9278692007064819 ], "forward_vector": [ -0.9898236989974976, -0.14158236980438232, 0.01426564808934927 ], "right_vector": [ 0.14160577952861786, -0.9899229407310486, 0.0006396262324415147 ], "location": [ 1216.1820068359375, 4092.86328125, 364.850341796875 ], "rotation": [ -0.0366516150534153, 0.817389190196991, -171.8597412109375 ], "velocity": [ -9.812955856323242, -1.4210834503173828, 0.14292658865451813 ], "speed": 9.915320509742212, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 43.11507034301758, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1173.6826171875, 4085.632080078125, 365.4991760253906 ], "velocity": [ -0.21897922456264496, -0.037314243614673615, 0.003669805359095335 ], "speed_kmh": 0.7997975147823612, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 1145.8397216796875, "y": 4084.185302734375, "z": 365.9615783691406 }, "rotation": { "roll": 0.0, "pitch": -0.9494918584823608, "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": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.348823547363281, "transform": { "location": { "x": 1263.6990966796875, "y": 4100.24853515625, "z": 364.1422119140625 }, "rotation": { "roll": 0.013246029615402222, "pitch": 0.8903356194496155, "yaw": -170.25355529785156 } }, "velocity": { "x": -6.2574992179870605, "y": -1.067729115486145, "z": 0.10591909289360046 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.299521446228027, "transform": { "location": { "x": 1185.1844482421875, "y": 4090.67431640625, "z": 365.3201904296875 }, "rotation": { "roll": -0.005096424836665392, "pitch": -1.0342954397201538, "yaw": 9.343123435974121 } }, "velocity": { "x": 8.189474105834961, "y": 1.3409241437911987, "z": -0.12838628888130188 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.154640197753906, "transform": { "location": { "x": 1228.111083984375, "y": 4097.66259765625, "z": 364.6676940917969 }, "rotation": { "roll": -0.00012206892279209569, "pitch": -0.8246155381202698, "yaw": 9.235438346862793 } }, "velocity": { "x": 8.048171997070312, "y": 1.3082308769226074, "z": -0.11670678853988647 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.582906723022461, "transform": { "location": { "x": 1245.054443359375, "y": 4097.17529296875, "z": 364.4269714355469 }, "rotation": { "roll": -0.0009460497531108558, "pitch": 0.8682467937469482, "yaw": -170.7579803466797 } }, "velocity": { "x": -11.431281089782715, "y": -1.8601875305175781, "z": 0.17098265886306763 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.22216597199440002, "transform": { "location": { "x": 1173.6826171875, "y": 4085.632080078125, "z": 365.4991760253906 }, "rotation": { "roll": 0.00876720529049635, "pitch": 0.8700567483901978, "yaw": -170.20895385742188 } }, "velocity": { "x": -0.21897922456264496, "y": -0.037314243614673615, "z": 0.003669805359095335 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.07408547401428223, "transform": { "location": { "x": 1163.5035400390625, "y": 4084.01806640625, "z": 365.6711730957031 }, "rotation": { "roll": -0.00024413866049144417, "pitch": 0.9388163089752197, "yaw": -170.76332092285156 } }, "velocity": { "x": -0.07286931574344635, "y": -0.013088993728160858, "z": -0.00271994573995471 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.32535481452941895, "expert_control_brake": 0.0, "expert_control_steer": 0.2299184948205948, "expert_target_speed": 9.860429451365846, "target_point": [ 9.52066333103788, 0.45901668572032683 ], "target_point_next": [ 60.51133249666308, 1.4330251187224174 ] }, "130": { "acceleration": [ -0.15695571899414062, -0.24036407470703125, 0.013481080532073975 ], "angular_velocity": [ -0.06730937957763672, 0.10440441966056824, 3.3061366081237793 ], "forward_vector": [ -0.9889955520629883, -0.1472225934267044, 0.014601783826947212 ], "right_vector": [ 0.14725495874881744, -0.9890978932380676, 0.0011599487625062466 ], "location": [ 1213.7318115234375, 4092.5029296875, 364.88616943359375 ], "rotation": [ -0.0664672702550888, 0.8366503119468689, -171.5330810546875 ], "velocity": [ -9.805288314819336, -1.4721031188964844, 0.14313912391662598 ], "speed": 9.915178592914874, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 40.640289306640625, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1173.6812744140625, 4085.6318359375, 365.4991455078125 ], "velocity": [ 8.494153735227883e-05, 4.039596751681529e-05, 0.0015119629679247737 ], "speed_kmh": 0.0054535887947979, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.229482650756836, "transform": { "location": { "x": 1147.853271484375, "y": 4084.52392578125, "z": 365.9410095214844 }, "rotation": { "roll": -0.02780151180922985, "pitch": -0.9644773006439209, "yaw": 9.622620582580566 } }, "velocity": { "x": 8.106179237365723, "y": 1.4176803827285767, "z": -0.0664810761809349 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.025197982788086, "transform": { "location": { "x": 1261.88427734375, "y": 4099.94091796875, "z": 364.1696472167969 }, "rotation": { "roll": 0.030343029648065567, "pitch": 1.4074082374572754, "yaw": -170.37049865722656 } }, "velocity": { "x": -7.914068222045898, "y": -1.3251311779022217, "z": 0.12390284985303879 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.288298606872559, "transform": { "location": { "x": 1187.2674560546875, "y": 4091.015625, "z": 365.2865905761719 }, "rotation": { "roll": -0.0017395023023709655, "pitch": -0.9085994958877563, "yaw": 9.311176300048828 } }, "velocity": { "x": 8.178427696228027, "y": 1.339051604270935, "z": -0.1270756870508194 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.346709251403809, "transform": { "location": { "x": 1230.147705078125, "y": 4097.99365234375, "z": 364.63800048828125 }, "rotation": { "roll": -6.1031132645439357e-05, "pitch": -0.8252780437469482, "yaw": 9.235685348510742 } }, "velocity": { "x": 8.237486839294434, "y": 1.3405554294586182, "z": -0.11952018737792969 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 12.286952018737793, "transform": { "location": { "x": 1242.0877685546875, "y": 4096.6923828125, "z": 364.4712829589844 }, "rotation": { "roll": -0.0004882801731582731, "pitch": 0.8605969548225403, "yaw": -170.75973510742188 } }, "velocity": { "x": -12.126187324523926, "y": -1.9728764295578003, "z": 0.18038173019886017 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.0015148858074098825, "transform": { "location": { "x": 1173.6812744140625, "y": 4085.6318359375, "z": 365.4991455078125 }, "rotation": { "roll": 0.007430456578731537, "pitch": 0.8777543902397156, "yaw": -170.20921325683594 } }, "velocity": { "x": 8.494153735227883e-05, "y": 4.039596751681529e-05, "z": 0.0015119629679247737 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.796111524105072, "transform": { "location": { "x": 1163.4188232421875, "y": 4084.003662109375, "z": 365.67132568359375 }, "rotation": { "roll": -0.004241944290697575, "pitch": 1.058262586593628, "yaw": -170.70359802246094 } }, "velocity": { "x": -0.784156858921051, "y": -0.1368110626935959, "z": 0.013203887268900871 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.32535168528556824, "expert_control_brake": 0.0, "expert_control_steer": 0.23457711935043335, "expert_target_speed": 9.84587601472678, "target_point": [ 58.04197054828951, 1.092363399166766 ], "target_point_next": [ 95.03870650147844, 1.588170995334055 ] }, "135": { "acceleration": [ -0.6367111206054688, -0.29274702072143555, 0.0199851393699646 ], "angular_velocity": [ -0.061334509402513504, 0.18621733784675598, -0.9009143114089966 ], "forward_vector": [ -0.9882702231407166, -0.15195110440254211, 0.015260222367942333 ], "right_vector": [ 0.15198832750320435, -0.9883814454078674, 0.0013031987473368645 ], "location": [ 1211.2685546875, 4092.12744140625, 364.9220886230469 ], "rotation": [ -0.0746765062212944, 0.8743802905082703, -171.2589569091797 ], "velocity": [ -9.913119316101074, -1.5384079217910767, 0.1448592096567154 ], "speed": 10.031781173305454, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 38.16166687011719, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1173.6685791015625, 4085.629638671875, 365.4992980957031 ], "velocity": [ -0.16001524031162262, -0.027554946020245552, 0.0020843790844082832 ], "speed_kmh": 0.5845816613319215, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.068900108337402, "transform": { "location": { "x": 1149.859619140625, "y": 4084.873779296875, "z": 365.9162902832031 }, "rotation": { "roll": -0.012115475721657276, "pitch": -0.9491503834724426, "yaw": 9.921025276184082 } }, "velocity": { "x": 7.950479030609131, "y": 1.3722233772277832, "z": -0.1184372529387474 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.961695671081543, "transform": { "location": { "x": 1259.79052734375, "y": 4099.59130859375, "z": 364.20245361328125 }, "rotation": { "roll": 0.02443539910018444, "pitch": 1.3223655223846436, "yaw": -170.50889587402344 } }, "velocity": { "x": -8.839581489562988, "y": -1.4679781198501587, "z": 0.13718846440315247 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5574, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.832447528839111, "transform": { "location": { "x": 1189.2421875, "y": 4091.3388671875, "z": 365.2554931640625 }, "rotation": { "roll": -0.0011901926482096314, "pitch": -0.8325180411338806, "yaw": 9.297235488891602 } }, "velocity": { "x": 7.729230880737305, "y": 1.2617818117141724, "z": -0.11888393014669418 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.15481185913086, "transform": { "location": { "x": 1232.182373046875, "y": 4098.32470703125, "z": 364.6083068847656 }, "rotation": { "roll": 0.0002715617883950472, "pitch": -0.8289185166358948, "yaw": 9.237391471862793 } }, "velocity": { "x": 8.048253059387207, "y": 1.3086286783218384, "z": -0.11864420026540756 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 12.66966724395752, "transform": { "location": { "x": 1239.0001220703125, "y": 4096.1904296875, "z": 364.5172424316406 }, "rotation": { "roll": 6.510744242405053e-06, "pitch": 0.8523734211921692, "yaw": -170.7664337158203 } }, "velocity": { "x": -12.504289627075195, "y": -2.031989812850952, "z": 0.18503621220588684 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.1623837947845459, "transform": { "location": { "x": 1173.6685791015625, "y": 4085.629638671875, "z": 365.4992980957031 }, "rotation": { "roll": 0.008088666014373302, "pitch": 0.8988938331604004, "yaw": -170.1998291015625 } }, "velocity": { "x": -0.16001524031162262, "y": -0.027554946020245552, "z": 0.0020843790844082832 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6605141162872314, "transform": { "location": { "x": 1163.1214599609375, "y": 4083.953125, "z": 365.6755676269531 }, "rotation": { "roll": -0.0032653803937137127, "pitch": 1.1492475271224976, "yaw": -170.6248016357422 } }, "velocity": { "x": -1.6360242366790771, "y": -0.2828229069709778, "z": 0.027260808274149895 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.32795605063438416, "expert_control_brake": 0.0, "expert_control_steer": 0.2313917875289917, "expert_target_speed": 9.902620831300656, "target_point": [ 55.55482335115074, 0.8178572103143882 ], "target_point_next": [ 92.55350806004844, 1.136645814218097 ] }, "140": { "acceleration": [ -0.8976554870605469, -0.26272058486938477, 0.027934014797210693 ], "angular_velocity": [ 0.018550699576735497, 0.20856578648090363, 2.56734037399292 ], "forward_vector": [ -0.9876441955566406, -0.15589091181755066, 0.016027718782424927 ], "right_vector": [ 0.15592758357524872, -0.9877679347991943, 0.0010571387829259038 ], "location": [ 1208.76416015625, 4091.735107421875, 364.9586486816406 ], "rotation": [ -0.0605773851275444, 0.9183598756790161, -171.03036499023438 ], "velocity": [ -10.118313789367676, -1.6029353141784668, 0.14846083521842957 ], "speed": 10.244494890503312, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 35.765045166015625, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1173.5323486328125, 4085.606201171875, 365.50128173828125 ], "velocity": [ -0.8954877257347107, -0.15196360647678375, 0.014489039778709412 ], "speed_kmh": 3.270260958140235, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.280183792114258, "transform": { "location": { "x": 1151.8746337890625, "y": 4085.21923828125, "z": 365.88421630859375 }, "rotation": { "roll": -0.0018920995062217116, "pitch": -0.944819986820221, "yaw": 9.732640266418457 } }, "velocity": { "x": 8.16222095489502, "y": 1.3863035440444946, "z": -0.13327859342098236 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.482279777526855, "transform": { "location": { "x": 1257.3568115234375, "y": 4099.1875, "z": 364.2392883300781 }, "rotation": { "roll": 0.02047484554350376, "pitch": 1.4878746271133423, "yaw": -170.5806427001953 } }, "velocity": { "x": -10.341351509094238, "y": -1.7058043479919434, "z": 0.15773576498031616 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.34695053100586, "transform": { "location": { "x": 1234.218994140625, "y": 4098.65576171875, "z": 364.57843017578125 }, "rotation": { "roll": -0.0008544910233467817, "pitch": -0.8334332704544067, "yaw": 9.237456321716309 } }, "velocity": { "x": 8.237861633300781, "y": 1.3395365476608276, "z": -0.1218891590833664 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.640620231628418, "transform": { "location": { "x": 1236.004638671875, "y": 4095.70361328125, "z": 364.5617370605469 }, "rotation": { "roll": -0.00012206191604491323, "pitch": 0.8140013813972473, "yaw": -170.7696990966797 } }, "velocity": { "x": -11.488651275634766, "y": -1.8671455383300781, "z": 0.16941377520561218 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.9084057807922363, "transform": { "location": { "x": 1173.5323486328125, "y": 4085.606201171875, "z": 365.50128173828125 }, "rotation": { "roll": 0.007644789759069681, "pitch": 0.9118233919143677, "yaw": -170.2588348388672 } }, "velocity": { "x": -0.8954877257347107, "y": -0.15196360647678375, "z": 0.014489039778709412 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.204761266708374, "transform": { "location": { "x": 1162.5264892578125, "y": 4083.85107421875, "z": 365.6844482421875 }, "rotation": { "roll": -0.003417959902435541, "pitch": 1.2584964036941528, "yaw": -170.49441528320312 } }, "velocity": { "x": -3.1572160720825195, "y": -0.5476240515708923, "z": 0.05087299272418022 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.2391277402639389, "expert_target_speed": 9.883752832700589, "target_point": [ 53.02270616569238, 0.5991568735098056 ], "target_point_next": [ 90.02236819318055, 0.770347451666785 ] }, "145": { "acceleration": [ -0.9537124633789062, -0.2804374694824219, 0.03268778324127197 ], "angular_velocity": [ -0.03498950973153114, 0.12330329418182373, -1.1279010772705078 ], "forward_vector": [ -0.987224817276001, -0.15844175219535828, 0.016833104193210602 ], "right_vector": [ 0.15847906470298767, -0.9873619079589844, 0.0008973577059805393 ], "location": [ 1206.203125, 4091.325927734375, 364.99652099609375 ], "rotation": [ -0.051422104239463806, 0.9645114541053772, -170.88223266601562 ], "velocity": [ -10.357308387756348, -1.6720032691955566, 0.15486390888690948 ], "speed": 10.491397998898366, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 33.487945556640625, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1173.2203369140625, 4085.5537109375, 365.50616455078125 ], "velocity": [ -1.5713621377944946, -0.26884976029396057, 0.025367097929120064 ], "speed_kmh": 5.739830168362622, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.117727279663086, "transform": { "location": { "x": 1153.8944091796875, "y": 4085.56201171875, "z": 365.8508605957031 }, "rotation": { "roll": -0.00305176735855639, "pitch": -0.9434813261032104, "yaw": 9.6326265335083 } }, "velocity": { "x": 8.002665519714355, "y": 1.3555630445480347, "z": -0.13151733577251434 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 11.305505752563477, "transform": { "location": { "x": 1254.65283203125, "y": 4098.7431640625, "z": 364.2811279296875 }, "rotation": { "roll": 0.02005993388593197, "pitch": 1.3611677885055542, "yaw": -170.6885986328125 } }, "velocity": { "x": -11.155325889587402, "y": -1.828773856163025, "z": 0.16954925656318665 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.155335426330566, "transform": { "location": { "x": 1236.25390625, "y": 4098.98681640625, "z": 364.5484313964844 }, "rotation": { "roll": -0.00021361942344810814, "pitch": -0.8337064981460571, "yaw": 9.236795425415039 } }, "velocity": { "x": 8.048723220825195, "y": 1.3088902235031128, "z": -0.11979990452528 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.643973350524902, "transform": { "location": { "x": 1233.144775390625, "y": 4095.23876953125, "z": 364.6036682128906 }, "rotation": { "roll": -0.00021361900144256651, "pitch": 0.8256263732910156, "yaw": -170.76983642578125 } }, "velocity": { "x": -11.49200439453125, "y": -1.8675304651260376, "z": 0.16820918023586273 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.5943971872329712, "transform": { "location": { "x": 1173.2203369140625, "y": 4085.5537109375, "z": 365.50616455078125 }, "rotation": { "roll": 0.008572547696530819, "pitch": 0.9155594706535339, "yaw": -170.2064666748047 } }, "velocity": { "x": -1.5713621377944946, "y": -0.26884976029396057, "z": 0.025367097929120064 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.209505081176758, "transform": { "location": { "x": 1161.47802734375, "y": 4083.670166015625, "z": 365.7004699707031 }, "rotation": { "roll": -0.0010986261768266559, "pitch": 1.396903395652771, "yaw": -170.34129333496094 } }, "velocity": { "x": -5.131826877593994, "y": -0.8921101689338684, "z": 0.08623149991035461 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.2299274057149887, "expert_target_speed": 9.932905505039919, "target_point": [ 50.43056191857491, 0.4638919988720467 ], "target_point_next": [ 87.43054288430201, 0.5394227755926 ] }, "150": { "acceleration": [ -0.8954811096191406, -0.2713179588317871, -0.008169710636138916 ], "angular_velocity": [ -0.003581953700631857, -0.007225929759442806, 2.37831449508667 ], "forward_vector": [ -0.9867035746574402, -0.16163557767868042, 0.017028341069817543 ], "right_vector": [ 0.16167232394218445, -0.9868441820144653, 0.0007940396317280829 ], "location": [ 1203.58251953125, 4090.899658203125, 365.0359191894531 ], "rotation": [ -0.045501723885536194, 0.9756993055343628, -170.69679260253906 ], "velocity": [ -10.592930793762207, -1.7413545846939087, 0.15826228260993958 ], "speed": 10.735105895661677, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 31.33437728881836, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1172.7259521484375, 4085.469482421875, 365.51409912109375 ], "velocity": [ -2.172504425048828, -0.36785274744033813, 0.034325532615184784 ], "speed_kmh": 7.933300129358348, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.327301025390625, "transform": { "location": { "x": 1155.922607421875, "y": 4085.90283203125, "z": 365.8172607421875 }, "rotation": { "roll": 0.0020996653474867344, "pitch": -0.9288578629493713, "yaw": 9.506539344787598 } }, "velocity": { "x": 8.21379280090332, "y": 1.3636432886123657, "z": -0.1342809796333313 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 11.403531074523926, "transform": { "location": { "x": 1251.8485107421875, "y": 4098.2841796875, "z": 364.32476806640625 }, "rotation": { "roll": 0.012938124127686024, "pitch": 1.092727780342102, "yaw": -170.70948791503906 } }, "velocity": { "x": -11.252874374389648, "y": -1.8396551609039307, "z": 0.17024946212768555 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.347590446472168, "transform": { "location": { "x": 1238.2906494140625, "y": 4099.3173828125, "z": 364.518310546875 }, "rotation": { "roll": 8.595355757279322e-05, "pitch": -0.8399971127510071, "yaw": 9.233521461486816 } }, "velocity": { "x": 8.238468170166016, "y": 1.3398075103759766, "z": -0.12178608030080795 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.999619483947754, "transform": { "location": { "x": 1230.228515625, "y": 4094.7646484375, "z": 364.6462097167969 }, "rotation": { "roll": 0.0005795798497274518, "pitch": 0.8314593434333801, "yaw": -170.76499938964844 } }, "velocity": { "x": -11.842879295349121, "y": -1.9255744218826294, "z": 0.17097388207912445 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.2036945819854736, "transform": { "location": { "x": 1172.7259521484375, "y": 4085.469482421875, "z": 365.51409912109375 }, "rotation": { "roll": 0.008088341914117336, "pitch": 0.9148150086402893, "yaw": -170.23580932617188 } }, "velocity": { "x": -2.172504425048828, "y": -0.36785274744033813, "z": 0.034325532615184784 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.069677352905273, "transform": { "location": { "x": 1160.1185302734375, "y": 4083.4345703125, "z": 365.7246398925781 }, "rotation": { "roll": 0.005450764205306768, "pitch": 1.18576180934906, "yaw": -170.20774841308594 } }, "velocity": { "x": -5.97857666015625, "y": -1.0430724620819092, "z": 0.09799911081790924 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.21552281081676483, "expert_target_speed": 9.909701136450126, "target_point": [ 47.77675314620504, 0.30363977999235825 ], "target_point_next": [ 84.77678476891788, 0.25940991847642003 ] }, "155": { "acceleration": [ -1.14593505859375, -0.3281712532043457, -0.0033912062644958496 ], "angular_velocity": [ -0.0408470518887043, 0.056276701390743256, -0.8785644173622131 ], "forward_vector": [ -0.9862626791000366, -0.16429370641708374, 0.017130011692643166 ], "right_vector": [ 0.16433082520961761, -0.9864050149917603, 0.000772736151702702 ], "location": [ 1200.903076171875, 4090.45556640625, 365.07611083984375 ], "rotation": [ -0.044281020760536194, 0.9815254211425781, -170.54238891601562 ], "velocity": [ -10.846518516540527, -1.816028118133545, 0.16196808218955994 ], "speed": 10.997496172107002, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.096590042114258, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1172.25439453125, 4085.389404296875, 365.5217590332031 ], "velocity": [ -1.8914438486099243, -0.3201771378517151, 0.0293678380548954 ], "speed_kmh": 6.906875320822866, "color": "0,21,0" }, "other_vehicles": [ { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.157601356506348, "transform": { "location": { "x": 1157.9549560546875, "y": 4086.239990234375, "z": 365.7838134765625 }, "rotation": { "roll": -0.0002441515389364213, "pitch": -0.9324641823768616, "yaw": 9.41557788848877 } }, "velocity": { "x": 8.047207832336426, "y": 1.331045389175415, "z": -0.13123001158237457 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 11.691115379333496, "transform": { "location": { "x": 1249.007080078125, "y": 4097.8203125, "z": 364.3679504394531 }, "rotation": { "roll": 0.010172718204557896, "pitch": 1.0204575061798096, "yaw": -170.74098205566406 } }, "velocity": { "x": -11.53759765625, "y": -1.880373239517212, "z": 0.17381341755390167 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.154892921447754, "transform": { "location": { "x": 1240.325439453125, "y": 4099.6484375, "z": 364.4881286621094 }, "rotation": { "roll": -0.0007019111071713269, "pitch": -0.8422579169273376, "yaw": 9.235089302062988 } }, "velocity": { "x": 8.0482759475708, "y": 1.3089169263839722, "z": -0.11944921314716339 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 12.171016693115234, "transform": { "location": { "x": 1227.2261962890625, "y": 4094.2763671875, "z": 364.6898498535156 }, "rotation": { "roll": -0.00033568814978934824, "pitch": 0.8282696604728699, "yaw": -170.763427734375 } }, "velocity": { "x": -12.01201057434082, "y": -1.953261375427246, "z": 0.1732288897037506 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.9185764789581299, "transform": { "location": { "x": 1172.25439453125, "y": 4085.389404296875, "z": 365.5217590332031 }, "rotation": { "roll": 0.00710637029260397, "pitch": 0.8981630206108093, "yaw": -170.27346801757812 } }, "velocity": { "x": -1.8914438486099243, "y": -0.3201771378517151, "z": 0.0293678380548954 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.3966851234436035, "transform": { "location": { "x": 1158.4180908203125, "y": 4083.140625, "z": 365.7519836425781 }, "rotation": { "roll": 0.026823805645108223, "pitch": 1.2440369129180908, "yaw": -170.31971740722656 } }, "velocity": { "x": -7.2909698486328125, "y": -1.2402939796447754, "z": 0.11989904195070267 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.20210105180740356, "expert_target_speed": 9.753482720193295, "target_point": [ 45.06140288514433, 0.17710224705305322 ], "target_point_next": [ 82.06118093049214, 0.03315448778707086 ] }, "160": { "acceleration": [ 2.5513076782226562, 0.44530391693115234, -0.016272366046905518 ], "angular_velocity": [ 0.246967613697052, -0.8991703391075134, 1.6746147871017456 ], "forward_vector": [ -0.9860637187957764, -0.16565117239952087, 0.01542697660624981 ], "right_vector": [ 0.16567553579807281, -0.9861802458763123, 0.0003062269533984363 ], "location": [ 1198.1951904296875, 4090.002197265625, 365.11724853515625 ], "rotation": [ -0.017547601833939552, 0.8839356899261475, -170.4637908935547 ], "velocity": [ -10.64822769165039, -1.784188985824585, 0.161513552069664 ], "speed": 10.796670010256308, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.855438232421875, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1171.7569580078125, 4085.304931640625, 365.52960205078125 ], "velocity": [ -1.7872956991195679, -0.3023868203163147, 0.02853487990796566 ], "speed_kmh": 6.526511025160784, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "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": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.349952697753906, "transform": { "location": { "x": 1159.9915771484375, "y": 4086.576171875, "z": 365.75048828125 }, "rotation": { "roll": 0.0018259601201862097, "pitch": -0.9262692332267761, "yaw": 9.370865821838379 } }, "velocity": { "x": 8.238542556762695, "y": 1.3528107404708862, "z": -0.13427414000034332 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 11.756501197814941, "transform": { "location": { "x": 1246.099853515625, "y": 4097.3466796875, "z": 364.4119873046875 }, "rotation": { "roll": 0.005826385226100683, "pitch": 0.954272985458374, "yaw": -170.74034118652344 } }, "velocity": { "x": -11.602262496948242, "y": -1.8901835680007935, "z": 0.17328888177871704 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.347448348999023, "transform": { "location": { "x": 1242.3621826171875, "y": 4099.9794921875, "z": 364.457763671875 }, "rotation": { "roll": 0.0004212295461911708, "pitch": -0.8440542221069336, "yaw": 9.238590240478516 } }, "velocity": { "x": 8.23839282989502, "y": 1.3393316268920898, "z": -0.12234163284301758 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 12.1433687210083, "transform": { "location": { "x": 1224.2437744140625, "y": 4093.791748046875, "z": 364.7331848144531 }, "rotation": { "roll": -0.0001525876868981868, "pitch": 0.8210570216178894, "yaw": -170.77113342285156 } }, "velocity": { "x": -11.984917640686035, "y": -1.9474554061889648, "z": 0.17484763264656067 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.8129197359085083, "transform": { "location": { "x": 1171.7569580078125, "y": 4085.304931640625, "z": 365.52960205078125 }, "rotation": { "roll": 0.007048660423606634, "pitch": 0.8982313275337219, "yaw": -170.30496215820312 } }, "velocity": { "x": -1.7872956991195679, "y": -0.3023868203163147, "z": 0.02853487990796566 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.699023246765137, "transform": { "location": { "x": 1156.4326171875, "y": 4082.803955078125, "z": 365.78460693359375 }, "rotation": { "roll": 0.01958899386227131, "pitch": 1.2560921907424927, "yaw": -170.3967742919922 } }, "velocity": { "x": -8.576926231384277, "y": -1.4455089569091797, "z": 0.14085625112056732 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.19529636204242706, "expert_target_speed": 9.082605045812459, "target_point": [ 42.31602758566195, 0.11681898408548808 ], "target_point_next": [ 79.31557343085636, -0.07786951520878205 ] }, "165": { "acceleration": [ 10.94369888305664, 1.8958711624145508, -0.16831427812576294 ], "angular_velocity": [ 0.5376259088516235, -2.9172027111053467, -1.480850100517273 ], "forward_vector": [ -0.9864182472229004, -0.16408589482307434, 0.007403186522424221 ], "right_vector": [ 0.16408924758434296, -0.9864454865455627, -0.00015696074115112424 ], "location": [ 1195.71142578125, 4089.587646484375, 365.1568908691406 ], "rotation": [ 0.008993434719741344, 0.4241752028465271, -170.55560302734375 ], "velocity": [ -8.847075462341309, -1.4667718410491943, 0.13563048839569092 ], "speed": 8.967840535494402, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 24.80197525024414, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1171.2987060546875, 4085.227294921875, 365.536865234375 ], "velocity": [ -2.0490529537200928, -0.34643256664276123, 0.03310978040099144 ], "speed_kmh": 7.482225474527987, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "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": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.163498878479004, "transform": { "location": { "x": 1162.02734375, "y": 4086.91064453125, "z": 365.71734619140625 }, "rotation": { "roll": -0.0007018924225121737, "pitch": -0.9203201532363892, "yaw": 9.321550369262695 } }, "velocity": { "x": 8.054686546325684, "y": 1.321973204612732, "z": -0.13084560632705688 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 11.660808563232422, "transform": { "location": { "x": 1243.216064453125, "y": 4096.87744140625, "z": 364.4553527832031 }, "rotation": { "roll": 0.005729543510824442, "pitch": 0.8668397665023804, "yaw": -170.76712036132812 } }, "velocity": { "x": -11.50849437713623, "y": -1.8705319166183472, "z": 0.1735319048166275 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.155649185180664, "transform": { "location": { "x": 1244.39697265625, "y": 4100.310546875, "z": 364.4273986816406 }, "rotation": { "roll": -0.000793456332758069, "pitch": -0.8494227528572083, "yaw": 9.237619400024414 } }, "velocity": { "x": 8.049010276794434, "y": 1.3090081214904785, "z": -0.12061082571744919 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.735522270202637, "transform": { "location": { "x": 1221.2672119140625, "y": 4093.30810546875, "z": 364.7763671875 }, "rotation": { "roll": -0.0011291558621451259, "pitch": 0.8129427433013916, "yaw": -170.7681427001953 } }, "velocity": { "x": -11.582327842712402, "y": -1.882492184638977, "z": 0.16852720081806183 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.0783960819244385, "transform": { "location": { "x": 1171.2987060546875, "y": 4085.227294921875, "z": 365.536865234375 }, "rotation": { "roll": 0.005914156325161457, "pitch": 0.9066324234008789, "yaw": -170.3275909423828 } }, "velocity": { "x": -2.0490529537200928, "y": -0.34643256664276123, "z": 0.03310978040099144 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.231836318969727, "transform": { "location": { "x": 1154.34619140625, "y": 4082.452392578125, "z": 365.8218994140625 }, "rotation": { "roll": 0.00583550613373518, "pitch": 0.9191043376922607, "yaw": -170.41812133789062 } }, "velocity": { "x": -8.116657257080078, "y": -1.365503191947937, "z": 0.13565269112586975 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.3726806640625, "y": 4086.85546875, "z": 366.2435607910156 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.166015625, "y": 1.9921875, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.23764994740486145, "expert_target_speed": 7.184789989163652, "target_point": [ 39.797664241510006, 0.183265887468826 ], "target_point_next": [ 76.79747458763559, 0.04787492344940425 ] }, "170": { "acceleration": [ 6.992425918579102, 1.2039399147033691, -0.10381236672401428 ], "angular_velocity": [ 0.2934334874153137, -0.14761531352996826, 2.4945578575134277 ], "forward_vector": [ -0.9866725206375122, -0.16270922124385834, 0.001740335370413959 ], "right_vector": [ 0.16270889341831207, -0.9866740703582764, -0.00032232701778411865 ], "location": [ 1193.781982421875, 4089.26953125, 365.1877746582031 ], "rotation": [ 0.01846800558269024, 0.09971392899751663, -170.63580322265625 ], "velocity": [ -6.83458948135376, -1.1195403337478638, 0.1050988957285881 ], "speed": 6.92567570259536, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 23.46674156188965, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1170.6871337890625, 4085.123779296875, 365.5465087890625 ], "velocity": [ -2.809965133666992, -0.47494596242904663, 0.0446486659348011 ], "speed_kmh": 10.260613385678242, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 1123.5679931640625, "y": 4080.56396484375, "z": 366.4187927246094 }, "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": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.351911544799805, "transform": { "location": { "x": 1164.0653076171875, "y": 4087.244873046875, "z": 365.6842346191406 }, "rotation": { "roll": 0.00034746373421512544, "pitch": -0.917936384677887, "yaw": 9.302661895751953 } }, "velocity": { "x": 8.241378784179688, "y": 1.3477150201797485, "z": -0.13326095044612885 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 11.22017765045166, "transform": { "location": { "x": 1240.3883056640625, "y": 4096.41748046875, "z": 364.49798583984375 }, "rotation": { "roll": 0.0029463963583111763, "pitch": 0.7468128204345703, "yaw": -170.7579345703125 } }, "velocity": { "x": -11.073555946350098, "y": -1.8003804683685303, "z": 0.16543950140476227 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.347454071044922, "transform": { "location": { "x": 1246.4337158203125, "y": 4100.64208984375, "z": 364.39678955078125 }, "rotation": { "roll": 0.00111643155105412, "pitch": -0.8489924669265747, "yaw": 9.238055229187012 } }, "velocity": { "x": 8.238283157348633, "y": 1.3398945331573486, "z": -0.12391442805528641 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.610760688781738, "transform": { "location": { "x": 1218.4071044921875, "y": 4092.843017578125, "z": 364.81793212890625 }, "rotation": { "roll": -0.00024413737992290407, "pitch": 0.8171228170394897, "yaw": -170.76736450195312 } }, "velocity": { "x": -11.459163665771484, "y": -1.862635612487793, "z": 0.1671140193939209 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.850170373916626, "transform": { "location": { "x": 1170.6871337890625, "y": 4085.123779296875, "z": 365.5465087890625 }, "rotation": { "roll": 0.005051921121776104, "pitch": 0.9187901616096497, "yaw": -170.3508758544922 } }, "velocity": { "x": -2.809965133666992, "y": -0.47494596242904663, "z": 0.0446486659348011 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.885165214538574, "transform": { "location": { "x": 1152.3699951171875, "y": 4082.1220703125, "z": 365.8556823730469 }, "rotation": { "roll": 0.013952095061540604, "pitch": 0.8157362937927246, "yaw": -170.5552978515625 } }, "velocity": { "x": -7.778142929077148, "y": -1.2881025075912476, "z": 0.13082727789878845 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.4141845703125, "y": 4087.353759765625, "z": 366.2416076660156 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.166015625, "y": 1.9921875, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.30927619338035583, "expert_target_speed": 4.4807692984566065, "target_point": [ 37.84187677962425, 0.23902557277299152 ], "target_point_next": [ 74.84184037285546, 0.15541659021266518 ] }, "175": { "acceleration": [ 24.327045440673828, 3.9530062675476074, -0.36944085359573364 ], "angular_velocity": [ 0.5463882088661194, -5.175318717956543, -2.561526298522949 ], "forward_vector": [ -0.9872795939445496, -0.1585630625486374, -0.01170000433921814 ], "right_vector": [ 0.15857091546058655, -0.9873475432395935, 0.0002583089517429471 ], "location": [ 1192.572509765625, 4089.070556640625, 365.2090148925781 ], "rotation": [ -0.014801025390625, -0.670376181602478, -170.87586975097656 ], "velocity": [ -2.1886024475097656, -0.361627459526062, 0.03052559867501259 ], "speed": 2.218277505797913, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 23.037778854370117, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1169.901611328125, 4084.990478515625, 365.55908203125 ], "velocity": [ -3.4691569805145264, -0.5861043930053711, 0.05477637052536011 ], "speed_kmh": 12.667483325260052, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.284758567810059, "transform": { "location": { "x": 1125.3450927734375, "y": 4080.858642578125, "z": 366.3066711425781 }, "rotation": { "roll": -0.017395013943314552, "pitch": -1.1985137462615967, "yaw": 9.438440322875977 } }, "velocity": { "x": 6.1940836906433105, "y": 1.0629808902740479, "z": 0.03987140581011772 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.163935661315918, "transform": { "location": { "x": 1166.1016845703125, "y": 4087.5771484375, "z": 365.65142822265625 }, "rotation": { "roll": 0.0008986847824417055, "pitch": -0.9158258438110352, "yaw": 9.274601936340332 } }, "velocity": { "x": 8.056533813476562, "y": 1.3134973049163818, "z": -0.12973053753376007 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.996950149536133, "transform": { "location": { "x": 1237.6571044921875, "y": 4095.973388671875, "z": 364.5384216308594 }, "rotation": { "roll": -0.00030518262065015733, "pitch": 0.7370319962501526, "yaw": -170.7754364013672 } }, "velocity": { "x": -10.853293418884277, "y": -1.764304280281067, "z": 0.16177493333816528 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.155245780944824, "transform": { "location": { "x": 1248.4686279296875, "y": 4100.97314453125, "z": 364.36614990234375 }, "rotation": { "roll": 0.0004734970279969275, "pitch": -0.8563554286956787, "yaw": 9.235756874084473 } }, "velocity": { "x": 8.048648834228516, "y": 1.30875563621521, "z": -0.1201375350356102 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 10.877888679504395, "transform": { "location": { "x": 1215.5960693359375, "y": 4092.38623046875, "z": 364.8589782714844 }, "rotation": { "roll": 0.00012033429084112868, "pitch": 0.8172389268875122, "yaw": -170.76307678222656 } }, "velocity": { "x": -10.73575496673584, "y": -1.7456648349761963, "z": 0.15708903968334198 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 3.5187454223632812, "transform": { "location": { "x": 1169.901611328125, "y": 4084.990478515625, "z": 365.55908203125 }, "rotation": { "roll": 0.004050343297421932, "pitch": 0.9195756316184998, "yaw": -170.37197875976562 } }, "velocity": { "x": -3.4691569805145264, "y": -0.5861043930053711, "z": 0.05477637052536011 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.449581146240234, "transform": { "location": { "x": 1150.449951171875, "y": 4081.80419921875, "z": 365.8872985839844 }, "rotation": { "roll": 0.007155107334256172, "pitch": 0.8906019926071167, "yaw": -170.63575744628906 } }, "velocity": { "x": -7.349163055419922, "y": -1.212721347808838, "z": 0.12397129088640213 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.4556884765625, "y": 4087.8515625, "z": 366.2396545410156 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.166015625, "y": 1.9921875, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.31291747093200684, "expert_target_speed": 0.0, "target_point": [ 36.61482158810534, 0.3929128990323649 ], "target_point_next": [ 73.61481071717084, 0.46433286426910314 ] }, "180": { "acceleration": [ 0.01945149153470993, 0.016026515513658524, 0.021531734615564346 ], "angular_velocity": [ -0.6500067114830017, 4.644628524780273, 0.0025794929824769497 ], "forward_vector": [ -0.9877986311912537, -0.15535268187522888, -0.010928173549473286 ], "right_vector": [ 0.15535816550254822, -0.9878581762313843, 0.0003499184676911682 ], "location": [ 1192.485107421875, 4089.05419921875, 365.2100830078125 ], "rotation": [ -0.020050048828125, -0.6261507272720337, -171.0622100830078 ], "velocity": [ 0.013747761026024818, 0.00196512951515615, 0.0003856502880807966 ], "speed": 0.013887500395680456, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 23.92169952392578, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1168.9422607421875, 4084.829345703125, 365.57440185546875 ], "velocity": [ -4.174272060394287, -0.6940335631370544, 0.06609498709440231 ], "speed_kmh": 15.235529359124826, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.1011247634887695, "transform": { "location": { "x": 1126.8719482421875, "y": 4081.119873046875, "z": 366.3069152832031 }, "rotation": { "roll": -0.013061520643532276, "pitch": -1.053126335144043, "yaw": 9.680721282958984 } }, "velocity": { "x": 6.011543273925781, "y": 1.0405468940734863, "z": -0.04832888022065163 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.351704597473145, "transform": { "location": { "x": 1168.1400146484375, "y": 4087.9091796875, "z": 365.61865234375 }, "rotation": { "roll": 0.0012230025604367256, "pitch": -0.9030466079711914, "yaw": 9.26314640045166 } }, "velocity": { "x": 8.241799354553223, "y": 1.344063639640808, "z": -0.1311718374490738 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.245052337646484, "transform": { "location": { "x": 1235.029052734375, "y": 4095.546142578125, "z": 364.57763671875 }, "rotation": { "roll": -0.0010375987039878964, "pitch": 0.6176061630249023, "yaw": -170.7488250732422 } }, "velocity": { "x": -10.110828399658203, "y": -1.6462171077728271, "z": 0.14902366697788239 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.348381042480469, "transform": { "location": { "x": 1250.5054931640625, "y": 4101.30322265625, "z": 364.3354187011719 }, "rotation": { "roll": 0.0007756132399663329, "pitch": -0.8566285967826843, "yaw": 9.2288236618042 } }, "velocity": { "x": 8.239385604858398, "y": 1.3388547897338867, "z": -0.12437092512845993 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 9.53584098815918, "transform": { "location": { "x": 1213.083984375, "y": 4091.977783203125, "z": 364.89599609375 }, "rotation": { "roll": -0.00051879818784073, "pitch": 0.8012494444847107, "yaw": -170.76620483398438 } }, "velocity": { "x": -9.41130256652832, "y": -1.52986478805542, "z": 0.1384463608264923 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 4.232091426849365, "transform": { "location": { "x": 1168.9422607421875, "y": 4084.829345703125, "z": 365.57440185546875 }, "rotation": { "roll": 0.005702748894691467, "pitch": 0.9200674295425415, "yaw": -170.41629028320312 } }, "velocity": { "x": -4.174272060394287, "y": -0.6940335631370544, "z": 0.06609498709440231 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9266988039016724, "transform": { "location": { "x": 1149.45166015625, "y": 4081.634521484375, "z": 365.9132080078125 }, "rotation": { "roll": 0.004677608609199524, "pitch": -0.2466176301240921, "yaw": -171.0118408203125 } }, "velocity": { "x": -0.9126549959182739, "y": -0.16013580560684204, "z": 0.013716268353164196 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.33004695177078247, "expert_target_speed": 0.0, "target_point": [ 36.5244675777675, 0.5094207091667693 ], "target_point_next": [ 73.52402870584537, 0.7011827805731858 ] }, "185": { "acceleration": [ -0.02839505672454834, -0.006159497424960136, -0.0037851091474294662 ], "angular_velocity": [ -0.33225253224372864, 2.500109910964966, 0.00012947109644301236 ], "forward_vector": [ -0.9878436326980591, -0.15536411106586456, 0.0051951175555586815 ], "right_vector": [ 0.15536707639694214, -0.9878568053245544, 0.00017257050785701722 ], "location": [ 1192.47900390625, 4089.052978515625, 365.2068176269531 ], "rotation": [ -0.0098876953125, 0.29765963554382324, -171.0619659423828 ], "velocity": [ 0.00789717584848404, 0.001059065107256174, 0.0014427677961066365 ], "speed": 0.007967873322492467, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 25.0678653717041, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1167.8056640625, 4084.639892578125, 365.592529296875 ], "velocity": [ -4.904226779937744, -0.8129278421401978, 0.0784057006239891 ], "speed_kmh": 17.898351184832745, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.072709560394287, "transform": { "location": { "x": 1128.4039306640625, "y": 4081.384521484375, "z": 366.2863464355469 }, "rotation": { "roll": -0.01245117001235485, "pitch": -1.0176093578338623, "yaw": 9.791658401489258 } }, "velocity": { "x": 5.982515811920166, "y": 1.038355827331543, "z": -0.0955086499452591 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.163813591003418, "transform": { "location": { "x": 1170.1763916015625, "y": 4088.2412109375, "z": 365.58624267578125 }, "rotation": { "roll": 0.00041622677235864103, "pitch": -0.9071993231773376, "yaw": 9.257771492004395 } }, "velocity": { "x": 8.056489944458008, "y": 1.313155174255371, "z": -0.1282789558172226 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.265706062316895, "transform": { "location": { "x": 1232.8114013671875, "y": 4095.185546875, "z": 364.61163330078125 }, "rotation": { "roll": -0.0005493159405887127, "pitch": 0.227076455950737, "yaw": -170.7835235595703 } }, "velocity": { "x": -8.157979965209961, "y": -1.3247802257537842, "z": 0.11922921985387802 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.092118263244629, "transform": { "location": { "x": 1252.5362548828125, "y": 4101.6328125, "z": 364.30462646484375 }, "rotation": { "roll": 0.0003933940315619111, "pitch": -0.8620586395263672, "yaw": 9.231735229492188 } }, "velocity": { "x": 7.986196517944336, "y": 1.299238681793213, "z": -0.12257516384124756 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.134917259216309, "transform": { "location": { "x": 1210.9117431640625, "y": 4091.624267578125, "z": 364.9279479980469 }, "rotation": { "roll": 0.00012002018775092438, "pitch": 0.7979231476783752, "yaw": -170.7640838623047 } }, "velocity": { "x": -8.028605461120605, "y": -1.3055839538574219, "z": 0.11754050850868225 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 4.97176456451416, "transform": { "location": { "x": 1167.8056640625, "y": 4084.639892578125, "z": 365.592529296875 }, "rotation": { "roll": 0.0030027299653738737, "pitch": 0.9214265942573547, "yaw": -170.5009307861328 } }, "velocity": { "x": -4.904226779937744, "y": -0.8129278421401978, "z": 0.0784057006239891 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.41923829913139343, "transform": { "location": { "x": 1149.398681640625, "y": 4081.62548828125, "z": 365.9091796875 }, "rotation": { "roll": 0.005046560894697905, "pitch": 0.3355056941509247, "yaw": -171.03271484375 } }, "velocity": { "x": -0.41351234912872314, "y": -0.06863120198249817, "z": 0.007618436589837074 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.5386962890625, "y": 4088.84765625, "z": 366.2357482910156 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.166015625, "y": 1.9921875, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.32724714279174805, "expert_target_speed": 0.0, "target_point": [ 36.518250950129, 0.5089889475060554 ], "target_point_next": [ 73.51781299217903, 0.7005745912544619 ] }, "190": { "acceleration": [ -0.013939859345555305, -0.0007537327473983169, 0.0046785082668066025 ], "angular_velocity": [ -0.12988778948783875, 0.8947164416313171, 7.44188146200031e-05 ], "forward_vector": [ -0.9877849221229553, -0.15535631775856018, 0.012060229666531086 ], "right_vector": [ 0.15536893904209137, -0.9878565669059753, 0.00011077935778303072 ], "location": [ 1192.4765625, 4089.052490234375, 365.2054748535156 ], "rotation": [ -0.00634765112772584, 0.6910170316696167, -171.0618896484375 ], "velocity": [ 0.0029310088139027357, 0.0004310641379561275, 0.0014210931258276105 ], "speed": 0.0029625375876446494, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.36898422241211, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1166.519775390625, 4084.42626953125, 365.61358642578125 ], "velocity": [ -5.367310523986816, -0.8887574076652527, 0.08576192706823349 ], "speed_kmh": 19.587860056660933, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.015431880950928, "transform": { "location": { "x": 1129.6990966796875, "y": 4081.609375, "z": 366.2651062011719 }, "rotation": { "roll": -0.010559079237282276, "pitch": -1.083404541015625, "yaw": 9.823841094970703 } }, "velocity": { "x": 4.940903663635254, "y": 0.8571637272834778, "z": -0.08543059229850769 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.351383209228516, "transform": { "location": { "x": 1172.214599609375, "y": 4088.57373046875, "z": 365.55377197265625 }, "rotation": { "roll": -9.155186853604391e-05, "pitch": -0.9013663530349731, "yaw": 9.257366180419922 } }, "velocity": { "x": 8.24160099029541, "y": 1.3433164358139038, "z": -0.1308446228504181 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.29489803314209, "transform": { "location": { "x": 1230.7979736328125, "y": 4094.8583984375, "z": 364.6397705078125 }, "rotation": { "roll": 0.00041923345997929573, "pitch": 0.5682716965675354, "yaw": -170.76002502441406 } }, "velocity": { "x": -8.18652057647705, "y": -1.3311312198638916, "z": 0.11961202323436737 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.060066223144531, "transform": { "location": { "x": 1254.5316162109375, "y": 4101.95751953125, "z": 364.2742919921875 }, "rotation": { "roll": -0.0006713838665746152, "pitch": -0.8715798854827881, "yaw": 9.238865852355957 } }, "velocity": { "x": 7.954617977142334, "y": 1.2937978506088257, "z": -0.12167192250490189 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 6.549861907958984, "transform": { "location": { "x": 1209.0877685546875, "y": 4091.32763671875, "z": 364.9547119140625 }, "rotation": { "roll": 0.0001222814607899636, "pitch": 0.7940572500228882, "yaw": -170.76382446289062 } }, "velocity": { "x": -6.464257717132568, "y": -1.0512030124664307, "z": 0.095039002597332 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 5.4410719871521, "transform": { "location": { "x": 1166.519775390625, "y": 4084.42626953125, "z": 365.61358642578125 }, "rotation": { "roll": 0.003076291875913739, "pitch": 0.922744870185852, "yaw": -170.55661010742188 } }, "velocity": { "x": -5.367310523986816, "y": -0.8887574076652527, "z": 0.08576192706823349 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.08890601992607117, "transform": { "location": { "x": 1149.355224609375, "y": 4081.617919921875, "z": 365.90423583984375 }, "rotation": { "roll": -0.005828855559229851, "pitch": 1.0596286058425903, "yaw": -171.03887939453125 } }, "velocity": { "x": -0.0877322256565094, "y": -0.014123337343335152, "z": 0.0028051852714270353 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.3167894780635834, "expert_target_speed": 0.0, "target_point": [ 36.51576381289161, 0.508851083591523 ], "target_point_next": [ 73.51532603763513, 0.7004014418078057 ] }, "195": { "acceleration": [ -0.004528015851974487, -0.001700760331004858, 0.0011355499736964703 ], "angular_velocity": [ -0.036740582436323166, 0.290616899728775, 6.644958193646744e-05 ], "forward_vector": [ -0.9877545833587646, -0.15535251796245575, 0.014367442578077316 ], "right_vector": [ 0.15536999702453613, -0.9878563284873962, 0.0001022547876345925 ], "location": [ 1192.475830078125, 4089.052490234375, 365.20501708984375 ], "rotation": [ -0.0058593726716935635, 0.8232221603393555, -171.06182861328125 ], "velocity": [ 0.0009929351508617401, 0.0001505756372353062, 0.0015592288691550493 ], "speed": 0.0010042874271570092, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.839475631713867, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1165.0684814453125, 4084.185546875, 365.6368408203125 ], "velocity": [ -5.988905429840088, -0.9906343817710876, 0.09564248472452164 ], "speed_kmh": 21.85573377976497, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.4880595207214355, "transform": { "location": { "x": 1130.9708251953125, "y": 4081.824951171875, "z": 366.2421875 }, "rotation": { "roll": -0.004211425315588713, "pitch": -0.9783015847206116, "yaw": 9.717399597167969 } }, "velocity": { "x": 5.411093235015869, "y": 0.91102534532547, "z": -0.09433730691671371 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.840522766113281, "transform": { "location": { "x": 1174.2344970703125, "y": 4088.90234375, "z": 365.5219421386719 }, "rotation": { "roll": 0.0006703127874061465, "pitch": -0.9241040349006653, "yaw": 9.250965118408203 } }, "velocity": { "x": 7.737643241882324, "y": 1.2600340843200684, "z": -0.12242662906646729 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 9.028563499450684, "transform": { "location": { "x": 1228.6690673828125, "y": 4094.512451171875, "z": 364.66949462890625 }, "rotation": { "roll": -0.0009460406727157533, "pitch": 0.9109559655189514, "yaw": -170.743896484375 } }, "velocity": { "x": -8.91069507598877, "y": -1.4484422206878662, "z": 0.12839384377002716 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.560776233673096, "transform": { "location": { "x": 1256.4564208984375, "y": 4102.2705078125, "z": 364.2449035644531 }, "rotation": { "roll": 0.0002422665129415691, "pitch": -0.8751862645149231, "yaw": 9.238155364990234 } }, "velocity": { "x": 7.461986541748047, "y": 1.2128385305404663, "z": -0.11454299837350845 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.915231704711914, "transform": { "location": { "x": 1207.8406982421875, "y": 4091.125, "z": 364.9732971191406 }, "rotation": { "roll": -0.00027465925086289644, "pitch": 0.7618051171302795, "yaw": -170.7633056640625 } }, "velocity": { "x": -2.877140760421753, "y": -0.4678739905357361, "z": 0.04159250110387802 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.071037292480469, "transform": { "location": { "x": 1165.0684814453125, "y": 4084.185546875, "z": 365.6368408203125 }, "rotation": { "roll": 0.002790482947602868, "pitch": 0.9341649413108826, "yaw": -170.6128387451172 } }, "velocity": { "x": -5.988905429840088, "y": -0.9906343817710876, "z": 0.09564248472452164 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0555817075073719, "transform": { "location": { "x": 1149.3365478515625, "y": 4081.615234375, "z": 365.90484619140625 }, "rotation": { "roll": -0.005279537755995989, "pitch": 1.0276155471801758, "yaw": -171.0375518798828 } }, "velocity": { "x": -0.05487235262989998, "y": -0.008747125044465065, "z": 0.0013560295337811112 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.3227301239967346, "expert_target_speed": 1.1656394144493791, "target_point": [ 36.51504077034547, 0.5089300544995767 ], "target_point_next": [ 73.51460317774882, 0.7004451271835599 ] }, "200": { "acceleration": [ 0.0004979223012924194, -0.0013158477377146482, 0.003772837808355689 ], "angular_velocity": [ -0.008806141093373299, 0.11658081412315369, 6.295598723227158e-05 ], "forward_vector": [ -0.9877461194992065, -0.1553516685962677, 0.014949598349630833 ], "right_vector": [ 0.155370831489563, -0.9878562092781067, 0.00012249160499777645 ], "location": [ 1192.4754638671875, 4089.052001953125, 365.2049255371094 ], "rotation": [ -0.007019036915153265, 0.8565807938575745, -171.06179809570312 ], "velocity": [ 0.00040534764411859214, 3.2243915484286845e-05, -0.00024128175573423505 ], "speed": 0.00040662806430231876, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.491504669189453, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1163.4381103515625, 4083.916748046875, 365.66326904296875 ], "velocity": [ -6.655667781829834, -1.0938557386398315, 0.10762569308280945 ], "speed_kmh": 24.28493327278365, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.299628734588623, "transform": { "location": { "x": 1132.465087890625, "y": 4082.076171875, "z": 366.2146301269531 }, "rotation": { "roll": -0.005035398527979851, "pitch": -0.8200051188468933, "yaw": 9.67149829864502 } }, "velocity": { "x": 7.1977057456970215, "y": 1.2089279890060425, "z": -0.1269071400165558 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 6.7838826179504395, "transform": { "location": { "x": 1176.032470703125, "y": 4089.19482421875, "z": 365.49420166015625 }, "rotation": { "roll": 0.0004781133320648223, "pitch": -1.0044816732406616, "yaw": 9.239706993103027 } }, "velocity": { "x": 6.695275783538818, "y": 1.0877296924591064, "z": -0.10578295588493347 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 9.512983322143555, "transform": { "location": { "x": 1226.30126953125, "y": 4094.127197265625, "z": 364.7032775878906 }, "rotation": { "roll": -0.00018310575978830457, "pitch": 1.0602638721466064, "yaw": -170.7415313720703 } }, "velocity": { "x": -9.388734817504883, "y": -1.5263843536376953, "z": 0.13663211464881897 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.500176429748535, "transform": { "location": { "x": 1258.313232421875, "y": 4102.572265625, "z": 364.2164306640625 }, "rotation": { "roll": 0.00041570328176021576, "pitch": -0.8790862560272217, "yaw": 9.239348411560059 } }, "velocity": { "x": 7.4020209312438965, "y": 1.2040140628814697, "z": -0.11438567191362381 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.2308542728424072, "transform": { "location": { "x": 1207.327880859375, "y": 4091.04150390625, "z": 364.9806213378906 }, "rotation": { "roll": 0.0001046110555762425, "pitch": 0.8097803592681885, "yaw": -170.7648468017578 } }, "velocity": { "x": -2.201695442199707, "y": -0.3579622507095337, "z": 0.03333675488829613 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.745814800262451, "transform": { "location": { "x": 1163.4381103515625, "y": 4083.916748046875, "z": 365.66326904296875 }, "rotation": { "roll": 0.0032137290108948946, "pitch": 0.9323890805244446, "yaw": -170.64151000976562 } }, "velocity": { "x": -6.655667781829834, "y": -1.0938557386398315, "z": 0.10762569308280945 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.002411459106951952, "transform": { "location": { "x": 1149.2823486328125, "y": 4081.6064453125, "z": 365.9060974121094 }, "rotation": { "roll": -0.0052795493975281715, "pitch": 0.9935466051101685, "yaw": -171.03884887695312 } }, "velocity": { "x": -0.00236875400878489, "y": -0.0004516992485150695, "z": 1.03321344795404e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "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": 0.3240596354007721, "expert_target_speed": 1.1691479198883563, "target_point": [ 36.514603628003194, 0.5084697771155122 ], "target_point_next": [ 73.51416621803271, 0.6999495642670226 ] }, "205": { "acceleration": [ -0.0029523938428610563, 0.00069716532016173, 0.0042400178499519825 ], "angular_velocity": [ -0.01844789832830429, 0.002874332945793867, 0.00047677429392933846 ], "forward_vector": [ -0.9877414107322693, -0.1553523689508438, 0.015250567346811295 ], "right_vector": [ 0.15537214279174805, -0.9878560304641724, 0.00011237221042392775 ], "location": [ 1192.475341796875, 4089.052001953125, 365.2048645019531 ], "rotation": [ -0.00643920199945569, 0.8738270401954651, -171.0617218017578 ], "velocity": [ 3.6444514989852905e-05, 6.37857592664659e-05, -0.00016676254745107144 ], "speed": 7.346309112775717e-05, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.83829116821289, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1162.109130859375, 4083.6982421875, 365.6851806640625 ], "velocity": [ -3.1949217319488525, -0.5239388942718506, 0.05059606581926346 ], "speed_kmh": 11.656773761599641, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.482169151306152, "transform": { "location": { "x": 1134.462890625, "y": 4082.412353515625, "z": 366.1799621582031 }, "rotation": { "roll": -0.0048828101716935635, "pitch": -0.8354482054710388, "yaw": 9.584502220153809 } }, "velocity": { "x": 8.363640785217285, "y": 1.4054768085479736, "z": -0.14609843492507935 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.9630993604660034, "transform": { "location": { "x": 1177.115234375, "y": 4089.37109375, "z": 365.4793701171875 }, "rotation": { "roll": 0.00013079481141176075, "pitch": -1.307523488998413, "yaw": 9.233807563781738 } }, "velocity": { "x": 1.9373345375061035, "y": 0.315521240234375, "z": -0.03066789172589779 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.329793930053711, "transform": { "location": { "x": 1224.094482421875, "y": 4093.76806640625, "z": 364.7369384765625 }, "rotation": { "roll": 0.00068953592563048, "pitch": 0.6202016472816467, "yaw": -170.78134155273438 } }, "velocity": { "x": -8.221062660217285, "y": -1.3361213207244873, "z": 0.11989594995975494 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.020541667938232, "transform": { "location": { "x": 1260.102783203125, "y": 4102.86376953125, "z": 364.1888732910156 }, "rotation": { "roll": 0.001097796019166708, "pitch": -0.8816475868225098, "yaw": 9.23749828338623 } }, "velocity": { "x": 6.928770065307617, "y": 1.1264417171478271, "z": -0.10620356351137161 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.1893538385629654, "transform": { "location": { "x": 1206.8740234375, "y": 4090.967529296875, "z": 364.98736572265625 }, "rotation": { "roll": -0.00015259392966981977, "pitch": 0.8100740313529968, "yaw": -170.7648468017578 } }, "velocity": { "x": -0.18684358894824982, "y": -0.030493732541799545, "z": 0.003805828047916293 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 3.237992763519287, "transform": { "location": { "x": 1162.109130859375, "y": 4083.6982421875, "z": 365.6851806640625 }, "rotation": { "roll": 0.001408154726959765, "pitch": 0.8509595394134521, "yaw": -170.66744995117188 } }, "velocity": { "x": -3.1949217319488525, "y": -0.5239388942718506, "z": 0.05059606581926346 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0952935516834259, "transform": { "location": { "x": 1149.2398681640625, "y": 4081.599853515625, "z": 365.9072570800781 }, "rotation": { "roll": -0.004425051622092724, "pitch": 0.9302921891212463, "yaw": -170.992431640625 } }, "velocity": { "x": -0.09402293711900711, "y": -0.01542755775153637, "z": 0.0015934943221509457 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [ { "id": 5536, "type": "walker.pedestrian.0036", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.7047119140625, "y": 4090.83984375, "z": 366.2279357910156 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.166015625, "y": 1.9921875, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3236594498157501, "expert_target_speed": 1.1707769272113804, "target_point": [ 36.51448352496937, 0.5084539201480274 ], "target_point_next": [ 73.51404629759142, 0.6998984217668909 ] }, "210": { "acceleration": [ -3.227558135986328, -0.5157451629638672, 0.034982867538928986 ], "angular_velocity": [ -0.1398267149925232, 1.0501905679702759, -0.31863683462142944 ], "forward_vector": [ -0.9877309203147888, -0.15519000589847565, 0.017427872866392136 ], "right_vector": [ 0.15521535277366638, -0.9878806471824646, 0.0001033149819704704 ], "location": [ 1192.4287109375, 4089.044921875, 365.20513916015625 ], "rotation": [ -0.005920411553233862, 0.9985941052436829, -171.07081604003906 ], "velocity": [ -0.5173144936561584, -0.08227535337209702, 0.007506236899644136 ], "speed": 0.5238163028383434, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 31.0250301361084, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1161.8782958984375, 4083.66064453125, 365.6891174316406 ], "velocity": [ -0.09914229810237885, -0.0161660835146904, 0.003507661633193493 ], "speed_kmh": 0.3618464069227136, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.9329609870910645, "transform": { "location": { "x": 1136.4898681640625, "y": 4082.75, "z": 366.1460876464844 }, "rotation": { "roll": 0.0005962768918834627, "pitch": -0.9927337765693665, "yaw": 9.417023658752441 } }, "velocity": { "x": 7.826051235198975, "y": 1.2909646034240723, "z": -0.1349180042743683 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.002239387249574065, "transform": { "location": { "x": 1177.193603515625, "y": 4089.383056640625, "z": 365.47698974609375 }, "rotation": { "roll": 0.0003981691843364388, "pitch": -1.1762677431106567, "yaw": 9.287980079650879 } }, "velocity": { "x": -0.001832920010201633, "y": -0.0002978550619445741, "z": 0.0012516157003119588 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.444182395935059, "transform": { "location": { "x": 1222.3079833984375, "y": 4093.477783203125, "z": 364.7643737792969 }, "rotation": { "roll": 0.001913350773975253, "pitch": 0.22142106294631958, "yaw": -170.76747131347656 } }, "velocity": { "x": -6.360088348388672, "y": -1.0335773229599, "z": 0.09208602458238602 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1261.8216552734375, "y": 4103.09912109375, "z": 364.16558837890625 }, "rotation": { "roll": 1.3341769466990172e-08, "pitch": -0.8751521110534668, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 0.5792518258094788, "transform": { "location": { "x": 1206.811279296875, "y": 4090.95751953125, "z": 364.9881896972656 }, "rotation": { "roll": 0.0004102755046915263, "pitch": 0.8386447429656982, "yaw": -170.76998901367188 } }, "velocity": { "x": -0.5716367363929749, "y": -0.09331134706735611, "z": 0.007556705269962549 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.10051289200782776, "transform": { "location": { "x": 1161.8782958984375, "y": 4083.66064453125, "z": 365.6891174316406 }, "rotation": { "roll": 0.0008845162228681147, "pitch": 0.833283007144928, "yaw": -170.68243408203125 } }, "velocity": { "x": -0.09914229810237885, "y": -0.0161660835146904, "z": 0.003507661633193493 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.07534272223711014, "transform": { "location": { "x": 1149.209716796875, "y": 4081.594970703125, "z": 365.9076843261719 }, "rotation": { "roll": -0.0043945349752902985, "pitch": 0.9326554536819458, "yaw": -171.0242156982422 } }, "velocity": { "x": -0.07437414675951004, "y": -0.011995403096079826, "z": 0.0010596847860142589 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3313945233821869, "expert_target_speed": 1.6911612729540468, "target_point": [ 36.46723791282293, 0.5144779923031741 ], "target_point_next": [ 73.46676991423602, 0.7117798899325045 ] }, "215": { "acceleration": [ -3.0037999153137207, -0.4621303081512451, 0.0343216210603714 ], "angular_velocity": [ -0.0701831579208374, 0.38406088948249817, -0.738288402557373 ], "forward_vector": [ -0.9877443909645081, -0.15477250516414642, 0.020161215215921402 ], "right_vector": [ 0.15480569005012512, -0.9879449605941772, 8.57365012052469e-05 ], "location": [ 1192.201904296875, 4089.009033203125, 365.2080078125 ], "rotation": [ -0.0049133384600281715, 1.1552307605743408, -171.09457397460938 ], "velocity": [ -1.2766495943069458, -0.20038163661956787, 0.018856830894947052 ], "speed": 1.292279763417514, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.89239501953125, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1161.78271484375, 4083.644287109375, 365.6900939941406 ], "velocity": [ -0.6838322281837463, -0.11334308981895447, 0.011224784888327122 ], "speed_kmh": 2.4957093618213726, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.948115825653076, "transform": { "location": { "x": 1138.4256591796875, "y": 4083.0693359375, "z": 366.1125793457031 }, "rotation": { "roll": -0.0006408774643205106, "pitch": -0.979701817035675, "yaw": 9.378535270690918 } }, "velocity": { "x": 7.841302394866943, "y": 1.2916611433029175, "z": -0.13466280698776245 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 1.1678242683410645, "transform": { "location": { "x": 1177.3460693359375, "y": 4089.40771484375, "z": 365.4720153808594 }, "rotation": { "roll": -3.051919338759035e-05, "pitch": -0.8625503778457642, "yaw": 9.301528930664062 } }, "velocity": { "x": 1.1524937152862549, "y": 0.18777908384799957, "z": -0.017626114189624786 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.7966115474700928, "transform": { "location": { "x": 1221.21044921875, "y": 4093.301513671875, "z": 364.78314208984375 }, "rotation": { "roll": 0.03685120493173599, "pitch": -0.629941463470459, "yaw": -170.428466796875 } }, "velocity": { "x": -1.7750979661941528, "y": -0.2761368453502655, "z": 0.024265231564641 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1263.458740234375, "y": 4103.3203125, "z": 364.1435852050781 }, "rotation": { "roll": 0.0, "pitch": -0.8828087449073792, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 1.3627039194107056, "transform": { "location": { "x": 1206.5660400390625, "y": 4090.91748046875, "z": 364.9916076660156 }, "rotation": { "roll": 0.0006258406210690737, "pitch": 0.8647087216377258, "yaw": -170.75123596191406 } }, "velocity": { "x": -1.3449320793151855, "y": -0.21852602064609528, "z": 0.01913038268685341 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.6932526230812073, "transform": { "location": { "x": 1161.78271484375, "y": 4083.644287109375, "z": 365.6900939941406 }, "rotation": { "roll": 0.0009163639042526484, "pitch": 0.9197258949279785, "yaw": -170.6982421875 } }, "velocity": { "x": -0.6838322281837463, "y": -0.11334308981895447, "z": 0.011224784888327122 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9127491116523743, "transform": { "location": { "x": 1149.1121826171875, "y": 4081.579345703125, "z": 365.9080505371094 }, "rotation": { "roll": -0.00677490234375, "pitch": 1.100322961807251, "yaw": -170.9707794189453 } }, "velocity": { "x": -0.9008809328079224, "y": -0.1458980292081833, "z": 0.015435552224516869 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3366833031177521, "expert_target_speed": 2.4543078352468815, "target_point": [ 36.23739310227711, 0.5292608174599618 ], "target_point_next": [ 73.23684006953661, 0.7419118916454135 ] }, "220": { "acceleration": [ -5.059313774108887, -0.7795214653015137, 0.07407225668430328 ], "angular_velocity": [ -0.1243668645620346, 0.6485909819602966, -0.9663535952568054 ], "forward_vector": [ -0.9878021478652954, -0.1541050523519516, 0.022330213338136673 ], "right_vector": [ 0.15414433181285858, -0.9880483746528625, 3.8339869206538424e-05 ], "location": [ 1191.75390625, 4088.93896484375, 365.2144470214844 ], "rotation": [ -0.0021972605027258396, 1.2795333862304688, -171.13287353515625 ], "velocity": [ -2.336007595062256, -0.3641517460346222, 0.035268716514110565 ], "speed": 2.364220374315518, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.720684051513672, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1161.5047607421875, 4083.5986328125, 365.6944885253906 ], "velocity": [ -1.4676944017410278, -0.23926368355751038, 0.023897932842373848 ], "speed_kmh": 5.3541393533992165, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.170560836791992, "transform": { "location": { "x": 1140.4302978515625, "y": 4083.399169921875, "z": 366.0779724121094 }, "rotation": { "roll": 0.0004579266533255577, "pitch": -0.9570255875587463, "yaw": 9.323413848876953 } }, "velocity": { "x": 8.062116622924805, "y": 1.319570541381836, "z": -0.13807152211666107 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 2.106966257095337, "transform": { "location": { "x": 1177.752197265625, "y": 4089.473876953125, "z": 365.4651794433594 }, "rotation": { "roll": -0.0006713796174153686, "pitch": -0.8078610897064209, "yaw": 9.28779125213623 } }, "velocity": { "x": 2.079249382019043, "y": 0.33906736969947815, "z": -0.03258577734231949 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.0151774883270264, "transform": { "location": { "x": 1221.05810546875, "y": 4093.278564453125, "z": 364.78375244140625 }, "rotation": { "roll": 0.018736902624368668, "pitch": -0.22201529145240784, "yaw": -170.24069213867188 } }, "velocity": { "x": -1.0017250776290894, "y": -0.16396844387054443, "z": 0.015700463205575943 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1265.0333251953125, "y": 4103.57177734375, "z": 364.11944580078125 }, "rotation": { "roll": 0.0, "pitch": -0.8828087449073792, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.081221580505371, "transform": { "location": { "x": 1206.137939453125, "y": 4090.84814453125, "z": 364.9979553222656 }, "rotation": { "roll": 0.00043657521018758416, "pitch": 0.8680213689804077, "yaw": -170.7633514404297 } }, "velocity": { "x": -2.0540146827697754, "y": -0.3340522348880768, "z": 0.03025951236486435 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.4872609376907349, "transform": { "location": { "x": 1161.5047607421875, "y": 4083.5986328125, "z": 365.6944885253906 }, "rotation": { "roll": 0.0011544963344931602, "pitch": 0.9368765354156494, "yaw": -170.70376586914062 } }, "velocity": { "x": -1.4676944017410278, "y": -0.23926368355751038, "z": 0.023897932842373848 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6080949306488037, "transform": { "location": { "x": 1148.82861328125, "y": 4081.53369140625, "z": 365.9123840332031 }, "rotation": { "roll": -0.0048522986471652985, "pitch": 1.1616921424865723, "yaw": -170.91607666015625 } }, "velocity": { "x": -1.5871336460113525, "y": -0.25744521617889404, "z": 0.026422977447509766 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3328665494918823, "expert_target_speed": 3.5123103186636735, "target_point": [ 35.78358681268696, 0.5533113040972006 ], "target_point_next": [ 72.7828833492314, 0.7906974099485122 ] }, "225": { "acceleration": [ -6.34556770324707, -0.9836900234222412, 0.08758336305618286 ], "angular_velocity": [ -0.11327166110277176, 0.725099503993988, -0.03383270651102066 ], "forward_vector": [ -0.9877515435218811, -0.15396134555339813, 0.025353334844112396 ], "right_vector": [ 0.15401244163513184, -0.9880689382553101, 6.336288060992956e-05 ], "location": [ 1190.99267578125, 4088.820556640625, 365.2254638671875 ], "rotation": [ -0.0036315927281975746, 1.4527947902679443, -171.14056396484375 ], "velocity": [ -3.8009519577026367, -0.5913509726524353, 0.05784812942147255 ], "speed": 3.8466780158495832, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.41092872619629, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1161.0501708984375, 4083.52490234375, 365.7019348144531 ], "velocity": [ -2.1079092025756836, -0.3464197516441345, 0.034019097685813904 ], "speed_kmh": 7.691242366440661, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.9503068923950195, "transform": { "location": { "x": 1142.4151611328125, "y": 4083.724365234375, "z": 366.04425048828125 }, "rotation": { "roll": -0.001129148993641138, "pitch": -0.9846810102462769, "yaw": 9.308406829833984 } }, "velocity": { "x": 7.844846248626709, "y": 1.28364896774292, "z": -0.13421572744846344 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 3.3428571224212646, "transform": { "location": { "x": 1178.4210205078125, "y": 4089.582763671875, "z": 365.4543762207031 }, "rotation": { "roll": 5.47865274711512e-05, "pitch": -0.769646167755127, "yaw": 9.276883125305176 } }, "velocity": { "x": 3.2991018295288086, "y": 0.5365895628929138, "z": -0.05188603699207306 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.8716239929199219, "transform": { "location": { "x": 1220.6866455078125, "y": 4093.217529296875, "z": 364.7857666015625 }, "rotation": { "roll": 0.015545330941677094, "pitch": 0.7329748868942261, "yaw": -170.33204650878906 } }, "velocity": { "x": -1.8466793298721313, "y": -0.3033492863178253, "z": 0.02703903056681156 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1266.552490234375, "y": 4103.814453125, "z": 364.0961608886719 }, "rotation": { "roll": 0.0, "pitch": -0.8828087449073792, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.223698377609253, "transform": { "location": { "x": 1205.60498046875, "y": 4090.76123046875, "z": 365.00604248046875 }, "rotation": { "roll": 0.0011609811335802078, "pitch": 0.8548186421394348, "yaw": -170.76368713378906 } }, "velocity": { "x": -2.194601058959961, "y": -0.3569111227989197, "z": 0.03428215906023979 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.136456251144409, "transform": { "location": { "x": 1161.0501708984375, "y": 4083.52490234375, "z": 365.7019348144531 }, "rotation": { "roll": 0.0017834990285336971, "pitch": 0.9390416741371155, "yaw": -170.60147094726562 } }, "velocity": { "x": -2.1079092025756836, "y": -0.3464197516441345, "z": 0.034019097685813904 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.0704641342163086, "transform": { "location": { "x": 1148.241455078125, "y": 4081.438720703125, "z": 365.92120361328125 }, "rotation": { "roll": -0.005126941483467817, "pitch": 1.2827094793319702, "yaw": -170.84474182128906 } }, "velocity": { "x": -3.0301616191864014, "y": -0.4932415187358856, "z": 0.05083363503217697 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.33502477407455444, "expert_target_speed": 4.9464299911890635, "target_point": [ 35.013127857428266, 0.5583483217079177 ], "target_point_next": [ 72.0123922541775, 0.8006920070893173 ] }, "230": { "acceleration": [ -4.353961944580078, -0.6723761558532715, 0.15691950917243958 ], "angular_velocity": [ 0.056219432502985, -0.318084716796875, -0.04811998829245567 ], "forward_vector": [ -0.9877708554267883, -0.15377330780029297, 0.025737302377820015 ], "right_vector": [ 0.15382611751556396, -0.9880979061126709, 7.24140481906943e-05 ], "location": [ 1189.8741455078125, 4088.646484375, 365.2425842285156 ], "rotation": [ -0.0041503943502902985, 1.4748016595840454, -171.15138244628906 ], "velocity": [ -5.02029275894165, -0.7802219390869141, 0.08158105611801147 ], "speed": 5.080559581356616, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.560504913330078, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1160.7723388671875, 4083.47998046875, 365.7069091796875 ], "velocity": [ -0.2560271918773651, -0.04212376847863197, 0.003970012534409761 ], "speed_kmh": 0.9341989307575884, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.053053855895996, "transform": { "location": { "x": 1144.3843994140625, "y": 4084.04638671875, "z": 366.010498046875 }, "rotation": { "roll": -0.0007324261823669076, "pitch": -0.9558097720146179, "yaw": 9.275838851928711 } }, "velocity": { "x": 7.946335315704346, "y": 1.2997735738754272, "z": -0.13421013951301575 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 4.722744941711426, "transform": { "location": { "x": 1179.42822265625, "y": 4089.746826171875, "z": 365.4382629394531 }, "rotation": { "roll": -0.00012207325198687613, "pitch": -0.7446271777153015, "yaw": 9.263073921203613 } }, "velocity": { "x": 4.6609039306640625, "y": 0.7582656741142273, "z": -0.07299138605594635 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.0557167530059814, "transform": { "location": { "x": 1220.07421875, "y": 4093.1162109375, "z": 364.79315185546875 }, "rotation": { "roll": 0.014271462336182594, "pitch": 1.1438722610473633, "yaw": -170.4449005126953 } }, "velocity": { "x": -3.01517915725708, "y": -0.4942213296890259, "z": 0.04295124113559723 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5544, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1268.0179443359375, "y": 4104.05029296875, "z": 364.07354736328125 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 2.8002359867095947, "transform": { "location": { "x": 1204.98974609375, "y": 4090.6611328125, "z": 365.0152587890625 }, "rotation": { "roll": -3.051919338759035e-05, "pitch": 0.8621542453765869, "yaw": -170.7636260986328 } }, "velocity": { "x": -2.763620138168335, "y": -0.44944900274276733, "z": 0.04148559644818306 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 0.2594996988773346, "transform": { "location": { "x": 1160.7723388671875, "y": 4083.47998046875, "z": 365.7069091796875 }, "rotation": { "roll": 0.003803580068051815, "pitch": 0.8835054039955139, "yaw": -170.4823760986328 } }, "velocity": { "x": -0.2560271918773651, "y": -0.04212376847863197, "z": 0.003970012534409761 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.035837650299072, "transform": { "location": { "x": 1147.23291015625, "y": 4081.274658203125, "z": 365.9371032714844 }, "rotation": { "roll": -0.0032043512910604477, "pitch": 1.4166289567947388, "yaw": -170.80763244628906 } }, "velocity": { "x": -4.969672203063965, "y": -0.8093112707138062, "z": 0.08388229459524155 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3507916033267975, "expert_target_speed": 6.080852035054548, "target_point": [ 33.881027219985384, 0.5650326326497161 ], "target_point_next": [ 70.88024507706525, 0.8143804354109001 ] }, "235": { "acceleration": [ -0.14458656311035156, -0.01909494400024414, -0.009786635637283325 ], "angular_velocity": [ 0.19841048121452332, -1.237560749053955, -0.05074700713157654 ], "forward_vector": [ -0.9879285097122192, -0.1535833775997162, 0.020233679562807083 ], "right_vector": [ 0.15361647307872772, -0.9881305694580078, 8.200842421501875e-05 ], "location": [ 1188.59228515625, 4088.447509765625, 365.2637939453125 ], "rotation": [ -0.0046996986493468285, 1.1593835353851318, -171.1635284423828 ], "velocity": [ -5.099135875701904, -0.7915617227554321, 0.07893100380897522 ], "speed": 5.160208972493437, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 28.425840377807617, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1160.6121826171875, 4083.453125, 365.70916748046875 ], "velocity": [ -0.9888139963150024, -0.16331039369106293, 0.015792055055499077 ], "speed_kmh": 3.6084012245404633, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.063082695007324, "transform": { "location": { "x": 1146.3780517578125, "y": 4084.371826171875, "z": 365.9767761230469 }, "rotation": { "roll": 0.0003778343088924885, "pitch": -0.9582140445709229, "yaw": 9.279684066772461 } }, "velocity": { "x": 7.95700740814209, "y": 1.2966707944869995, "z": -0.1340693086385727 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.292145252227783, "transform": { "location": { "x": 1180.7080078125, "y": 4089.955810546875, "z": 365.41900634765625 }, "rotation": { "roll": 0.000474545027827844, "pitch": -0.8065223693847656, "yaw": 9.187719345092773 } }, "velocity": { "x": 5.222975254058838, "y": 0.8488399386405945, "z": -0.08246003836393356 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.398391008377075, "transform": { "location": { "x": 1219.2110595703125, "y": 4092.974365234375, "z": 364.80572509765625 }, "rotation": { "roll": 0.010067520663142204, "pitch": 1.123839259147644, "yaw": -170.56500244140625 } }, "velocity": { "x": -3.353628396987915, "y": -0.5475924015045166, "z": 0.048786647617816925 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 3.509647846221924, "transform": { "location": { "x": 1204.206787109375, "y": 4090.533935546875, "z": 365.0269470214844 }, "rotation": { "roll": -0.0007629471947439015, "pitch": 0.8659313321113586, "yaw": -170.76385498046875 } }, "velocity": { "x": -3.4637672901153564, "y": -0.5632961988449097, "z": 0.05139785632491112 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.002333641052246, "transform": { "location": { "x": 1160.6121826171875, "y": 4083.453125, "z": 365.70916748046875 }, "rotation": { "roll": 0.003444897010922432, "pitch": 0.9303604960441589, "yaw": -170.54238891601562 } }, "velocity": { "x": -0.9888139963150024, "y": -0.16331039369106293, "z": 0.015792055055499077 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.134024143218994, "transform": { "location": { "x": 1145.949462890625, "y": 4081.06591796875, "z": 365.9616394042969 }, "rotation": { "roll": -0.0017395011382177472, "pitch": 1.0950158834457397, "yaw": -170.7584686279297 } }, "velocity": { "x": -5.066431045532227, "y": -0.8257545232772827, "z": 0.08721162378787994 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3566175699234009, "expert_target_speed": 6.148950162364249, "target_point": [ 32.58369568491023, 0.5725054155238976 ], "target_point_next": [ 69.58285992192843, 0.8296865278812628 ] }, "240": { "acceleration": [ 0.1985931396484375, 0.0353693962097168, -0.007994771003723145 ], "angular_velocity": [ 0.031039640307426453, -0.3853576183319092, -0.05085210129618645 ], "forward_vector": [ -0.9880151748657227, -0.15337081253528595, 0.017418693751096725 ], "right_vector": [ 0.15339598059654236, -0.9881647825241089, 0.00010970548464683816 ], "location": [ 1187.318359375, 4088.24951171875, 365.2840576171875 ], "rotation": [ -0.006286615040153265, 0.9980681538581848, -171.17633056640625 ], "velocity": [ -5.1199774742126465, -0.7935357689857483, 0.08004434406757355 ], "speed": 5.181106865632547, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.485837936401367, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1160.267822265625, 4083.396240234375, 365.7146911621094 ], "velocity": [ -1.7718822956085205, -0.290463924407959, 0.02871008776128292 ], "speed_kmh": 6.464742467644321, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.00206184387207, "transform": { "location": { "x": 1148.3565673828125, "y": 4084.694580078125, "z": 365.9435119628906 }, "rotation": { "roll": -3.052003012271598e-05, "pitch": -0.9609597325325012, "yaw": 9.243717193603516 } }, "velocity": { "x": 7.896737575531006, "y": 1.2870248556137085, "z": -0.13451817631721497 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 5.747852325439453, "transform": { "location": { "x": 1182.078125, "y": 4090.177978515625, "z": 365.39776611328125 }, "rotation": { "roll": -0.0016479564364999533, "pitch": -0.8469843864440918, "yaw": 9.23087215423584 } }, "velocity": { "x": 5.672839641571045, "y": 0.9213468432426453, "z": -0.08839239180088043 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.3684725761413574, "transform": { "location": { "x": 1218.418212890625, "y": 4092.844970703125, "z": 364.8182067871094 }, "rotation": { "roll": 0.005270507652312517, "pitch": 0.8858618140220642, "yaw": -170.62982177734375 } }, "velocity": { "x": -3.3242411613464355, "y": -0.5419884324073792, "z": 0.04770703986287117 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 4.2142815589904785, "transform": { "location": { "x": 1203.25048828125, "y": 4090.37841796875, "z": 365.0413513183594 }, "rotation": { "roll": 0.0009659751085564494, "pitch": 0.8660884499549866, "yaw": -170.76565551757812 } }, "velocity": { "x": -4.159231662750244, "y": -0.6761090159416199, "z": 0.06196460500359535 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 1.7957617044448853, "transform": { "location": { "x": 1160.267822265625, "y": 4083.396240234375, "z": 365.7146911621094 }, "rotation": { "roll": 0.0045571341179311275, "pitch": 0.9436520338058472, "yaw": -170.56422424316406 } }, "velocity": { "x": -1.7718822956085205, "y": -0.290463924407959, "z": 0.02871008776128292 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.267735481262207, "transform": { "location": { "x": 1144.65185546875, "y": 4080.847412109375, "z": 365.9852600097656 }, "rotation": { "roll": -0.01043701171875, "pitch": 0.9102455973625183, "yaw": -171.63381958007812 } }, "velocity": { "x": -5.198957920074463, "y": -0.8438649773597717, "z": 0.08810268342494965 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.363883376121521, "expert_target_speed": 6.165304422530683, "target_point": [ 31.29434639366188, 0.5795348247829528 ], "target_point_next": [ 68.29345231691293, 0.844972656390695 ] }, "245": { "acceleration": [ -3.983907699584961, -0.6096541881561279, 0.05735352635383606 ], "angular_velocity": [ -0.15776792168617249, 0.8558368682861328, 0.016498027369379997 ], "forward_vector": [ -0.9879906177520752, -0.15312795341014862, 0.020649753510951996 ], "right_vector": [ 0.15316297113895416, -0.9882009625434875, 0.00011608924251049757 ], "location": [ 1185.943359375, 4088.036376953125, 365.3049011230469 ], "rotation": [ -0.0066528418101370335, 1.183227777481079, -171.1898651123047 ], "velocity": [ -6.040532112121582, -0.9348039031028748, 0.09386342763900757 ], "speed": 6.112437037289496, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.635875701904297, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1159.7337646484375, 4083.30859375, 365.7233581542969 ], "velocity": [ -2.4753172397613525, -0.405245840549469, 0.04035807400941849 ], "speed_kmh": 9.030941661937963, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.054165840148926, "transform": { "location": { "x": 1150.3377685546875, "y": 4085.01708984375, "z": 365.91009521484375 }, "rotation": { "roll": 0.0007878733449615538, "pitch": -0.944819986820221, "yaw": 9.259344100952148 } }, "velocity": { "x": 7.948434352874756, "y": 1.2938580513000488, "z": -0.13381437957286835 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.306921005249023, "transform": { "location": { "x": 1183.8890380859375, "y": 4090.472412109375, "z": 365.3680114746094 }, "rotation": { "roll": -0.0019836395513266325, "pitch": -0.6806966066360474, "yaw": 9.24414348602295 } }, "velocity": { "x": 8.198060989379883, "y": 1.3342328071594238, "z": -0.12865851819515228 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 4.575756549835205, "transform": { "location": { "x": 1217.4342041015625, "y": 4092.68408203125, "z": 364.83148193359375 }, "rotation": { "roll": 0.0044835894368588924, "pitch": 1.1762131452560425, "yaw": -170.68809509277344 } }, "velocity": { "x": -4.515863418579102, "y": -0.7350220084190369, "z": 0.06534488499164581 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 4.957111835479736, "transform": { "location": { "x": 1202.11669921875, "y": 4090.1943359375, "z": 365.058349609375 }, "rotation": { "roll": 0.0004942514351569116, "pitch": 0.8671334385871887, "yaw": -170.7679901123047 } }, "velocity": { "x": -4.892368316650391, "y": -0.7951973676681519, "z": 0.07314514368772507 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 2.5085949897766113, "transform": { "location": { "x": 1159.7337646484375, "y": 4083.30859375, "z": 365.7233581542969 }, "rotation": { "roll": 0.002149682492017746, "pitch": 0.9477843046188354, "yaw": -170.6002960205078 } }, "velocity": { "x": -2.4753172397613525, "y": -0.405245840549469, "z": 0.04035807400941849 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.9675703048706055, "transform": { "location": { "x": 1143.3626708984375, "y": 4080.642822265625, "z": 366.0074157714844 }, "rotation": { "roll": 0.001377378823235631, "pitch": 0.8602554202079773, "yaw": -171.36000061035156 } }, "velocity": { "x": -4.904202461242676, "y": -0.7866840958595276, "z": 0.08174676448106766 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.37265264987945557, "expert_target_speed": 6.965153326998392, "target_point": [ 29.902788080872313, 0.5868976010498388 ], "target_point_next": [ 66.90183032101497, 0.8610684867020488 ] }, "250": { "acceleration": [ -2.5494956970214844, -0.38878440856933594, 0.04480242729187012 ], "angular_velocity": [ -0.022659098729491234, -0.05320250242948532, 0.006731527857482433 ], "forward_vector": [ -0.9880096316337585, -0.15287329256534576, 0.02160547859966755 ], "right_vector": [ 0.15291130542755127, -0.9882399439811707, 0.00010916415340034291 ], "location": [ 1184.3359375, 4087.787841796875, 365.329833984375 ], "rotation": [ -0.0062561058439314365, 1.2379990816116333, -171.20445251464844 ], "velocity": [ -6.76555871963501, -1.0454387664794922, 0.10585170239210129 ], "speed": 6.845854731389461, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 25.73688507080078, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1159.01611328125, 4083.191162109375, 365.735107421875 ], "velocity": [ -3.2133102416992188, -0.5241835713386536, 0.05244327336549759 ], "speed_kmh": 11.722343760502026, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035136222839355, "transform": { "location": { "x": 1152.3236083984375, "y": 4085.340576171875, "z": 365.876953125 }, "rotation": { "roll": -0.0003051725507248193, "pitch": -0.9492459893226624, "yaw": 9.232776641845703 } }, "velocity": { "x": 7.929934024810791, "y": 1.2892216444015503, "z": -0.13216663897037506 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.13446044921875, "transform": { "location": { "x": 1185.946533203125, "y": 4090.806884765625, "z": 365.3371276855469 }, "rotation": { "roll": -9.15638665901497e-05, "pitch": -0.8462467193603516, "yaw": 9.236741065979004 } }, "velocity": { "x": 8.028040885925293, "y": 1.3054003715515137, "z": -0.12623924016952515 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.322831153869629, "transform": { "location": { "x": 1216.1817626953125, "y": 4092.4794921875, "z": 364.8500061035156 }, "rotation": { "roll": 0.0024672886356711388, "pitch": 1.209667444229126, "yaw": -170.80764770507812 } }, "velocity": { "x": -5.253022193908691, "y": -0.8558142185211182, "z": 0.07662215828895569 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 5.403163433074951, "transform": { "location": { "x": 1200.8253173828125, "y": 4089.984619140625, "z": 365.0780334472656 }, "rotation": { "roll": 0.00025209845625795424, "pitch": 0.8611297011375427, "yaw": -170.7537841796875 } }, "velocity": { "x": -5.33266544342041, "y": -0.8662760257720947, "z": 0.08011892437934875 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 3.256206750869751, "transform": { "location": { "x": 1159.01611328125, "y": 4083.191162109375, "z": 365.735107421875 }, "rotation": { "roll": 0.0017908355221152306, "pitch": 0.9488430023193359, "yaw": -170.64306640625 } }, "velocity": { "x": -3.2133102416992188, "y": -0.5241835713386536, "z": 0.05244327336549759 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.335982322692871, "transform": { "location": { "x": 1142.068603515625, "y": 4080.436279296875, "z": 366.02850341796875 }, "rotation": { "roll": -0.012054449878633022, "pitch": 1.0104103088378906, "yaw": -171.07408142089844 } }, "velocity": { "x": -5.266666889190674, "y": -0.8525707721710205, "z": 0.08973262459039688 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3751009702682495, "expert_target_speed": 7.571397088712812, "target_point": [ 28.276115090382977, 0.5947025730459377 ], "target_point_next": [ 65.2750861834237, 0.8783121968887908 ] }, "255": { "acceleration": [ -3.0550098419189453, -0.46306371688842773, 0.04978373646736145 ], "angular_velocity": [ 0.004925166256725788, -0.0007499967468902469, -0.07811826467514038 ], "forward_vector": [ -0.9880589246749878, -0.1525765210390091, 0.0214478000998497 ], "right_vector": [ 0.15261362493038177, -0.9882859587669373, 9.425414464203641e-05 ], "location": [ 1182.5523681640625, 4087.512451171875, 365.3577575683594 ], "rotation": [ -0.005401607137173414, 1.2289626598358154, -171.22169494628906 ], "velocity": [ -7.4745192527771, -1.1528294086456299, 0.11652816832065582 ], "speed": 7.5628998212044145, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 24.836193084716797, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1158.1243896484375, 4083.045166015625, 365.7497863769531 ], "velocity": [ -3.8959295749664307, -0.6352313756942749, 0.06401992589235306 ], "speed_kmh": 14.212426456189618, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.02834415435791, "transform": { "location": { "x": 1154.3040771484375, "y": 4085.662841796875, "z": 365.84405517578125 }, "rotation": { "roll": 0.000488991616293788, "pitch": -0.9428461194038391, "yaw": 9.256674766540527 } }, "velocity": { "x": 7.923060894012451, "y": 1.2893476486206055, "z": -0.13038109242916107 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.833806037902832, "transform": { "location": { "x": 1187.896728515625, "y": 4091.1240234375, "z": 365.3072814941406 }, "rotation": { "roll": 0.00025134076713584363, "pitch": -0.902431845664978, "yaw": 9.235427856445312 } }, "velocity": { "x": 7.7313385009765625, "y": 1.2572312355041504, "z": -0.1195419505238533 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.529309272766113, "transform": { "location": { "x": 1214.82666015625, "y": 4092.259521484375, "z": 364.8703308105469 }, "rotation": { "roll": 0.004769365303218365, "pitch": 1.0490281581878662, "yaw": -170.87245178222656 } }, "velocity": { "x": -5.457600116729736, "y": -0.8840370178222656, "z": 0.07965362071990967 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 6.1166276931762695, "transform": { "location": { "x": 1199.3709716796875, "y": 4089.748046875, "z": 365.0997314453125 }, "rotation": { "roll": 0.000612132134847343, "pitch": 0.8655146956443787, "yaw": -170.7357635498047 } }, "velocity": { "x": -6.036309242248535, "y": -0.9837568402290344, "z": 0.09123317152261734 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 3.9478962421417236, "transform": { "location": { "x": 1158.1243896484375, "y": 4083.045166015625, "z": 365.7497863769531 }, "rotation": { "roll": 0.000946644286159426, "pitch": 0.9476750493049622, "yaw": -170.68276977539062 } }, "velocity": { "x": -3.8959295749664307, "y": -0.6352313756942749, "z": 0.06401992589235306 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.417557716369629, "transform": { "location": { "x": 1140.6715087890625, "y": 4080.209716796875, "z": 366.05108642578125 }, "rotation": { "roll": -0.009735113009810448, "pitch": 1.1692122220993042, "yaw": -171.0186767578125 } }, "velocity": { "x": -6.33353853225708, "y": -1.0292494297027588, "z": 0.10947322845458984 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.34303054213523865, "expert_target_speed": 8.131661686302337, "target_point": [ 26.47123003045798, 0.6032387777960602 ], "target_point_next": [ 63.47011411504892, 0.8979807961838357 ] }, "260": { "acceleration": [ -2.287006378173828, -0.34352779388427734, 0.03901451826095581 ], "angular_velocity": [ -0.029766956344246864, -0.08236522227525711, -0.0814334899187088 ], "forward_vector": [ -0.9881101846694946, -0.15226317942142487, 0.02130931243300438 ], "right_vector": [ 0.1522994041442871, -0.9883344173431396, 7.774656842229888e-05 ], "location": [ 1180.5966796875, 4087.211181640625, 365.3883972167969 ], "rotation": [ -0.004455562215298414, 1.221026062965393, -171.23989868164062 ], "velocity": [ -8.133078575134277, -1.251907229423523, 0.126902773976326 ], "speed": 8.228866192884114, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 23.936939239501953, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1157.0594482421875, 4082.87158203125, 365.767333984375 ], "velocity": [ -4.601651191711426, -0.7505878806114197, 0.07512964308261871 ], "speed_kmh": 16.78705141907913, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.043230056762695, "transform": { "location": { "x": 1156.287353515625, "y": 4085.985107421875, "z": 365.8111877441406 }, "rotation": { "roll": 0.00013662852870766073, "pitch": -0.9320953488349915, "yaw": 9.222689628601074 } }, "velocity": { "x": 7.938148021697998, "y": 1.2892608642578125, "z": -0.1309691071510315 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.164998054504395, "transform": { "location": { "x": 1189.8739013671875, "y": 4091.445556640625, "z": 365.2763671875 }, "rotation": { "roll": -0.0004882916109636426, "pitch": -0.8455773591995239, "yaw": 9.237306594848633 } }, "velocity": { "x": 8.05797004699707, "y": 1.3119474649429321, "z": -0.12290281802415848 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.2864813804626465, "transform": { "location": { "x": 1213.197998046875, "y": 4091.995849609375, "z": 364.89306640625 }, "rotation": { "roll": -0.0004272467631381005, "pitch": 1.3570492267608643, "yaw": -170.8087921142578 } }, "velocity": { "x": -7.19161319732666, "y": -1.167237401008606, "z": 0.10519162565469742 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 7.19257116317749, "transform": { "location": { "x": 1197.72265625, "y": 4089.4794921875, "z": 365.1246643066406 }, "rotation": { "roll": 0.0006496459827758372, "pitch": 0.8863331079483032, "yaw": -170.7478485107422 } }, "velocity": { "x": -7.098445892333984, "y": -1.1546956300735474, "z": 0.10873479396104813 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 4.663069725036621, "transform": { "location": { "x": 1157.0594482421875, "y": 4082.87158203125, "z": 365.767333984375 }, "rotation": { "roll": 0.0012200825149193406, "pitch": 0.947196900844574, "yaw": -170.70957946777344 } }, "velocity": { "x": -4.601651191711426, "y": -0.7505878806114197, "z": 0.07512964308261871 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.747734546661377, "transform": { "location": { "x": 1138.9168701171875, "y": 4079.92529296875, "z": 366.0799255371094 }, "rotation": { "roll": -0.006469717714935541, "pitch": 1.3447344303131104, "yaw": -170.94497680664062 } }, "velocity": { "x": -7.64625358581543, "y": -1.2429444789886475, "z": 0.13147224485874176 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3397011458873749, "expert_target_speed": 8.62176880975168, "target_point": [ 24.492279750379076, 0.6117368930669684 ], "target_point_next": [ 61.49106836697981, 0.9182287632616664 ] }, "265": { "acceleration": [ -2.4506378173828125, -0.3636646270751953, 0.03809809684753418 ], "angular_velocity": [ -0.024859795346856117, -0.07960958033800125, -0.07682489603757858 ], "forward_vector": [ -0.9881706833839417, -0.15192663669586182, 0.020905757322907448 ], "right_vector": [ 0.1519613116979599, -0.9883864521980286, 7.082463707774878e-05 ], "location": [ 1178.4835205078125, 4086.88623046875, 365.4216613769531 ], "rotation": [ -0.004058839753270149, 1.1978989839553833, -171.2594757080078 ], "velocity": [ -8.732495307922363, -1.3411387205123901, 0.1373281031847 ], "speed": 8.834881287858016, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 23.05765724182129, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1155.81787109375, 4082.66845703125, 365.7880859375 ], "velocity": [ -5.149885654449463, -0.8384729623794556, 0.08586103469133377 ], "speed_kmh": 18.786251286153906, "color": "0,21,0" }, "other_vehicles": [ { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.032907485961914, "transform": { "location": { "x": 1158.2705078125, "y": 4086.307373046875, "z": 365.7786560058594 }, "rotation": { "roll": -0.0022277843672782183, "pitch": -0.9336184859275818, "yaw": 9.248520851135254 } }, "velocity": { "x": 7.927380084991455, "y": 1.291085958480835, "z": -0.13170333206653595 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.027358055114746, "transform": { "location": { "x": 1191.87841796875, "y": 4091.771484375, "z": 365.2459411621094 }, "rotation": { "roll": -0.0013122569071128964, "pitch": -0.8767708539962769, "yaw": 9.239527702331543 } }, "velocity": { "x": 7.922316074371338, "y": 1.288604974746704, "z": -0.12204549461603165 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.329906940460205, "transform": { "location": { "x": 1211.3740234375, "y": 4091.699951171875, "z": 364.920654296875 }, "rotation": { "roll": -0.0021972639951854944, "pitch": 1.0993735790252686, "yaw": -170.78012084960938 } }, "velocity": { "x": -7.2342448234558105, "y": -1.1754765510559082, "z": 0.10721681267023087 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.031389236450195, "transform": { "location": { "x": 1195.8372802734375, "y": 4089.173095703125, "z": 365.1534423828125 }, "rotation": { "roll": 0.0010540637886151671, "pitch": 0.889406681060791, "yaw": -170.76161193847656 } }, "velocity": { "x": -7.926568984985352, "y": -1.2876604795455933, "z": 0.12104186415672302 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 5.218403339385986, "transform": { "location": { "x": 1155.81787109375, "y": 4082.66845703125, "z": 365.7880859375 }, "rotation": { "roll": -9.155974112218246e-05, "pitch": 0.9478799700737, "yaw": -170.78196716308594 } }, "velocity": { "x": -5.149885654449463, "y": -0.8384729623794556, "z": 0.08586103469133377 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.38011646270752, "transform": { "location": { "x": 1136.896728515625, "y": 4079.59814453125, "z": 366.1161193847656 }, "rotation": { "roll": -0.0041198632679879665, "pitch": 1.1970247030258179, "yaw": -170.8161163330078 } }, "velocity": { "x": -8.269912719726562, "y": -1.347015142440796, "z": 0.14299851655960083 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.3420928716659546, "expert_target_speed": 9.037335001396285, "target_point": [ 22.354071280533446, 0.6200482234197096 ], "target_point_next": [ 59.35275294754361, 0.9391896742623924 ] }, "270": { "acceleration": [ -1.94366455078125, -0.2854156494140625, 0.05320638418197632 ], "angular_velocity": [ -0.06102540343999863, -0.07518433779478073, -0.083397775888443 ], "forward_vector": [ -0.9882329106330872, -0.1515669822692871, 0.02057192660868168 ], "right_vector": [ 0.15160082280635834, -0.9884417653083801, 8.680055179866031e-05 ], "location": [ 1176.2320556640625, 4086.540771484375, 365.45721435546875 ], "rotation": [ -0.004974357783794403, 1.1787676811218262, -171.2803955078125 ], "velocity": [ -9.262188911437988, -1.419181227684021, 0.14696526527404785 ], "speed": 9.370283815775036, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 22.200233459472656, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1154.4168701171875, 4082.439208984375, 365.8111572265625 ], "velocity": [ -6.119999885559082, -0.9846476316452026, 0.10154043138027191 ], "speed_kmh": 22.31832768420845, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 1.470000147819519, "transform": { "location": { "x": 1119.473388671875, "y": 4079.8984375, "z": 366.6945495605469 }, "rotation": { "roll": 0.0, "pitch": -1.0031088590621948, "yaw": 9.234708786010742 } }, "velocity": { "x": -9.345098916924144e-09, "y": -1.5193840630089994e-09, "z": -1.470000147819519 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035712242126465, "transform": { "location": { "x": 1160.25244140625, "y": 4086.6298828125, "z": 365.7462158203125 }, "rotation": { "roll": 0.0006634824676439166, "pitch": -0.927881121635437, "yaw": 9.222017288208008 } }, "velocity": { "x": 7.930832386016846, "y": 1.28751802444458, "z": -0.12988589704036713 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.965382099151611, "transform": { "location": { "x": 1193.8411865234375, "y": 4092.090576171875, "z": 365.21575927734375 }, "rotation": { "roll": -0.0008544803713448346, "pitch": -0.8755413889884949, "yaw": 9.23299503326416 } }, "velocity": { "x": 7.861292362213135, "y": 1.2780251502990723, "z": -0.11850763112306595 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.877979278564453, "transform": { "location": { "x": 1209.519775390625, "y": 4091.398681640625, "z": 364.94818115234375 }, "rotation": { "roll": -0.0028381338343024254, "pitch": 1.050674319267273, "yaw": -170.77102661132812 } }, "velocity": { "x": -7.775018215179443, "y": -1.2644133567810059, "z": 0.11363395303487778 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.739455223083496, "transform": { "location": { "x": 1193.76513671875, "y": 4088.836181640625, "z": 365.185302734375 }, "rotation": { "roll": -0.0005187895148992538, "pitch": 0.8860530853271484, "yaw": -170.77001953125 } }, "velocity": { "x": -8.625361442565918, "y": -1.4014511108398438, "z": 0.13098976016044617 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.199535846710205, "transform": { "location": { "x": 1154.4168701171875, "y": 4082.439208984375, "z": 365.8111572265625 }, "rotation": { "roll": -0.006774911656975746, "pitch": 0.9603655338287354, "yaw": -171.0993194580078 } }, "velocity": { "x": -6.119999885559082, "y": -0.9846476316452026, "z": 0.10154043138027191 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.0691499710083, "transform": { "location": { "x": 1134.86767578125, "y": 4079.267822265625, "z": 366.1535339355469 }, "rotation": { "roll": -0.0030822695698589087, "pitch": 0.9234551787376404, "yaw": -170.70265197753906 } }, "velocity": { "x": -7.96205472946167, "y": -1.3029003143310547, "z": 0.13896140456199646 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.44186049699783325, "expert_control_brake": 0.0, "expert_control_steer": 0.3341062664985657, "expert_target_speed": 9.392335161810827, "target_point": [ 20.07602948516964, 0.6280660664342301 ], "target_point_next": [ 57.0745921153994, 0.960721532894727 ] }, "275": { "acceleration": [ -2.4692153930664062, -0.36176443099975586, 0.04599630832672119 ], "angular_velocity": [ -0.011676942929625511, 0.023315610364079475, -0.0879923477768898 ], "forward_vector": [ -0.9882928133010864, -0.15118767321109772, 0.020482178777456284 ], "right_vector": [ 0.15122094750404358, -0.9884999990463257, 7.668288890272379e-05 ], "location": [ 1173.8424072265625, 4086.1748046875, 365.49505615234375 ], "rotation": [ -0.004394527990370989, 1.1736245155334473, -171.30239868164062 ], "velocity": [ -9.832549095153809, -1.5027656555175781, 0.15584048628807068 ], "speed": 9.946724401732117, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.424545288085938, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1152.796630859375, 4082.1787109375, 365.8381042480469 ], "velocity": [ -6.828699111938477, -1.1024712324142456, 0.1136285588145256 ], "speed_kmh": 24.904998220131013, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 0.1264241337776184, "transform": { "location": { "x": 1119.4710693359375, "y": 4079.89794921875, "z": 366.339599609375 }, "rotation": { "roll": -0.00012207505642436445, "pitch": -1.0049666166305542, "yaw": 9.234806060791016 } }, "velocity": { "x": -0.0021320406813174486, "y": -0.00043559924233704805, "z": -0.12640540301799774 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.037532806396484, "transform": { "location": { "x": 1162.235595703125, "y": 4086.951904296875, "z": 365.7138977050781 }, "rotation": { "roll": -0.0015258898492902517, "pitch": -0.9194595217704773, "yaw": 9.248442649841309 } }, "velocity": { "x": 7.932320594787598, "y": 1.289795160293579, "z": -0.1290532499551773 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.11369800567627, "transform": { "location": { "x": 1195.831298828125, "y": 4092.414306640625, "z": 365.1851501464844 }, "rotation": { "roll": 3.500200546113774e-05, "pitch": -0.8613619208335876, "yaw": 9.23606014251709 } }, "velocity": { "x": 8.007575035095215, "y": 1.3021824359893799, "z": -0.1231188178062439 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.711676597595215, "transform": { "location": { "x": 1207.478759765625, "y": 4091.06640625, "z": 364.97802734375 }, "rotation": { "roll": -3.0521725420840085e-05, "pitch": 1.1351910829544067, "yaw": -170.7655487060547 } }, "velocity": { "x": -8.597840309143066, "y": -1.3978577852249146, "z": 0.12819240987300873 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 9.371174812316895, "transform": { "location": { "x": 1191.523681640625, "y": 4088.4716796875, "z": 365.21966552734375 }, "rotation": { "roll": -3.051936801057309e-05, "pitch": 0.8837922811508179, "yaw": -170.7700958251953 } }, "velocity": { "x": -9.248931884765625, "y": -1.5021156072616577, "z": 0.14079822599887848 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.918055057525635, "transform": { "location": { "x": 1152.796630859375, "y": 4082.1787109375, "z": 365.8381042480469 }, "rotation": { "roll": -0.006072996184229851, "pitch": 0.9632410407066345, "yaw": -171.0563201904297 } }, "velocity": { "x": -6.828699111938477, "y": -1.1024712324142456, "z": 0.1136285588145256 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.93116569519043, "transform": { "location": { "x": 1132.9044189453125, "y": 4078.946533203125, "z": 366.1877746582031 }, "rotation": { "roll": 0.0005698136519640684, "pitch": 0.9186193943023682, "yaw": -170.713623046875 } }, "velocity": { "x": -7.82625150680542, "y": -1.2783409357070923, "z": 0.13792870938777924 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.3260631859302521, "expert_control_brake": 0.0, "expert_control_steer": 0.33492469787597656, "expert_target_speed": 9.746840510885685, "target_point": [ 17.6582779280911, 0.6353664549414106 ], "target_point_next": [ 54.6567103068572, 0.9822062973355354 ] }, "280": { "acceleration": [ -5.657386779785156, -0.846402645111084, 0.07399439811706543 ], "angular_velocity": [ -0.21143843233585358, 1.2489277124404907, -0.09250185638666153 ], "forward_vector": [ -0.9883472919464111, -0.15078750252723694, 0.020804213359951973 ], "right_vector": [ 0.15082193911075592, -0.9885609149932861, 8.680030441610143e-05 ], "location": [ 1171.332763671875, 4085.791748046875, 365.5348815917969 ], "rotation": [ -0.0049743675626814365, 1.1920796632766724, -171.32554626464844 ], "velocity": [ -10.509239196777344, -1.6019288301467896, 0.16693416237831116 ], "speed": 10.630629542597031, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.76229476928711, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1150.94482421875, 4081.881103515625, 365.8689880371094 ], "velocity": [ -7.8257737159729, -1.275403618812561, 0.13008207082748413 ], "speed_kmh": 28.54832004629653, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 0.18358950316905975, "transform": { "location": { "x": 1119.471923828125, "y": 4079.89794921875, "z": 366.3861389160156 }, "rotation": { "roll": -0.0004272593359928578, "pitch": -1.0047959089279175, "yaw": 9.23473834991455 } }, "velocity": { "x": 0.0032080691307783127, "y": 0.00047654678928665817, "z": 0.18356084823608398 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.03464412689209, "transform": { "location": { "x": 1164.2181396484375, "y": 4087.274169921875, "z": 365.6817626953125 }, "rotation": { "roll": 9.21260507311672e-05, "pitch": -0.9202859997749329, "yaw": 9.22659969329834 } }, "velocity": { "x": 7.929387092590332, "y": 1.290018916130066, "z": -0.12721997499465942 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 7.981175899505615, "transform": { "location": { "x": 1197.8162841796875, "y": 4092.73681640625, "z": 365.155029296875 }, "rotation": { "roll": -0.0005188003997318447, "pitch": -0.8682194352149963, "yaw": 9.236987113952637 } }, "velocity": { "x": 7.876811981201172, "y": 1.2808998823165894, "z": -0.11957091093063354 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 9.643780708312988, "transform": { "location": { "x": 1205.1512451171875, "y": 4090.68798828125, "z": 365.0123596191406 }, "rotation": { "roll": 0.0005269615212455392, "pitch": 1.2721704244613647, "yaw": -170.76516723632812 } }, "velocity": { "x": -9.51775074005127, "y": -1.5474390983581543, "z": 0.14269517362117767 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 9.767545700073242, "transform": { "location": { "x": 1189.1541748046875, "y": 4088.086669921875, "z": 365.2561340332031 }, "rotation": { "roll": 0.0004918118938803673, "pitch": 0.8825969696044922, "yaw": -170.77197265625 } }, "velocity": { "x": -9.640005111694336, "y": -1.5662051439285278, "z": 0.14921842515468597 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.930088996887207, "transform": { "location": { "x": 1150.94482421875, "y": 4081.881103515625, "z": 365.8689880371094 }, "rotation": { "roll": -0.000701909011695534, "pitch": 0.9691491723060608, "yaw": -170.73707580566406 } }, "velocity": { "x": -7.8257737159729, "y": -1.275403618812561, "z": 0.13008207082748413 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.11257266998291, "transform": { "location": { "x": 1130.9232177734375, "y": 4078.623046875, "z": 366.2218017578125 }, "rotation": { "roll": 0.0025322064757347107, "pitch": 1.0445817708969116, "yaw": -170.70852661132812 } }, "velocity": { "x": -8.00555419921875, "y": -1.3059366941452026, "z": 0.13955838978290558 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.3283791244029999, "expert_target_speed": 10.0, "target_point": [ 15.119310619106761, 0.6423361810325621 ], "target_point_next": [ 52.11759972572264, 1.0041366034596528 ] }, "285": { "acceleration": [ -0.9041023254394531, -0.11670827865600586, 0.031509995460510254 ], "angular_velocity": [ 0.08970668166875839, -0.6823233366012573, -0.10139807313680649 ], "forward_vector": [ -0.9883978366851807, -0.15036264061927795, 0.02146746590733528 ], "right_vector": [ 0.15039899945259094, -0.9886254072189331, 7.98766195657663e-05 ], "location": [ 1168.6051025390625, 4085.37646484375, 365.578125 ], "rotation": [ -0.004577647894620895, 1.2300896644592285, -171.3500518798828 ], "velocity": [ -11.099804878234863, -1.6872516870498657, 0.17745313048362732 ], "speed": 11.227309855452422, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.049697875976562, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1148.92626953125, 4081.5517578125, 365.9029235839844 ], "velocity": [ -8.158624649047852, -1.3387513160705566, 0.138178750872612 ], "speed_kmh": 29.76799589900398, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 1.1055620908737183, "transform": { "location": { "x": 1119.5216064453125, "y": 4079.90625, "z": 366.40570068359375 }, "rotation": { "roll": -0.0033264216035604477, "pitch": -0.9866275787353516, "yaw": 9.319331169128418 } }, "velocity": { "x": 1.0878667831420898, "y": 0.19701150059700012, "z": 0.00014387130795512348 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.036273956298828, "transform": { "location": { "x": 1166.2008056640625, "y": 4087.596435546875, "z": 365.6498107910156 }, "rotation": { "roll": 0.0007036723545752466, "pitch": -0.9137904644012451, "yaw": 9.251365661621094 } }, "velocity": { "x": 7.931025981903076, "y": 1.2901170253753662, "z": -0.12696711719036102 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.055977821350098, "transform": { "location": { "x": 1199.7921142578125, "y": 4093.058349609375, "z": 365.1251220703125 }, "rotation": { "roll": -0.00027466510073281825, "pitch": -0.8487875461578369, "yaw": 9.234079360961914 } }, "velocity": { "x": 7.950727939605713, "y": 1.292456030845642, "z": -0.11943291127681732 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 9.511014938354492, "transform": { "location": { "x": 1202.7999267578125, "y": 4090.305908203125, "z": 365.0487060546875 }, "rotation": { "roll": 0.0016799645964056253, "pitch": 0.9788001775741577, "yaw": -170.76055908203125 } }, "velocity": { "x": -9.386569023132324, "y": -1.5268751382827759, "z": 0.1427631676197052 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 10.339354515075684, "transform": { "location": { "x": 1186.6793212890625, "y": 4087.684326171875, "z": 365.2945556640625 }, "rotation": { "roll": -3.051950625376776e-05, "pitch": 0.9010111689567566, "yaw": -170.77220153808594 } }, "velocity": { "x": -10.204341888427734, "y": -1.6578336954116821, "z": 0.15887553989887238 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.268887519836426, "transform": { "location": { "x": 1148.92626953125, "y": 4081.5517578125, "z": 365.9029235839844 }, "rotation": { "roll": 0.0020069971214979887, "pitch": 0.9608504772186279, "yaw": -170.5768585205078 } }, "velocity": { "x": -8.158624649047852, "y": -1.3387513160705566, "z": 0.138178750872612 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.094176292419434, "transform": { "location": { "x": 1128.9197998046875, "y": 4078.295654296875, "z": 366.2570495605469 }, "rotation": { "roll": 0.0006310746539384127, "pitch": 1.0332231521606445, "yaw": -170.75035095214844 } }, "velocity": { "x": -7.987664699554443, "y": -1.3012962341308594, "z": 0.1397596150636673 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.32885563373565674, "expert_target_speed": 10.0, "target_point": [ 12.359941294012993, 0.6484758667106221 ], "target_point_next": [ 49.358072265935306, 1.0261012722153273 ] }, "290": { "acceleration": [ -0.2960968017578125, -0.024657249450683594, 0.004430413246154785 ], "angular_velocity": [ 0.06093244254589081, -0.3795747458934784, -0.103993721306324 ], "forward_vector": [ -0.9885183572769165, -0.14992791414260864, 0.018789615482091904 ], "right_vector": [ 0.14995555579662323, -0.9886927604675293, 6.230687722563744e-05 ], "location": [ 1165.8199462890625, 4084.95361328125, 365.6233825683594 ], "rotation": [ -0.003570551285520196, 1.0766290426254272, -171.37571716308594 ], "velocity": [ -11.193032264709473, -1.6964937448501587, 0.17926952242851257 ], "speed": 11.320868443063146, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 19.267215728759766, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1146.919921875, 4081.22314453125, 365.9369201660156 ], "velocity": [ -7.900184631347656, -1.296223759651184, 0.1338949352502823 ], "speed_kmh": 28.824973419450803, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 2.6881496906280518, "transform": { "location": { "x": 1120.0361328125, "y": 4079.993896484375, "z": 366.39678955078125 }, "rotation": { "roll": -0.005310060456395149, "pitch": -0.9667312502861023, "yaw": 9.492671966552734 } }, "velocity": { "x": 2.648592472076416, "y": 0.4565742015838623, "z": -0.0514371432363987 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035506248474121, "transform": { "location": { "x": 1168.18359375, "y": 4087.9189453125, "z": 365.6180114746094 }, "rotation": { "roll": 0.000871591386385262, "pitch": -0.9046584963798523, "yaw": 9.219439506530762 } }, "velocity": { "x": 7.930736541748047, "y": 1.287142276763916, "z": -0.12666736543178558 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.032862663269043, "transform": { "location": { "x": 1201.77978515625, "y": 4093.3818359375, "z": 365.0953369140625 }, "rotation": { "roll": -0.0013427734375, "pitch": -0.8498530983924866, "yaw": 9.229474067687988 } }, "velocity": { "x": 7.928006649017334, "y": 1.2881999015808105, "z": -0.11889045685529709 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.144948959350586, "transform": { "location": { "x": 1200.3834228515625, "y": 4089.912841796875, "z": 365.0847473144531 }, "rotation": { "roll": -0.0005798312486149371, "pitch": 1.0587544441223145, "yaw": -170.76332092285156 } }, "velocity": { "x": -10.012104034423828, "y": -1.6295324563980103, "z": 0.14961650967597961 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 10.969233512878418, "transform": { "location": { "x": 1184.0396728515625, "y": 4087.255615234375, "z": 365.3359375 }, "rotation": { "roll": -0.0008544869488105178, "pitch": 0.9039618372917175, "yaw": -170.76707458496094 } }, "velocity": { "x": -10.825831413269043, "y": -1.759684443473816, "z": 0.1702050119638443 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.006937026977539, "transform": { "location": { "x": 1146.919921875, "y": 4081.22314453125, "z": 365.9369201660156 }, "rotation": { "roll": 0.004828411620110273, "pitch": 0.958371102809906, "yaw": -170.53077697753906 } }, "velocity": { "x": -7.900184631347656, "y": -1.296223759651184, "z": 0.1338949352502823 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.919853210449219, "transform": { "location": { "x": 1126.942138671875, "y": 4077.9736328125, "z": 366.2923889160156 }, "rotation": { "roll": 0.0011716927401721478, "pitch": 0.9720041751861572, "yaw": -170.7333526611328 } }, "velocity": { "x": -7.815552234649658, "y": -1.2735860347747803, "z": 0.13856151700019836 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.3505702614784241, "expert_target_speed": 10.0, "target_point": [ 9.542576687521137, 0.6535908691468324 ], "target_point_next": [ 46.540534680974694, 1.0477997947759699 ] }, "295": { "acceleration": [ -1.0104751586914062, -0.13134479522705078, 0.019081830978393555 ], "angular_velocity": [ -0.0034516199957579374, -0.021790040656924248, -0.10470010340213776 ], "forward_vector": [ -0.9885990023612976, -0.14948156476020813, 0.018092837184667587 ], "right_vector": [ 0.14950716495513916, -0.9887606501579285, 6.337300146697089e-05 ], "location": [ 1162.9998779296875, 4084.52685546875, 365.6690979003906 ], "rotation": [ -0.0036316001787781715, 1.0366997718811035, -171.40170288085938 ], "velocity": [ -11.378410339355469, -1.7192797660827637, 0.18352563679218292 ], "speed": 11.507569020640851, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.41703987121582, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1144.9461669921875, 4080.899169921875, 365.9703369140625 ], "velocity": [ -7.919369220733643, -1.296877145767212, 0.1347423493862152 ], "speed_kmh": 28.89355036567163, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 3.5312607288360596, "transform": { "location": { "x": 1120.808837890625, "y": 4080.12646484375, "z": 366.382568359375 }, "rotation": { "roll": -0.006835950072854757, "pitch": -0.9826660752296448, "yaw": 9.601729393005371 } }, "velocity": { "x": 3.4792819023132324, "y": 0.6004557609558105, "z": -0.062061604112386703 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.034951210021973, "transform": { "location": { "x": 1170.1661376953125, "y": 4088.2412109375, "z": 365.5863952636719 }, "rotation": { "roll": -3.0519549909513444e-05, "pitch": -0.9055805802345276, "yaw": 9.248510360717773 } }, "velocity": { "x": 7.929537296295166, "y": 1.2910702228546143, "z": -0.1265692263841629 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.03587532043457, "transform": { "location": { "x": 1203.7608642578125, "y": 4093.703369140625, "z": 365.0656433105469 }, "rotation": { "roll": -0.0007934505701996386, "pitch": -0.8538213968276978, "yaw": 9.229435920715332 } }, "velocity": { "x": 7.930978298187256, "y": 1.288645625114441, "z": -0.11941974610090256 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.837809562683105, "transform": { "location": { "x": 1197.7769775390625, "y": 4089.48876953125, "z": 365.1236877441406 }, "rotation": { "roll": -0.0007019136101007462, "pitch": 1.1648545265197754, "yaw": -170.76231384277344 } }, "velocity": { "x": -10.696062088012695, "y": -1.7395267486572266, "z": 0.16251011192798615 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.075597763061523, "transform": { "location": { "x": 1181.3123779296875, "y": 4086.8125, "z": 365.3788146972656 }, "rotation": { "roll": -0.0008544906741008162, "pitch": 0.8914352655410767, "yaw": -170.76661682128906 } }, "velocity": { "x": -10.930807113647461, "y": -1.7768936157226562, "z": 0.17019782960414886 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.025986671447754, "transform": { "location": { "x": 1144.9461669921875, "y": 4080.899169921875, "z": 365.9703369140625 }, "rotation": { "roll": 0.0037211314775049686, "pitch": 0.9573397636413574, "yaw": -170.55348205566406 } }, "velocity": { "x": -7.919369220733643, "y": -1.296877145767212, "z": 0.1347423493862152 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.59995698928833, "transform": { "location": { "x": 1125.0284423828125, "y": 4077.662109375, "z": 366.3267517089844 }, "rotation": { "roll": -0.0003662111412268132, "pitch": 0.9371087551116943, "yaw": -170.76881408691406 } }, "velocity": { "x": -7.500218868255615, "y": -1.2198498249053955, "z": 0.13427194952964783 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.3530851900577545, "expert_target_speed": 10.0, "target_point": [ 43.687878795449954, 1.0685592782216267 ], "target_point_next": [ 43.687878795449954, 1.0685592782216267 ] }, "300": { "acceleration": [ 0.014362335205078125, 0.023963451385498047, 0.01816689968109131 ], "angular_velocity": [ 0.02388894557952881, -0.16800867021083832, -0.1053478866815567 ], "forward_vector": [ -0.9886694550514221, -0.14902812242507935, 0.017980201169848442 ], "right_vector": [ 0.1490536779165268, -0.9888290762901306, 8.20121422293596e-05 ], "location": [ 1160.1314697265625, 4084.09423828125, 365.7156677246094 ], "rotation": [ -0.0046997093595564365, 1.0302451848983765, -171.42799377441406 ], "velocity": [ -11.526687622070312, -1.7362619638442993, 0.18914437294006348 ], "speed": 11.656720514101785, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.520998001098633, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1142.9697265625, 4080.576171875, 366.0040588378906 ], "velocity": [ -7.8942131996154785, -1.2900242805480957, 0.13514377176761627 ], "speed_kmh": 28.800231417067998, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 4.316046714782715, "transform": { "location": { "x": 1121.7802734375, "y": 4080.293701171875, "z": 366.3653869628906 }, "rotation": { "roll": -0.008605966344475746, "pitch": -0.9864158630371094, "yaw": 9.691971778869629 } }, "velocity": { "x": 4.2522993087768555, "y": 0.7351876497268677, "z": -0.0755455493927002 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.036116600036621, "transform": { "location": { "x": 1172.148681640625, "y": 4088.563232421875, "z": 365.5548400878906 }, "rotation": { "roll": 0.0014856037450954318, "pitch": -0.9029167890548706, "yaw": 9.223121643066406 } }, "velocity": { "x": 7.9311676025390625, "y": 1.2882272005081177, "z": -0.1273268163204193 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.024679183959961, "transform": { "location": { "x": 1205.741943359375, "y": 4094.025146484375, "z": 365.035888671875 }, "rotation": { "roll": 0.00046291641774587333, "pitch": -0.8511371612548828, "yaw": 9.232905387878418 } }, "velocity": { "x": 7.919830799102783, "y": 1.2874763011932373, "z": -0.1189769059419632 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.746899604797363, "transform": { "location": { "x": 1195.1072998046875, "y": 4089.054931640625, "z": 365.1651611328125 }, "rotation": { "roll": 0.0014884808333590627, "pitch": 0.9851318001747131, "yaw": -170.77151489257812 } }, "velocity": { "x": -10.606574058532715, "y": -1.7233946323394775, "z": 0.16235877573490143 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.131477355957031, "transform": { "location": { "x": 1178.57666015625, "y": 4086.367431640625, "z": 365.4217224121094 }, "rotation": { "roll": 0.00041638530092313886, "pitch": 0.8932042717933655, "yaw": -170.76356506347656 } }, "velocity": { "x": -10.98581600189209, "y": -1.7865056991577148, "z": 0.17330302298069 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.0000638961792, "transform": { "location": { "x": 1142.9697265625, "y": 4080.576171875, "z": 366.0040588378906 }, "rotation": { "roll": 0.0032308262307196856, "pitch": 0.9674074649810791, "yaw": -170.55075073242188 } }, "velocity": { "x": -7.8942131996154785, "y": -1.2900242805480957, "z": 0.13514377176761627 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.298627853393555, "transform": { "location": { "x": 1123.193359375, "y": 4077.36376953125, "z": 366.359375 }, "rotation": { "roll": 0.0007439907640218735, "pitch": 0.941664457321167, "yaw": -170.74465942382812 } }, "velocity": { "x": -7.202737808227539, "y": -1.1722660064697266, "z": 0.12778861820697784 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.37664055824279785, "expert_target_speed": 10.0, "target_point": [ 40.78653533034641, 1.0883571990168628 ], "target_point_next": [ 40.78653533034641, 1.0883571990168628 ] }, "305": { "acceleration": [ 0.3505516052246094, 0.0770878791809082, -0.0017789006233215332 ], "angular_velocity": [ 0.00014036237553227693, -0.25475749373435974, -0.10465835779905319 ], "forward_vector": [ -0.98875892162323, -0.1485787332057953, 0.01673608087003231 ], "right_vector": [ 0.14860069751739502, -0.9888972640037537, 6.976502481848001e-05 ], "location": [ 1157.2608642578125, 4083.662841796875, 365.7629699707031 ], "rotation": [ -0.003997801337391138, 0.9589516520500183, -171.4542236328125 ], "velocity": [ -11.42949390411377, -1.7163761854171753, 0.1891181319952011 ], "speed": 11.557650198636443, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.63193702697754, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1140.98486328125, 4080.25146484375, 366.0379943847656 ], "velocity": [ -7.973738670349121, -1.3012665510177612, 0.1357979029417038 ], "speed_kmh": 29.089301872162476, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 5.126219272613525, "transform": { "location": { "x": 1122.9453125, "y": 4080.494384765625, "z": 366.34478759765625 }, "rotation": { "roll": -0.010009765625, "pitch": -0.9868393540382385, "yaw": 9.756834030151367 } }, "velocity": { "x": 5.050353050231934, "y": 0.8744772672653198, "z": -0.08573193103075027 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035054206848145, "transform": { "location": { "x": 1174.13134765625, "y": 4088.885498046875, "z": 365.5233459472656 }, "rotation": { "roll": -0.0012207061517983675, "pitch": -0.8982176184654236, "yaw": 9.254234313964844 } }, "velocity": { "x": 7.929430961608887, "y": 1.2923885583877563, "z": -0.1263505071401596 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.054433822631836, "transform": { "location": { "x": 1207.7264404296875, "y": 4094.3486328125, "z": 365.00634765625 }, "rotation": { "roll": -0.00027465791208669543, "pitch": -0.8413699865341187, "yaw": 9.237383842468262 } }, "velocity": { "x": 7.949110984802246, "y": 1.2929458618164062, "z": -0.11757995188236237 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.735312461853027, "transform": { "location": { "x": 1192.467041015625, "y": 4088.62548828125, "z": 365.2059631347656 }, "rotation": { "roll": -0.001464839093387127, "pitch": 0.9078481793403625, "yaw": -170.7603759765625 } }, "velocity": { "x": -10.594836235046387, "y": -1.7234240770339966, "z": 0.16182030737400055 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.265817642211914, "transform": { "location": { "x": 1175.808837890625, "y": 4085.91748046875, "z": 365.4654846191406 }, "rotation": { "roll": 0.00023512361804023385, "pitch": 0.9008063077926636, "yaw": -170.75906372070312 } }, "velocity": { "x": -11.118305206298828, "y": -1.8086483478546143, "z": 0.17531521618366241 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.080361366271973, "transform": { "location": { "x": 1140.98486328125, "y": 4080.25146484375, "z": 366.0379943847656 }, "rotation": { "roll": 0.0030820555984973907, "pitch": 0.9750846028327942, "yaw": -170.58436584472656 } }, "velocity": { "x": -7.973738670349121, "y": -1.3012665510177612, "z": 0.1357979029417038 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.0632100105285645, "transform": { "location": { "x": 1121.4237060546875, "y": 4077.075439453125, "z": 366.39056396484375 }, "rotation": { "roll": 1.3155305168766063e-05, "pitch": 0.9622642993927002, "yaw": -170.77296447753906 } }, "velocity": { "x": -6.970470905303955, "y": -1.1340116262435913, "z": 0.1244705393910408 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.39630359411239624, "expert_target_speed": 10.0, "target_point": [ 37.883193084829664, 1.1069910841552373 ], "target_point_next": [ 37.883193084829664, 1.1069910841552373 ] }, "310": { "acceleration": [ 0.4408073425292969, 0.0889134407043457, -0.007217526435852051 ], "angular_velocity": [ 0.004505576565861702, 0.044546306133270264, -0.10798999667167664 ], "forward_vector": [ -0.9888367056846619, -0.14811697602272034, 0.016227247193455696 ], "right_vector": [ 0.1481374353170395, -0.9889668226242065, 5.9647249145200476e-05 ], "location": [ 1154.4195556640625, 4083.23681640625, 365.80999755859375 ], "rotation": [ -0.0034179857466369867, 0.9297935962677002, -171.48104858398438 ], "velocity": [ -11.321938514709473, -1.6948614120483398, 0.18888606131076813 ], "speed": 11.448093593996873, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.770607948303223, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1139.002197265625, 4079.927978515625, 366.0721130371094 ], "velocity": [ -7.890891075134277, -1.2859236001968384, 0.13565005362033844 ], "speed_kmh": 28.786083178036318, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 5.668732166290283, "transform": { "location": { "x": 1124.262451171875, "y": 4080.722412109375, "z": 366.3215026855469 }, "rotation": { "roll": -0.00982667040079832, "pitch": -0.9912721514701843, "yaw": 9.799055099487305 } }, "velocity": { "x": 5.584738254547119, "y": 0.967176616191864, "z": -0.09894940257072449 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035325050354004, "transform": { "location": { "x": 1176.11376953125, "y": 4089.2080078125, "z": 365.491943359375 }, "rotation": { "roll": -0.0005187980132177472, "pitch": -0.8988938331604004, "yaw": 9.230573654174805 } }, "velocity": { "x": 7.929982662200928, "y": 1.2906144857406616, "z": -0.12703509628772736 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.012687683105469, "transform": { "location": { "x": 1209.707763671875, "y": 4094.6708984375, "z": 364.97705078125 }, "rotation": { "roll": 0.0002449721214361489, "pitch": -0.831848680973053, "yaw": 9.237975120544434 } }, "velocity": { "x": 7.907939910888672, "y": 1.2861908674240112, "z": -0.11561907827854156 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.881834983825684, "transform": { "location": { "x": 1189.7938232421875, "y": 4088.19091796875, "z": 365.2469177246094 }, "rotation": { "roll": -0.000305178138660267, "pitch": 0.9367740750312805, "yaw": -170.76516723632812 } }, "velocity": { "x": -10.739555358886719, "y": -1.7461674213409424, "z": 0.16485589742660522 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.13614273071289, "transform": { "location": { "x": 1173.042724609375, "y": 4085.4677734375, "z": 365.5094909667969 }, "rotation": { "roll": 0.0005326065584085882, "pitch": 0.8972477316856384, "yaw": -170.7660369873047 } }, "velocity": { "x": -10.99050521850586, "y": -1.7866352796554565, "z": 0.1743846982717514 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.996134281158447, "transform": { "location": { "x": 1139.002197265625, "y": 4079.927978515625, "z": 366.0721130371094 }, "rotation": { "roll": 0.002596400212496519, "pitch": 0.97364342212677, "yaw": -170.58523559570312 } }, "velocity": { "x": -7.890891075134277, "y": -1.2859236001968384, "z": 0.13565005362033844 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.834230899810791, "transform": { "location": { "x": 1119.7099609375, "y": 4076.797119140625, "z": 366.42095947265625 }, "rotation": { "roll": 0.0004070943396072835, "pitch": 0.9652354717254639, "yaw": -170.74856567382812 } }, "velocity": { "x": -6.744544506072998, "y": -1.0969945192337036, "z": 0.120157890021801 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.41397160291671753, "expert_target_speed": 10.0, "target_point": [ 35.00960044740415, 1.1243059635311319 ], "target_point_next": [ 35.00960044740415, 1.1243059635311319 ] }, "315": { "acceleration": [ -0.06011962890625, 0.014040470123291016, 0.014968812465667725 ], "angular_velocity": [ 0.03401825204491615, 0.08629120141267776, -0.10608725994825363 ], "forward_vector": [ -0.9889006614685059, -0.14766158163547516, 0.016478627920150757 ], "right_vector": [ 0.14768283069133759, -0.9890347719192505, 7.296085095731542e-05 ], "location": [ 1151.5933837890625, 4082.81396484375, 365.85699462890625 ], "rotation": [ -0.0041809165850281715, 0.944198489189148, -171.5074005126953 ], "velocity": [ -11.291410446166992, -1.6848063468933105, 0.18953394889831543 ], "speed": 11.416414598740756, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 14.923745155334473, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1137.020751953125, 4079.60546875, 366.1062316894531 ], "velocity": [ -7.960659503936768, -1.296465277671814, 0.13884606957435608 ], "speed_kmh": 29.04024301544037, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 6.429793357849121, "transform": { "location": { "x": 1125.752197265625, "y": 4080.977783203125, "z": 366.2949523925781 }, "rotation": { "roll": -0.008544925600290298, "pitch": -0.986327052116394, "yaw": 9.685018539428711 } }, "velocity": { "x": 6.339150905609131, "y": 1.0700081586837769, "z": -0.11177869886159897 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.036506652832031, "transform": { "location": { "x": 1178.0965576171875, "y": 4089.530029296875, "z": 365.4606018066406 }, "rotation": { "roll": -6.103224586695433e-05, "pitch": -0.8950142860412598, "yaw": 9.255949974060059 } }, "velocity": { "x": 7.9311747550964355, "y": 1.2908450365066528, "z": -0.1249803975224495 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.055912017822266, "transform": { "location": { "x": 1211.6903076171875, "y": 4094.992919921875, "z": 364.9480285644531 }, "rotation": { "roll": 0.00012793944915756583, "pitch": -0.831848680973053, "yaw": 9.234128952026367 } }, "velocity": { "x": 7.950697422027588, "y": 1.2925443649291992, "z": -0.11597289890050888 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.698993682861328, "transform": { "location": { "x": 1187.12890625, "y": 4087.7578125, "z": 365.28839111328125 }, "rotation": { "roll": 0.0008044500136747956, "pitch": 0.8816953897476196, "yaw": -170.7676239013672 } }, "velocity": { "x": -10.559331893920898, "y": -1.715119481086731, "z": 0.165348082780838 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.029886245727539, "transform": { "location": { "x": 1170.310791015625, "y": 4085.0234375, "z": 365.55291748046875 }, "rotation": { "roll": -9.154518193099648e-05, "pitch": 0.9009155631065369, "yaw": -170.75860595703125 } }, "velocity": { "x": -10.885371208190918, "y": -1.7710787057876587, "z": 0.17423568665981293 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.066734313964844, "transform": { "location": { "x": 1137.020751953125, "y": 4079.60546875, "z": 366.1062316894531 }, "rotation": { "roll": 0.002758519258350134, "pitch": 0.9799066781997681, "yaw": -170.60707092285156 } }, "velocity": { "x": -7.960659503936768, "y": -1.296465277671814, "z": 0.13884606957435608 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.588104724884033, "transform": { "location": { "x": 1118.0555419921875, "y": 4076.52734375, "z": 366.45037841796875 }, "rotation": { "roll": -0.000457773101516068, "pitch": 0.9558234214782715, "yaw": -170.77528381347656 } }, "velocity": { "x": -6.501642227172852, "y": -1.0576268434524536, "z": 0.11487586796283722 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.44057661294937134, "expert_target_speed": 10.0, "target_point": [ 32.15144976518271, 1.1395577273472624 ], "target_point_next": [ 32.15144976518271, 1.1395577273472624 ] }, "320": { "acceleration": [ 0.2567481994628906, 0.05926847457885742, -0.018973350524902344 ], "angular_velocity": [ 0.01023778598755598, 0.043772079050540924, -0.10400035977363586 ], "forward_vector": [ -0.9889646768569946, -0.14720813930034637, 0.01669210009276867 ], "right_vector": [ 0.14723043143749237, -0.9891022443771362, 0.0001081094378605485 ], "location": [ 1148.7747802734375, 4082.39404296875, 365.9041442871094 ], "rotation": [ -0.006195077672600746, 0.9564313292503357, -171.5336456298828 ], "velocity": [ -11.260194778442383, -1.6748270988464355, 0.18906328082084656 ], "speed": 11.384069231144524, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 14.085396766662598, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1135.0391845703125, 4079.283447265625, 366.1407470703125 ], "velocity": [ -7.893218994140625, -1.2835171222686768, 0.13763931393623352 ], "speed_kmh": 28.79308421615764, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 7.58378267288208, "transform": { "location": { "x": 1127.494384765625, "y": 4081.271484375, "z": 366.2639465332031 }, "rotation": { "roll": -0.005645753815770149, "pitch": -0.9744561910629272, "yaw": 9.564529418945312 } }, "velocity": { "x": 7.478217601776123, "y": 1.254058837890625, "z": -0.13174645602703094 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035299301147461, "transform": { "location": { "x": 1180.0789794921875, "y": 4089.852294921875, "z": 365.429443359375 }, "rotation": { "roll": -0.0008850094745866954, "pitch": -0.8890925049781799, "yaw": 9.22702407836914 } }, "velocity": { "x": 7.930551052093506, "y": 1.28736412525177, "z": -0.12287579476833344 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.016402244567871, "transform": { "location": { "x": 1213.673095703125, "y": 4095.3154296875, "z": 364.9189758300781 }, "rotation": { "roll": 0.00034049159148707986, "pitch": -0.8333718180656433, "yaw": 9.237449645996094 } }, "velocity": { "x": 7.911623477935791, "y": 1.2867076396942139, "z": -0.11538458615541458 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.568781852722168, "transform": { "location": { "x": 1184.5101318359375, "y": 4087.33203125, "z": 365.32958984375 }, "rotation": { "roll": -0.0009460392175242305, "pitch": 0.8527422547340393, "yaw": -170.7702178955078 } }, "velocity": { "x": -10.430682182312012, "y": -1.6949595212936401, "z": 0.16474400460720062 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 10.978704452514648, "transform": { "location": { "x": 1167.5972900390625, "y": 4084.581787109375, "z": 365.59625244140625 }, "rotation": { "roll": -0.0006713963230140507, "pitch": 0.9034973978996277, "yaw": -170.75860595703125 } }, "velocity": { "x": -10.835005760192871, "y": -1.761929988861084, "z": 0.17382436990737915 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.9980788230896, "transform": { "location": { "x": 1135.0391845703125, "y": 4079.283447265625, "z": 366.1407470703125 }, "rotation": { "roll": 0.0031860489398241043, "pitch": 0.9872081875801086, "yaw": -170.59898376464844 } }, "velocity": { "x": -7.893218994140625, "y": -1.2835171222686768, "z": 0.13763931393623352 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.353103160858154, "transform": { "location": { "x": 1116.4608154296875, "y": 4076.26806640625, "z": 366.4785461425781 }, "rotation": { "roll": 0.0012234009336680174, "pitch": 0.9557346701622009, "yaw": -170.742431640625 } }, "velocity": { "x": -6.269631862640381, "y": -1.020418405532837, "z": 0.11127915978431702 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.46745818853378296, "expert_target_speed": 10.0, "target_point": [ 29.301211927526708, 1.153923689581597 ], "target_point_next": [ 29.301211927526708, 1.153923689581597 ] }, "325": { "acceleration": [ -1.1808586120605469, -0.15416383743286133, 0.031811296939849854 ], "angular_velocity": [ -0.09255752712488174, 0.32973459362983704, -0.1036846935749054 ], "forward_vector": [ -0.989016592502594, -0.14675408601760864, 0.017592476680874825 ], "right_vector": [ 0.14677879214286804, -0.9891693592071533, 0.00011449831799836829 ], "location": [ 1145.9473876953125, 4081.974365234375, 365.95159912109375 ], "rotation": [ -0.006561285350471735, 1.0080265998840332, -171.559814453125 ], "velocity": [ -11.405256271362305, -1.691121220588684, 0.19163623452186584 ], "speed": 11.529950632946115, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 13.239933967590332, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1133.056884765625, 4078.9609375, 366.17529296875 ], "velocity": [ -7.963267803192139, -1.296384572982788, 0.13884209096431732 ], "speed_kmh": 29.04946253438631, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.249363899230957, "transform": { "location": { "x": 1129.462158203125, "y": 4081.60107421875, "z": 366.2292175292969 }, "rotation": { "roll": -0.00384522695094347, "pitch": -0.981839656829834, "yaw": 9.507448196411133 } }, "velocity": { "x": 8.135054588317871, "y": 1.361104130744934, "z": -0.1424027681350708 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035335540771484, "transform": { "location": { "x": 1182.0615234375, "y": 4090.174560546875, "z": 365.39837646484375 }, "rotation": { "roll": -0.0008850098238326609, "pitch": -0.8901375532150269, "yaw": 9.245293617248535 } }, "velocity": { "x": 7.930300235748291, "y": 1.289075255393982, "z": -0.12342526763677597 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 1215.671630859375, "y": 4095.626708984375, "z": 364.88507080078125 }, "rotation": { "roll": 0.0, "pitch": -0.8204354643821716, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.581705093383789, "transform": { "location": { "x": 1181.9022216796875, "y": 4086.908447265625, "z": 365.3704528808594 }, "rotation": { "roll": -0.0005493161734193563, "pitch": 0.8899189829826355, "yaw": -170.7669219970703 } }, "velocity": { "x": -10.443378448486328, "y": -1.6975373029708862, "z": 0.16342084109783173 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.008865356445312, "transform": { "location": { "x": 1164.8857421875, "y": 4084.140869140625, "z": 365.6399230957031 }, "rotation": { "roll": -0.00027466367464512587, "pitch": 0.9198215007781982, "yaw": -170.76792907714844 } }, "velocity": { "x": -10.86490535736084, "y": -1.7658970355987549, "z": 0.17477445304393768 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 8.069294929504395, "transform": { "location": { "x": 1133.056884765625, "y": 4078.9609375, "z": 366.17529296875 }, "rotation": { "roll": 0.0017463937401771545, "pitch": 0.988519549369812, "yaw": -170.61790466308594 } }, "velocity": { "x": -7.963267803192139, "y": -1.296384572982788, "z": 0.13884209096431732 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.138781547546387, "transform": { "location": { "x": 1114.9210205078125, "y": 4076.017333984375, "z": 366.50579833984375 }, "rotation": { "roll": -0.00024414029030594975, "pitch": 0.9622233510017395, "yaw": -170.77272033691406 } }, "velocity": { "x": -6.058203220367432, "y": -0.9855780601501465, "z": 0.10699126869440079 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.4845659136772156, "expert_target_speed": 10.0, "target_point": [ 26.44231245765855, 1.1671587809713766 ], "target_point_next": [ 26.44231245765855, 1.1671587809713766 ] }, "330": { "acceleration": [ 1.3399505615234375, 0.21753549575805664, -0.006630420684814453 ], "angular_velocity": [ 0.03814755007624626, -0.4489935040473938, -0.10439518839120865 ], "forward_vector": [ -0.9890902042388916, -0.14630059897899628, 0.01722441241145134 ], "right_vector": [ 0.14632447063922882, -0.9892366528511047, 0.0001267476473003626 ], "location": [ 1143.09423828125, 4081.5517578125, 365.99993896484375 ], "rotation": [ -0.007263182196766138, 0.9869349598884583, -171.5861358642578 ], "velocity": [ -11.3173189163208, -1.6728298664093018, 0.19280965626239777 ], "speed": 11.440282654535402, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 12.35838508605957, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1131.0855712890625, 4078.64013671875, 366.2098693847656 ], "velocity": [ -7.73593807220459, -1.2593520879745483, 0.13635410368442535 ], "speed_kmh": 28.22025694109822, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.217707633972168, "transform": { "location": { "x": 1131.5015869140625, "y": 4081.9404296875, "z": 366.1936340332031 }, "rotation": { "roll": -0.002197266323491931, "pitch": -0.9883692860603333, "yaw": 9.4187593460083 } }, "velocity": { "x": 8.10662841796875, "y": 1.3390597105026245, "z": -0.1421658992767334 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.03622817993164, "transform": { "location": { "x": 1184.0443115234375, "y": 4090.4970703125, "z": 365.3673400878906 }, "rotation": { "roll": -0.0015869095223024487, "pitch": -0.8895843029022217, "yaw": 9.224925994873047 } }, "velocity": { "x": 7.931033611297607, "y": 1.2901272773742676, "z": -0.12346972525119781 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 1217.737060546875, "y": 4095.893310546875, "z": 364.8319396972656 }, "rotation": { "roll": 0.0, "pitch": -0.8204354643821716, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.659547805786133, "transform": { "location": { "x": 1179.282470703125, "y": 4086.482421875, "z": 365.4113464355469 }, "rotation": { "roll": -0.0005493141943588853, "pitch": 0.9209690093994141, "yaw": -170.76760864257812 } }, "velocity": { "x": -10.520191192626953, "y": -1.7100168466567993, "z": 0.16545072197914124 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.127279281616211, "transform": { "location": { "x": 1162.155517578125, "y": 4083.697509765625, "z": 365.68414306640625 }, "rotation": { "roll": -0.00015259170322678983, "pitch": 0.9206889867782593, "yaw": -170.7743682861328 } }, "velocity": { "x": -10.981913566589355, "y": -1.783927321434021, "z": 0.17756925523281097 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.83896017074585, "transform": { "location": { "x": 1131.0855712890625, "y": 4078.64013671875, "z": 366.2098693847656 }, "rotation": { "roll": 0.002593712182715535, "pitch": 0.9914633631706238, "yaw": -170.59884643554688 } }, "velocity": { "x": -7.73593807220459, "y": -1.2593520879745483, "z": 0.13635410368442535 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.9285383224487305, "transform": { "location": { "x": 1113.4334716796875, "y": 4075.77587890625, "z": 366.5320739746094 }, "rotation": { "roll": -0.00018310025916434824, "pitch": 0.962940514087677, "yaw": -170.74530029296875 } }, "velocity": { "x": -5.850470542907715, "y": -0.953359067440033, "z": 0.10328561812639236 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.5073732733726501, "expert_target_speed": 9.786007647108047, "target_point": [ 23.557495381192155, 1.1787342569291908 ], "target_point_next": [ 23.557495381192155, 1.1787342569291908 ] }, "335": { "acceleration": [ 1.7693138122558594, 0.28323888778686523, -0.03424227237701416 ], "angular_velocity": [ 0.03040868416428566, -0.3721136450767517, -0.10355244576931 ], "forward_vector": [ -0.9891804456710815, -0.1458503156900406, 0.015801485627889633 ], "right_vector": [ 0.14587067067623138, -0.989303708076477, 0.00013740197755396366 ], "location": [ 1140.3033447265625, 4081.139892578125, 366.0480041503906 ], "rotation": [ -0.007873536087572575, 0.9053961634635925, -171.6124267578125 ], "velocity": [ -10.992603302001953, -1.6196094751358032, 0.18849939107894897 ], "speed": 11.111276353647852, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 11.483355522155762, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1129.171142578125, 4078.32861328125, 366.2435607910156 ], "velocity": [ -7.644681930541992, -1.2449555397033691, 0.13532212376594543 ], "speed_kmh": 27.887661626077104, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.037833213806152, "transform": { "location": { "x": 1133.501953125, "y": 4082.2705078125, "z": 366.15863037109375 }, "rotation": { "roll": -0.00033569641527719796, "pitch": -0.9890113472938538, "yaw": 9.356439590454102 } }, "velocity": { "x": 7.930003643035889, "y": 1.3048843145370483, "z": -0.13814304769039154 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.034612655639648, "transform": { "location": { "x": 1186.02685546875, "y": 4090.819091796875, "z": 365.3362731933594 }, "rotation": { "roll": -0.0011901839170604944, "pitch": -0.8901990056037903, "yaw": 9.255356788635254 } }, "velocity": { "x": 7.929351806640625, "y": 1.2904820442199707, "z": -0.12263064086437225 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5577, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 0.0, "transform": { "location": { "x": 1219.795166015625, "y": 4096.212890625, "z": 364.79693603515625 }, "rotation": { "roll": 0.0, "pitch": -0.8204354643821716, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.755753517150879, "transform": { "location": { "x": 1176.63720703125, "y": 4086.052490234375, "z": 365.453125 }, "rotation": { "roll": -0.001678471453487873, "pitch": 0.9541295766830444, "yaw": -170.76751708984375 } }, "velocity": { "x": -10.615155220031738, "y": -1.7253679037094116, "z": 0.16676446795463562 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 11.035106658935547, "transform": { "location": { "x": 1159.4139404296875, "y": 4083.251708984375, "z": 365.7289123535156 }, "rotation": { "roll": -0.0001525987172499299, "pitch": 0.9285231828689575, "yaw": -170.7724151611328 } }, "velocity": { "x": -10.890860557556152, "y": -1.7694920301437378, "z": 0.17783533036708832 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.746572494506836, "transform": { "location": { "x": 1129.171142578125, "y": 4078.32861328125, "z": 366.2435607910156 }, "rotation": { "roll": 0.0018791676266118884, "pitch": 0.9983755350112915, "yaw": -170.61329650878906 } }, "velocity": { "x": -7.644681930541992, "y": -1.2449555397033691, "z": 0.13532212376594543 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.719491481781006, "transform": { "location": { "x": 1111.9979248046875, "y": 4075.541748046875, "z": 366.5574035644531 }, "rotation": { "roll": 0.0006780981784686446, "pitch": 0.9602084159851074, "yaw": -170.77467346191406 } }, "velocity": { "x": -5.644620895385742, "y": -0.9170295000076294, "z": 0.09947511553764343 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.5657913684844971, "expert_target_speed": 9.391469627130508, "target_point": [ 20.73583190908912, 1.1891842435641307 ], "target_point_next": [ 20.73583190908912, 1.1891842435641307 ] }, "340": { "acceleration": [ 12.862739562988281, 1.9088101387023926, -0.20704776048660278 ], "angular_velocity": [ 0.39919334650039673, -2.5859458446502686, -0.10456380248069763 ], "forward_vector": [ -0.9893044829368591, -0.1454186737537384, 0.011406054720282555 ], "right_vector": [ 0.1454298198223114, -0.9893685579299927, 0.00014965991431381553 ], "location": [ 1137.682373046875, 4080.75439453125, 366.0940246582031 ], "rotation": [ -0.008575439453125, 0.6535329818725586, -171.63792419433594 ], "velocity": [ -9.674360275268555, -1.4208614826202393, 0.16703924536705017 ], "speed": 9.778143693385164, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 10.701135635375977, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1127.3355712890625, 4078.029541015625, 366.2761535644531 ], "velocity": [ -6.999000072479248, -1.142276406288147, 0.12388408184051514 ], "speed_kmh": 25.533656904286953, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.074325561523438, "transform": { "location": { "x": 1135.4871826171875, "y": 4082.59716796875, "z": 366.1240539550781 }, "rotation": { "roll": -0.0018005416495725513, "pitch": -0.9859309196472168, "yaw": 9.328551292419434 } }, "velocity": { "x": 7.9668121337890625, "y": 1.3059577941894531, "z": -0.1382368803024292 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035406112670898, "transform": { "location": { "x": 1188.00927734375, "y": 4091.141845703125, "z": 365.305419921875 }, "rotation": { "roll": 0.0006304062553681433, "pitch": -0.8810465335845947, "yaw": 9.224782943725586 } }, "velocity": { "x": 7.930566787719727, "y": 1.2878670692443848, "z": -0.12351145595312119 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 10.534110069274902, "transform": { "location": { "x": 1174.0032958984375, "y": 4085.6240234375, "z": 365.4949645996094 }, "rotation": { "roll": -0.0009765648283064365, "pitch": 0.8780549168586731, "yaw": -170.76307678222656 } }, "velocity": { "x": -10.396242141723633, "y": -1.6906341314315796, "z": 0.16550326347351074 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 10.465433120727539, "transform": { "location": { "x": 1156.750732421875, "y": 4082.8193359375, "z": 365.7727355957031 }, "rotation": { "roll": -0.0003967358497902751, "pitch": 0.9214539527893066, "yaw": -170.769775390625 } }, "velocity": { "x": -10.328435897827148, "y": -1.679182529449463, "z": 0.1704108566045761 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.092682361602783, "transform": { "location": { "x": 1127.3355712890625, "y": 4078.029541015625, "z": 366.2761535644531 }, "rotation": { "roll": 0.00219876691699028, "pitch": 0.9876521229743958, "yaw": -170.5730438232422 } }, "velocity": { "x": -6.999000072479248, "y": -1.142276406288147, "z": 0.12388408184051514 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.5210089683532715, "transform": { "location": { "x": 1110.6124267578125, "y": 4075.31689453125, "z": 366.5818176269531 }, "rotation": { "roll": 0.0013661765260621905, "pitch": 0.9607958197593689, "yaw": -170.74810791015625 } }, "velocity": { "x": -5.448578357696533, "y": -0.8861300349235535, "z": 0.0964798554778099 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.6396682262420654, "expert_target_speed": 0, "target_point": [ 18.086130887760973, 1.1981734569618734 ], "target_point_next": [ 18.086130887760973, 1.1981734569618734 ] }, "345": { "acceleration": [ 5.98301887512207, 0.8879733085632324, -0.10848075151443481 ], "angular_velocity": [ -0.018523024395108223, -0.1067364290356636, -0.07243694365024567 ], "forward_vector": [ -0.9894140958786011, -0.1450367122888565, 0.004903892520815134 ], "right_vector": [ 0.14503927528858185, -0.9894258975982666, 0.00016830967797432095 ], "location": [ 1135.552734375, 4080.44189453125, 366.1322326660156 ], "rotation": [ -0.009643550030887127, 0.2809734642505646, -171.66049194335938 ], "velocity": [ -7.676390647888184, -1.124004602432251, 0.1330021619796753 ], "speed": 7.758244629120305, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 10.348200798034668, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1125.564697265625, 4077.7412109375, 366.307373046875 ], "velocity": [ -7.257230758666992, -1.1799427270889282, 0.12870968878269196 ], "speed_kmh": 26.473154927743238, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.0691556930542, "transform": { "location": { "x": 1137.47900390625, "y": 4082.923095703125, "z": 366.0894470214844 }, "rotation": { "roll": -0.0013427733210846782, "pitch": -0.9747021198272705, "yaw": 9.292662620544434 } }, "velocity": { "x": 7.962189197540283, "y": 1.3022489547729492, "z": -0.13769277930259705 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035197257995605, "transform": { "location": { "x": 1189.9921875, "y": 4091.463623046875, "z": 365.2747497558594 }, "rotation": { "roll": -0.0008850051090121269, "pitch": -0.8705143928527832, "yaw": 9.248541831970215 } }, "velocity": { "x": 7.930115222930908, "y": 1.2893425226211548, "z": -0.12352172285318375 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 9.268742561340332, "transform": { "location": { "x": 1171.505859375, "y": 4085.218017578125, "z": 365.5358581542969 }, "rotation": { "roll": 0.0003559298056643456, "pitch": 0.6011863946914673, "yaw": -170.765625 } }, "velocity": { "x": -9.147684097290039, "y": -1.4860081672668457, "z": 0.1457359343767166 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 9.212203979492188, "transform": { "location": { "x": 1154.3214111328125, "y": 4082.42431640625, "z": 365.8131103515625 }, "rotation": { "roll": -0.0014648416545242071, "pitch": 0.9139134287834167, "yaw": -170.76187133789062 } }, "velocity": { "x": -9.091325759887695, "y": -1.4797524213790894, "z": 0.1510964184999466 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 7.353653907775879, "transform": { "location": { "x": 1125.564697265625, "y": 4077.7412109375, "z": 366.307373046875 }, "rotation": { "roll": 0.003311342326924205, "pitch": 1.0039626359939575, "yaw": -170.5699005126953 } }, "velocity": { "x": -7.257230758666992, "y": -1.1799427270889282, "z": 0.12870968878269196 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.33018684387207, "transform": { "location": { "x": 1109.27490234375, "y": 4075.099365234375, "z": 366.6053466796875 }, "rotation": { "roll": 0.0011858989018946886, "pitch": 0.9630088210105896, "yaw": -170.78004455566406 } }, "velocity": { "x": -5.260522365570068, "y": -0.8538320064544678, "z": 0.09363851696252823 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.8315685391426086, "expert_target_speed": 0, "target_point": [ 15.933213133559942, 1.2049814891212436 ], "target_point_next": [ 15.933213133559942, 1.2049814891212436 ] }, "350": { "acceleration": [ 9.202537536621094, 1.355268955230713, -0.1654815673828125 ], "angular_velocity": [ 0.08808515965938568, -0.5078069567680359, -0.08979932963848114 ], "forward_vector": [ -0.9894528388977051, -0.1447245478630066, 0.006146987900137901 ], "right_vector": [ 0.14472851157188416, -0.9894713759422302, 0.00019973331654909998 ], "location": [ 1133.8145751953125, 4080.1875, 366.1622314453125 ], "rotation": [ -0.011444091796875, 0.35219869017601013, -171.6785125732422 ], "velocity": [ -6.245067596435547, -0.912024199962616, 0.10916696488857269 ], "speed": 6.311311862470964, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 10.382540702819824, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1123.7999267578125, 4077.453857421875, 366.3387756347656 ], "velocity": [ -6.613528728485107, -1.0813060998916626, 0.11719276010990143 ], "speed_kmh": 24.128520089360865, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.103174209594727, "transform": { "location": { "x": 1139.4744873046875, "y": 4083.2490234375, "z": 366.0551452636719 }, "rotation": { "roll": -0.0005798289785161614, "pitch": -0.9717651009559631, "yaw": 9.272916793823242 } }, "velocity": { "x": 7.996158123016357, "y": 1.305324673652649, "z": -0.13787265121936798 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035361289978027, "transform": { "location": { "x": 1191.9744873046875, "y": 4091.7861328125, "z": 365.24432373046875 }, "rotation": { "roll": 0.00046415955876000226, "pitch": -0.8703914284706116, "yaw": 9.22797966003418 } }, "velocity": { "x": 7.930142879486084, "y": 1.2902894020080566, "z": -0.12255290895700455 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.925067901611328, "transform": { "location": { "x": 1169.41064453125, "y": 4084.87744140625, "z": 365.570068359375 }, "rotation": { "roll": -0.001464839675463736, "pitch": 0.3728395104408264, "yaw": -170.76219177246094 } }, "velocity": { "x": -7.821309566497803, "y": -1.2720545530319214, "z": 0.12526731193065643 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.051556587219238, "transform": { "location": { "x": 1152.219482421875, "y": 4082.08203125, "z": 365.8480529785156 }, "rotation": { "roll": -0.0013732848456129432, "pitch": 0.9194595217704773, "yaw": -170.7602996826172 } }, "velocity": { "x": -7.946161270141602, "y": -1.2916069030761719, "z": 0.13355766236782074 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 6.702366828918457, "transform": { "location": { "x": 1123.7999267578125, "y": 4077.453857421875, "z": 366.3387756347656 }, "rotation": { "roll": 0.0033652030397206545, "pitch": 0.9956844449043274, "yaw": -170.54380798339844 } }, "velocity": { "x": -6.613528728485107, "y": -1.0813060998916626, "z": 0.11719276010990143 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.150044918060303, "transform": { "location": { "x": 1107.98291015625, "y": 4074.8896484375, "z": 366.6280517578125 }, "rotation": { "roll": 0.00023145219893194735, "pitch": 0.9654744863510132, "yaw": -170.75193786621094 } }, "velocity": { "x": -5.082469463348389, "y": -0.8266381025314331, "z": 0.09019725769758224 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.23086169362068176, "expert_control_brake": 0.0, "expert_control_steer": 0.9690250158309937, "expert_target_speed": 6.2311787094188045, "target_point": [ 14.176156177397056, 1.2098388996530667 ], "target_point_next": [ 14.176156177397056, 1.2098388996530667 ] }, "355": { "acceleration": [ 1.705474853515625, 0.25450587272644043, -0.01374751329421997 ], "angular_velocity": [ -0.19037699699401855, 1.2531236410140991, -0.06563209742307663 ], "forward_vector": [ -0.9894753694534302, -0.14447292685508728, 0.008129149675369263 ], "right_vector": [ 0.1444796621799469, -0.9895076751708984, 0.00024713313905522227 ], "location": [ 1132.4114990234375, 4079.982666015625, 366.1861877441406 ], "rotation": [ -0.014160153456032276, 0.4657710790634155, -171.69296264648438 ], "velocity": [ -5.322351455688477, -0.775746762752533, 0.0930754616856575 ], "speed": 5.378587924147962, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 10.43454647064209, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1122.35205078125, 4077.2158203125, 366.3645935058594 ], "velocity": [ -4.74312686920166, -0.7602757811546326, 0.08107026666402817 ], "speed_kmh": 17.295684437732277, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.062217712402344, "transform": { "location": { "x": 1141.4681396484375, "y": 4083.57421875, "z": 366.0209045410156 }, "rotation": { "roll": -0.0006408627377822995, "pitch": -0.9723183512687683, "yaw": 9.25236701965332 } }, "velocity": { "x": 7.95635986328125, "y": 1.2949246168136597, "z": -0.13736291229724884 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.034908294677734, "transform": { "location": { "x": 1193.95703125, "y": 4092.108154296875, "z": 365.21392822265625 }, "rotation": { "roll": -0.00012207034160383046, "pitch": -0.870090901851654, "yaw": 9.254022598266602 } }, "velocity": { "x": 7.929678916931152, "y": 1.290359616279602, "z": -0.12213361263275146 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.344761371612549, "transform": { "location": { "x": 1167.5545654296875, "y": 4084.575439453125, "z": 365.5992126464844 }, "rotation": { "roll": -0.000885007728356868, "pitch": 0.5312315821647644, "yaw": -170.7652587890625 } }, "velocity": { "x": -7.248676776885986, "y": -1.1784594058990479, "z": 0.11592334508895874 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.230084419250488, "transform": { "location": { "x": 1150.2257080078125, "y": 4081.758056640625, "z": 365.8813171386719 }, "rotation": { "roll": -0.0001831059344112873, "pitch": 0.9439457654953003, "yaw": -170.76849365234375 } }, "velocity": { "x": -8.12239933013916, "y": -1.320015549659729, "z": 0.1359310895204544 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 4.804357051849365, "transform": { "location": { "x": 1122.35205078125, "y": 4077.2158203125, "z": 366.3645935058594 }, "rotation": { "roll": -0.0002746603568084538, "pitch": 0.9624350666999817, "yaw": -170.84217834472656 } }, "velocity": { "x": -4.74312686920166, "y": -0.7602757811546326, "z": 0.08107026666402817 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.0204851627349854, "transform": { "location": { "x": 1106.845947265625, "y": 4074.71337890625, "z": 366.64996337890625 }, "rotation": { "roll": 0.0356304757297039, "pitch": 0.712272584438324, "yaw": -170.0041961669922 } }, "velocity": { "x": -2.988534450531006, "y": -0.4352104067802429, "z": 0.050838783383369446 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.215376615524292, "expert_control_brake": 0.0, "expert_control_steer": 0.9575830698013306, "expert_target_speed": 5.381564115172759, "target_point": [ 12.757901429212145, 1.213443229649419 ], "target_point_next": [ 12.757901429212145, 1.213443229649419 ] }, "360": { "acceleration": [ -0.6374263763427734, -0.9144306182861328, 0.026948601007461548 ], "angular_velocity": [ -0.8401781320571899, 1.0495327711105347, 2.598252773284912 ], "forward_vector": [ -0.9890390634536743, -0.1469620168209076, 0.014280905947089195 ], "right_vector": [ 0.1469941884279251, -0.9891365766525269, 0.0012249286519363523 ], "location": [ 1131.0716552734375, 4079.78369140625, 366.2084045410156 ], "rotation": [ -0.0701904222369194, 0.8182634711265564, -171.5482177734375 ], "velocity": [ -5.379870414733887, -0.8528140187263489, 0.09524993598461151 ], "speed": 5.4470448345745375, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 10.32474422454834, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1121.125732421875, 4077.018310546875, 366.38623046875 ], "velocity": [ -5.063340187072754, -0.8151742219924927, 0.09135282039642334 ], "speed_kmh": 18.465672906024228, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.097367286682129, "transform": { "location": { "x": 1143.461669921875, "y": 4083.898681640625, "z": 365.98681640625 }, "rotation": { "roll": -0.0009460409637540579, "pitch": -0.9614242315292358, "yaw": 9.242897987365723 } }, "velocity": { "x": 7.991082668304443, "y": 1.3006516695022583, "z": -0.13511748611927032 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.035917282104492, "transform": { "location": { "x": 1195.9395751953125, "y": 4092.430419921875, "z": 365.18353271484375 }, "rotation": { "roll": 0.0005718608153983951, "pitch": -0.8703299760818481, "yaw": 9.231453895568848 } }, "velocity": { "x": 7.930660724639893, "y": 1.2906097173690796, "z": -0.12217409163713455 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.084781646728516, "transform": { "location": { "x": 1165.661376953125, "y": 4084.267822265625, "z": 365.6280822753906 }, "rotation": { "roll": 0.00012879153655376285, "pitch": 0.9701736569404602, "yaw": -170.765380859375 } }, "velocity": { "x": -7.978982925415039, "y": -1.2972996234893799, "z": 0.1286347210407257 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 8.02270793914795, "transform": { "location": { "x": 1148.190185546875, "y": 4081.427001953125, "z": 365.9154968261719 }, "rotation": { "roll": 0.001821998506784439, "pitch": 0.9537470936775208, "yaw": -170.7670135498047 } }, "velocity": { "x": -7.9176530838012695, "y": -1.2871507406234741, "z": 0.13360042870044708 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 5.1293535232543945, "transform": { "location": { "x": 1121.125732421875, "y": 4077.018310546875, "z": 366.38623046875 }, "rotation": { "roll": -0.0025024330243468285, "pitch": 1.0023096799850464, "yaw": -170.87974548339844 } }, "velocity": { "x": -5.063340187072754, "y": -0.8151742219924927, "z": 0.09135282039642334 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.004949271213263273, "transform": { "location": { "x": 1106.6729736328125, "y": 4074.700927734375, "z": 366.6576843261719 }, "rotation": { "roll": -0.0378112755715847, "pitch": 0.11011630296707153, "yaw": -169.13682556152344 } }, "velocity": { "x": 0.004165322054177523, "y": 0.00264886487275362, "z": -0.000359015422873199 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.2041657716035843, "expert_control_brake": 0.0, "expert_control_steer": 0.9541620016098022, "expert_target_speed": 5.420644443990548, "target_point": [ 11.406388598767375, 1.1813219567794957 ], "target_point_next": [ 11.406388598767375, 1.1813219567794957 ] }, "365": { "acceleration": [ -3.8054370880126953, -1.460402011871338, 0.07657289505004883 ], "angular_velocity": [ -0.22035329043865204, 0.46711698174476624, 7.1899333000183105 ], "forward_vector": [ -0.9845824837684631, -0.17297014594078064, 0.02605178952217102 ], "right_vector": [ 0.17313362658023834, -0.9848896265029907, 0.004139264579862356 ], "location": [ 1129.38232421875, 4079.483642578125, 366.2357482910156 ], "rotation": [ -0.23724359273910522, 1.4928265810012817, -170.03602600097656 ], "velocity": [ -7.405820369720459, -1.435601830482483, 0.13127397000789642 ], "speed": 7.543681327061154, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 9.941353797912598, "front_vehicle_info": { "id": 5542, "type": "vehicle.ford.mustang", "location": [ 1119.8096923828125, 4076.806884765625, 366.4095764160156 ], "velocity": [ -5.585572242736816, -0.9022572636604309, 0.09819377958774567 ], "speed_kmh": 20.371778615831413, "color": "0,21,0" }, "other_vehicles": [ { "id": 5580, "type": "vehicle.ford.mustang", "speed_kmh": 8.06370735168457, "transform": { "location": { "x": 1145.455078125, "y": 4084.2236328125, "z": 365.9530334472656 }, "rotation": { "roll": 6.116674194345251e-05, "pitch": -0.9575241804122925, "yaw": 9.245635986328125 } }, "velocity": { "x": 7.957831859588623, "y": 1.2953921556472778, "z": -0.135049968957901 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5578, "type": "vehicle.lincoln.mkz_2017", "speed_kmh": 8.034843444824219, "transform": { "location": { "x": 1197.922119140625, "y": 4092.752685546875, "z": 365.1533508300781 }, "rotation": { "roll": -0.0015869176713749766, "pitch": -0.8615941405296326, "yaw": 9.261314392089844 } }, "velocity": { "x": 7.929221153259277, "y": 1.293018102645874, "z": -0.11943119019269943 }, "bounding_box_extent": { "x": 2.4508416652679443, "y": 1.0641621351242065, "z": 0.7553732395172119 } }, { "id": 5576, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.698603630065918, "transform": { "location": { "x": 1163.671630859375, "y": 4083.9443359375, "z": 365.66046142578125 }, "rotation": { "roll": -0.0008850082522258162, "pitch": 0.9111608266830444, "yaw": -170.76356506347656 } }, "velocity": { "x": -7.59761905670166, "y": -1.236708641052246, "z": 0.12343151122331619 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5543, "type": "vehicle.ford.mustang", "speed_kmh": 6.973793983459473, "transform": { "location": { "x": 1146.3455810546875, "y": 4081.12744140625, "z": 365.94683837890625 }, "rotation": { "roll": -0.0013732858933508396, "pitch": 0.9391646385192871, "yaw": -170.76199340820312 } }, "velocity": { "x": -6.8823771476745605, "y": -1.1194443702697754, "z": 0.11631780117750168 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5542, "type": "vehicle.ford.mustang", "speed_kmh": 5.658827781677246, "transform": { "location": { "x": 1119.8096923828125, "y": 4076.806884765625, "z": 366.4095764160156 }, "rotation": { "roll": -0.0018615789012983441, "pitch": 1.0156080722808838, "yaw": -170.84898376464844 } }, "velocity": { "x": -5.585572242736816, "y": -0.9022572636604309, "z": 0.09819377958774567 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5541, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.005196420941501856, "transform": { "location": { "x": 1106.66650390625, "y": 4074.699951171875, "z": 366.6512145996094 }, "rotation": { "roll": 0.010984009131789207, "pitch": 0.9251968860626221, "yaw": -169.1376953125 } }, "velocity": { "x": 0.005026055499911308, "y": -0.0008669426897540689, "z": 0.0009949704399332404 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.7248960137367249, "expert_target_speed": 6.670614515137795, "target_point": [ 9.717823426047643, 0.8766778874735572 ], "target_point_next": [ 9.717823426047643, 0.8766778874735572 ] } }